JP2653241B2 - Flying object blade control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the invention]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying object moving blade control device used for controlling a steering angle of a moving blade in a flying object having a moving blade. (Prior Art) Conventionally, as a moving blade control device for a flying object, for example,
Some had the configuration schematically shown in the figure. The flying object rotor blade control device 51 shown in the figure includes a gas actuator 55 in which a piston 53 having a piston rod 52 on one surface is slidably disposed in a cylinder 54, and is provided inside the piston rod side cylinder of the cylinder 54. The state 56 and the inside 59 of the non-piston rod side cylinder are in communication with each other via a piston side orifice 53a provided in the piston 53. The piston rod side cylinder interior 56 is connected to a gas supply source (not shown) via a gas flow path 56a, and the non-piston rod side cylinder interior 57 has a cylinder side orifice.
The gas flow passing through the cylinder-side orifice 54a is connected to the outside of the cylinder via the exhaust control valve 58 and the exhaust gas control valve 58, and the flow rate of the gas passing through the cylinder-side orifice 54a is adjusted by opening and closing the torque motor 59 of the exhaust control valve 58. The piston rod 52 is connected to the moving blade 60 by engaging the connecting pin 52a provided at the tip thereof with the long hole 62a of the torque arm 62 provided on the rudder shaft 61 of the moving blade 60. The rudder shaft 61 is provided with a potentiometer 63 that detects the steering angle of the moving blade 60 and feeds back the steering angle signal P based on the detection to the operation command signal Q side. Further, a pressure regulating valve 64 is provided in the gas passage 56a. In the flying object rotor control device 51 having such a structure, gas supplied from a gas supply source (not shown) is supplied to a pressure regulating valve 64.
While the gas enters the piston rod side cylinder interior 56 while being kept at a constant pressure, the gas also enters the non-piston rod side cylinder interior 57 via the piston side orifice 53a, and this gas is transferred to the cylinder side. The piston 53 is stopped in the vicinity of the center of the cylinder 54 by gradually flowing out of the orifice 54a to the outside via the exhaust control valve 58 so that the pressures in the two cylinders 56 and 57 become equal to each other. . In this state, when the steering command signal Q is input to the torque motor 59 of the exhaust control valve 58 via the pulse width modulation circuit 65, the torque motor 59 causes the gas passage flow rate of the cylinder-side orifice 54a by the valve opening / closing operation. As the pressure changes, the pressure inside the non-piston rod side cylinder 57 changes, so that the piston 53 slides and the moving blade 60 responds (rotates) so as to have a steering angle corresponding to the steering command signal Q. At this time, the potentiometer 63 detects the actual steering angle of the moving blade 60 and feeds back the steering angle signal P to the steering command signal Q side, so that the difference between the steering command signal Q and the steering angle signal P becomes Since it is modulated by the pulse width modulation circuit 65 and input to the torque motor 59 of the exhaust control valve 58, the moving blade 60
Is controlled so as to maintain the steering angle according to the steering command signal Q. (Problems to be Solved by the Invention) However, in such a flying object moving blade control device 51, for example, when the moving blade 60 is caused to respond in the arrow B direction,
When gas leaks into the non-piston rod side cylinder interior 57 through the space between the outer peripheral portion of the piston 53 and the inner surface portion of the cylinder 54, the pressure in the non-piston rod side cylinder interior 57 becomes
The pressure becomes unnecessarily higher than the pressure inside the piston rod side cylinder 56. At this time, as shown in FIG.
Even if the torque motor 59 of the exhaust control valve 58 is operated to open the valve, the piston 53 temporarily slides to the right a lot, as shown in FIG. There is a problem that the steering wheel is turned more than the steering angle (-θ) by the signal Q. The response speed (rotation speed) of the moving blade 60 to the steering command signal Q is, for example, such that when the moving blade 60 responds in the direction of arrow A, the smaller the gas flow rate of the piston-side orifice 53a, the smaller the response speed. On the other hand, when the blade 60 is caused to respond in the direction of arrow B, the piston-side orifice 53
The larger the gas flow rate of a, the larger the value. Therefore, in the flying object rotor control device 51 described above,
Considering the response speed of the rotor blade 60 in the direction of arrow A and the response speed in the direction of arrow B, the piston orifice 53
Since it was necessary to set the flow rate of gas of a,
Since the response speed of the moving blade 60 cannot be maximized in any of the directions of the arrow A and the arrow B, as a result, the steering angle of the moving blade 60 cannot be quickly controlled. There are problems that can occur, and solving these problems has been a conventional problem. (Object of the Invention) The present invention has been made in view of the above-mentioned conventional problems, and suppresses the rotating blade from being excessively rotated when gas leaks between a piston and a cylinder. It is an object of the present invention to provide a flying object rotor blade control device that is capable of increasing the response speed of the rotor blade regardless of the response direction.

Configuration of the Invention

(Means for Solving the Problems) The present invention is provided with a gas actuator using air or another gas drive system in which a piston having a piston rod on one side is slidably provided in a cylinder, and a gas generator such as a gas generator. The inside of the piston rod side cylinder, to which gas is supplied from the source, and the inside of the non-piston rod side cylinder, which can be communicated to the outside by an exhaust control valve, etc., are communicated via an orifice provided in the piston and connected to the piston rod. In a flying object rotor blade control device provided with a steering angle detecting means such as a potentiometer that detects a steering angle of the moving blade and feeds back a steering angle signal based on the detection to a steering command signal side, an orifice gas provided in the piston is provided. A gas flow control valve for changing the passing flow rate is provided, and feedback from the steering angle detecting means is provided. A gas flow control means such as a central information processing device that outputs a command signal to the gas flow control valve by comparing and calculating a steering angle signal and a steering command signal to be output.
Such a structure of the flying object rotor blade control device is used as means for solving the above-mentioned conventional problems. In the flying object rotor blade control device according to the present invention, when gas leaks from the inside of the piston rod side cylinder to the inside of the non-piston rod side cylinder through the space between the outer periphery of the piston and the inner surface of the cylinder, the non-piston rod The pressure inside the cylinder on the side becomes larger than the pressure inside the cylinder on the piston rod side, and the piston slides more in the direction toward the cylinder on the piston rod side, causing the rotor blades to rotate significantly. The state is detected by the steering angle detection means, and the steering angle signal is fed back to the gas flow control means, and the steering angle signal and the steering command signal fed back by the gas flow control means are compared and calculated to operate the gas flow control valve. A command signal is output to prevent the blade from rotating too much. Since the gas flow rate passing through the orifice is reduced so that the same amount of gas as leaked does not flow through the orifice into the non-piston rod side cylinder, the rotor blade takes a steering angle corresponding to the steering command signal. It turns in such a way. In the flying object rotor blade control device according to the present invention,
When the gas flow control valve is opened and closed by a command signal from the gas flow control means, the gas passage flow rate through the orifice increases and decreases, so that the response speed of the rotor blade becomes large regardless of the response direction, and The steering angle control is performed quickly. Hereinafter, the present invention will be described with reference to the drawings. FIG. 1 shows an embodiment of a flying object rotor blade control apparatus according to the present invention. The flying object rotor blade control apparatus 1 shown in FIG.
Is provided with a gas actuator 5 in which a piston 3 having a piston rod 2 on one side is slidably disposed in a cylinder 4. The inside 6 of the cylinder 4 on the piston rod side and the inside 7 of the non-piston rod side cylinder , Are communicated via a piston-side orifice 3a provided in the piston 3. The piston rod side cylinder interior 6 includes a gas passage 6a.
Is connected to a gas generator (not shown) through the gas passage 6a.
Is provided with a pressure regulating valve 8 for keeping the pressure of the gas supplied from the gas generator into the piston rod side cylinder interior 6 constant. On the other hand, the inside 7 of the non-piston rod side cylinder is connected to the outside of the cylinder via the cylinder side orifice 4a and the exhaust control valve 9, and the gas flow passing through the cylinder side orifice 4a is controlled by the torque motor 10 of the exhaust control valve 9. It is adjusted by the opening and closing operation of the valve. Seal rings 11 and 12 are provided on the outer peripheral surface of the piston 3 and the piston rod through hole 4b of the cylinder 4, respectively. In this case, a gas flow control valve 13 for opening and closing the piston-side orifice 3a is provided at the base end side of the piston rod 2, and a torque motor 14 for operating the gas flow control valve 13 is provided.
The gas flow rate of the piston-side orifice 3a can be changed by opening and closing the valve. Further, the piston rod 2 is provided with a connecting pin 2a provided at the tip thereof and an elongated hole
The steering shaft 21 is provided with a potentiometer 16 as a steering angle detecting means for detecting the steering angle of the moving blade 20 by being engaged with the moving blade 20 by engaging with the a. Further, the flying blade control device 1 compares and calculates the steering angle signal S fed back from the potentiometer 16 and the steering command signal Z to calculate the torque motor 10 of the exhaust control valve 9 and the gas flow control valve 13. A central information processing device 17 which is a gas flow control means for outputting command signals U and V to the torque motor 14, respectively.The command signals U and V are modulated by pulse width modulation circuits 18 and 19, respectively. Output to the torque motors 10, 14. In this flying object rotor blade control device 1, gas supplied from a gas generator (not shown) enters the piston rod side cylinder interior 6 while being maintained at a constant pressure by the pressure regulating valve 8, and the gas is supplied from the gas generator. Has also entered the non-piston rod side cylinder interior 7 through the piston side orifice 3a, and this gas is gradually discharged from the cylinder side orifice 4a to the outside via the exhaust control valve 9 so that both cylinder interiors 6, 7 The piston 3 is stopped near the center of the cylinder 4 by making the pressures equal to each other. That is, the moving blade 20 is stopped at the neutral position. Next, a flying blade control device 1 having such a structure will be described.
The operation of will be described. First, a steering command signal Z for rotating the moving blade 20 in the X direction of FIG. 1 by the steering angle (θ) is sent to the central information processing device 17,
When an operation command signal U for opening the valve is output from the central information processing device 17 to the torque motor 10 of the exhaust control valve 9 via the pulse width modulation circuit 18, the gas flow rate passing through the cylinder side orifice 4a increases. Then, the pressure in the piston rod side cylinder interior 6 becomes larger than the pressure in the non-piston rod side cylinder interior 7, and the piston 3 slides leftward in FIG. ) Only rotate. At this time, an operation command signal V for closing the valve is output from the central information processing device 17 to the torque motor 14 of the gas flow rate control valve 13 via the pulse width modulation circuit 19, and passes through the piston-side orifice 3a. The gas flow rate is reduced, and the response speed of the rotor blades 20 is higher than the conventional response speed, in combination with the fact that the torque motor 10 of the exhaust control valve 9 is opening the valve. In addition, a steering command signal Z for rotating the moving blade 20 in the Y direction in FIG.
When a command signal U for valve closing operation is output from the central information processing device 17 to the torque motor 10 of the exhaust control valve 9 via the pulse width modulation circuit 18, the gas flow rate passing through the cylinder side orifice 4a decreases, Inside the piston rod side cylinder 6
Is smaller than the pressure inside the non-piston rod side cylinder 7, and the piston 3 slides rightward in FIG. 1, so that the moving blade 20 rotates in the Y direction by the steering angle (-θ). Also at this time, since the central information processing device 17 outputs a valve opening operation command signal V to the torque motor 14 of the gas flow control valve 13 via the pulse width modulation circuit 19, the gas passing through the piston side orifice 3a is output. The flow rate will increase,
The response speed of the rotor blades 20 is high in combination with the fact that the torque motor 10 of the exhaust control valve 9 is performing the valve closing operation. Then, when the rotor blade 20 responds as described above, the potentiometer 16 detects the actual steering angle (θ, −θ) and feeds back the steering angle signal S to the central information processing device 17, and the central information In the processing device 17, the steering command signal Z
And the steering angle signal S, the command signals U and V are output to the torque motor 10 of the exhaust control valve 9 and the torque motor 14 of the gas flow control valve 13 via the pulse width modulation circuits 18 and 19, respectively. Therefore, the moving blade 20 is controlled to always maintain the steering angle (θ, −θ) according to the steering command signal Z. As described above, when the rotor blade 20 responds to form, for example, a steering angle (−θ), the seal ring 11 between the outer peripheral portion of the piston 3 and the inner surface of the cylinder 4 from the inside of the piston rod side cylinder 6. When gas leaks into the non-piston rod side cylinder interior 7 through the portion, the pressure in the non-piston rod side cylinder interior 7 increases
The piston 3 slides more in the direction 6 inside the piston rod side cylinder,
Although the rotating blade 20 is largely rotated to exceed the steering angle (−θ), the rotating state of the rotating blade 20 is detected by the potentiometer 16 and the steering angle signal S is fed back to the central information processing device 17. At the same time, the steering angle signal S and the steering command signal Z fed back by the central information processing device 17 are compared and calculated in real time, and the torque motor 10 of the exhaust control valve 9 is
In response to this, a command signal U for opening the valve as shown in FIG. 2 (b) is output, and the torque motor 14 of the gas flow control valve 13 is operated to close the valve as shown in FIG. 2 (c). Since the command V is output, the gas flow rate passing through the cylinder-side orifice 4a increases, and at the same time, the gas flow rate passing through the piston-side orifice 3a decreases. As shown in FIG. The vehicle responds quickly without exceeding the steering angle (-θ). In the flying object moving blade control device 1, for example, when the moving blade 20 is caused to respond to the steering angle (θ), the torque motor 10 of the exhaust control valve 9 is changed as shown in FIG. 3 (c). When the torque motor 14 of the gas flow control valve 13 is operated to open and close the valve with the characteristics shown in FIG. 3D, the pressure inside the piston rod side cylinder 6 increases as shown in FIG. As shown in FIG. 3 (b), although it temporarily decreases rapidly, as shown in FIG. 3 (a), the steering angle, that is, the response speed of the moving blade becomes considerably larger than the conventional response speed indicated by a dotted line. . Further, in this flying object rotor blade control device 1, for example,
When making the rotor blade 20 respond so that the steering angle (θ) is obtained,
When the torque motor 10 of the exhaust control valve 9 is operated to open and close with the characteristics shown in FIG. 4 (c), and the torque motor 14 of the gas flow control valve 13 is operated to open and close with the characteristics shown in FIG. 4 (d). As shown in FIG. 4 (a), the steering angle, that is, the response speed of the rotor blade can be made larger than the conventional response speed shown by the dotted line, and the decrease in the pressure inside the piston rod side cylinder 6 can be reduced. Note that the detailed configuration of the flying object rotor control device according to the present invention is not limited to the above-described embodiment. As another configuration, for example, the gas flow rate is controlled by a command signal V from the central information processing device 17. As a circuit for operating the torque motor 14 of the control valve 13, a relay circuit or the like can be used instead of the pulse width modulation circuit 19.

【The invention's effect】

As described above, the flying object rotor blade control device according to the present invention includes the gas flow rate control valve that changes the gas flow rate of the orifice provided in the piston,
The gas flow control means for comparing and calculating the steering angle signal fed back from the steering angle detection means and the steering command signal and outputting a command signal to the gas flow control valve is provided. Even when gas leakage occurs between the inner surface and the inner surface, it is possible to prevent the rotating blade from rotating excessively and increasing the steering angle, and
By setting the response speed of the moving blade to be large regardless of the response direction, a remarkably excellent effect that control of the moving blade can be performed quickly is brought about.

[Brief description of the drawings]

FIG. 1 is a partially sectional explanatory view showing an embodiment of a flying object rotor blade control apparatus according to the present invention, and FIGS. 2 (a), (b),
(C) is a graph showing changes in the steering angle, the opening degree of the exhaust control valve, and the opening degree of the gas flow control valve over time in the gas leakage in the flying object rotor blade control device shown in FIG. FIGS. 3 (a), (b), (c) and (d) show the steering angle with the passage of time when the moving blade response speed is maximized in the flying object moving blade control device shown in FIG. , The gas pressure, the opening of the exhaust control valve and the change of the opening of the gas flow control valve, respectively. FIG. 4 shows that the drop in gas pressure was reduced in the flying object moving blade control device shown in FIG. 5 is a graph showing changes in the steering angle, the gas pressure, the opening of the exhaust control valve, and the opening of the gas flow control valve with time, respectively. FIG. 5 is a partial cross-section showing a conventional flying object rotor blade control device. FIGS. 6 (a) and 6 (b) show a conventional flying object rotor blade control device. Is a graph showing respective changes in the opening degree of the steering angle and the exhaust control valve over time when the gas leakage Te. 1 ... flying object moving blade control device, 2 ... piston rod,
3 ... Piston, 3a ... Piston side orifice, 4 ...
Cylinder, 5: Gas actuator, 6: Inside the piston rod side cylinder, 7: Inside the non-piston rod side cylinder, 13: Gas flow control valve, 16: Potentiometer (steering angle detection means), 17: Center Information processing device (gas flow rate control means), 20: moving blade, S: steering angle signal, V:
Command signal, Z: steering command signal, θ, −θ: steering angle.

Claims (1)

(57) [Claims] A gas actuator having a piston having a piston rod on one surface slidably provided in a cylinder, and a non-piston rod side cylinder capable of communicating with the inside of a piston rod side cylinder to which gas is supplied and the outside. And a steering angle detection means for detecting the steering angle of the moving blade connected to the piston rod and feeding back a steering angle signal based on the detection to a steering command signal side while communicating with an orifice provided in the piston. In the flying blade control device, a gas flow rate control valve for changing a gas passing flow rate of an orifice provided in the piston is provided, and a steering angle signal fed back from the steering angle detecting means is compared with a steering command signal. A gas flow control means for calculating and outputting a command signal to said gas flow control valve; Blade control device.