JP3482466B2 - Flying body attitude control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying object comprising a flying object main body whose attitude is controlled by steering a steering wing, and a booster connected to the rear of the flying object main body. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying object attitude control device for stabilizing the attitude of a flying object at the initial stage of launching when the flying object body is accelerated to a range where the flying object body can fly, so-called booster flying. 2. Description of the Related Art There are two types of flying objects: a booster that accelerates the flying object to a predetermined speed at the initial stage of launch, and a flying object that reaches the predetermined speed. And a flying object main body for controlling an attitude by steering a steering wing provided at a rear end portion of the vehicle. As shown in FIG. 3, a flying object of the above-described type needs to make a turn during a flight during booster acceleration. In the nozzle opened at the rear end of the booster 3, it is possible to generate a control force for controlling the attitude of the flying object 1 with a strong combustion gas injection force even at the initial stage of firing. Four thrust deflecting plates 6 are provided to deflect the thrust deflecting plates 6 when a turning motion is required, and to control the attitude of the flying object 1 by using large pitch, yaw, and roll axes. There is a flying object provided with a thrust deflection device 7 capable of generating a control force. [0004] When the flying object 1 reaches a predetermined speed, the flying object is separated from the booster 3 connected to the rear, so that the flying object main body 2 has a circumferential direction of 90 to stabilize the flying. Four main wings arranged at an interval and projecting outward from the central outer peripheral surface, and projecting from the outer peripheral surface in the same manner as the main wing for controlling the attitude of the flying object body 2, The four steering blades 10 arranged are provided. In a conventional flying object attitude control device provided on a flying object, the combustion gas is deflected to the rear end of the booster 3 so that the attitude of the flying object 1 can be adjusted by the deflected combustion gas injection force. Since the four thrust deflecting plates 6 capable of generating a control force for controlling the stability are provided, the thrust at which a large fluid force of the combustion gas injected at high speed acts even at the initial stage of firing. Due to the large deflecting force generated in the deflecting plate 6, the attitude control of the flying object 1 required at the initial stage of the launch can be sufficiently dealt with, and the flying object body 2 which needs to be turned immediately after the booster 3 is disconnected. Turning performance requirements are eased. However, in the conventional thrust deflecting device 7 provided on a flying object, a thrust capable of generating a control force about each of the pitch, yaw, and roll axes of the large flying object 1 by deflecting it. Since the thrust deflecting device 7 including the deflecting plate 6 and the like is provided, the weight of the flying object 1 is increased, and the booster 3 for exhibiting a predetermined acceleration performance is disadvantageously increased in size. That is, as shown in FIG. 4, the conventional thrust deflection device 7 includes four thrust deflection plates 6 capable of generating control forces around the pitch, yaw, and roll axes, respectively, and a thrust deflection plate. An actuator 11 for deflecting each of the plates 6 to generate a control force about each of the pitch, yaw, and roll axes, and a drive for transmitting the driving force from the actuator 11 to the thrust deflection plate 6 Since it is necessary to provide the thrust deflection device 7 for each individual thrust deflection plate 6, the weight of the thrust deflection device 7 itself increases, the weight of the flying object 1 increases, Actuator 11 and drive shaft 12
Since the space for providing is required, the size of the booster 3 also increases. In FIG. 4, the axis C28 is an axis arranged concentrically with respect to the roll axis. SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned disadvantages of the above-mentioned flying object attitude control apparatus, which is employed for performing control in the early stage of launching a flying object. For control around the pitch axis and yaw axis, it is connected to the rear of the projectile body and is provided at the rear end of the booster that accelerates the projectile body to the range where it can fly and is deflected in the same direction By deflecting the combustion gas discharged to the outside at high speed even in the initial stage of launch, a large control force around the pitch axis and yaw axis is generated in the flying object,
Sufficient control around the pitch axis and yaw axis can be performed. For control around the roll axis, four flying blades 10 By changing the angle, a large control force around the roll axis is generated in the flying object without being affected by aerodynamic interference, and the control around the roll axis can be performed in the initial stage of the launching of the flying object. The flying object attitude control device can control the attitude and stability of the flying object even at the initial stage of launching the flying object. Other objects and novel features of the present invention will be clarified in embodiments described later. Therefore, the flying object attitude control apparatus of the present invention has the following means. (1) A pitch axis in the initial stage of launching of a flying object comprising a flying object body and a booster connected to the rear of the flying object body and accelerating to a range in which the flying object body can fly. In order to control the attitude and stability around the yaw axis, the combustion gas discharged to the outside is deflected at a high speed even at the initial stage of firing to generate a control force around the pitch axis and the yaw axis. In order to be able to perform sufficient control, they are provided opposite to each other in the rear end of the booster, and are deflected in the same direction by actuators to generate large control forces around the pitch axis and the yaw axis. A thrust deflecting device including an actuator capable of simultaneously driving two pairs of thrust deflecting plates and a pair of thrust deflecting plates is provided. (2) The roll axis at the initial stage of launching of a flying object comprising a flying object body and a booster connected to the rear of the flying object body and accelerating the flying object body to a range where it can fly. In order to control the attitude and stability of the surroundings, the projectile is protruded outward from the outer periphery of the rear of the projectile body, and it is deflected by the projectile actuator, so that even at the initial stage of launch, the effects of aerodynamic interference Four flying object body steering wings are provided, which are less likely to receive and generate a large control force around the roll axis. [0013] The four projectile body steering wings that generate a control force around the roll axis in the initial stage of launching have a flight control when the booster is separated from the projectile and the flight is performed only by the projectile body. It is preferable to use one that performs the following. Since the flying object attitude control apparatus of the present invention employs the above-described means, the attitude control around the pitch axis and the yaw axis in the initial stage of the launching of the flying object can be performed at a high speed even in the early stage of the launching of the flying object. A thrust deflector that deflects the combustion gas discharged to the outside and generates a large control force around the pitch axis and yaw axis is provided. The attitude control of the flying object can be sufficiently performed, the ability of the flying object to cope with disturbance can be improved, a stable flying can be achieved, and the dispersion of the flying can be reduced. [0015] In addition, the control of the attitude and stability around the roll axis is such that the projectile is protruded outwardly from the rear outer periphery of the main body of the projectile so as to be deflected to be affected by aerodynamic interference even in the initial stage of firing. The four flying object main body steering wings that can generate a large amount of control force around the roll axis are provided, so that sufficient control force can be generated even in response to roll disturbance in the initial stage of firing, Excellent controllability around the roll axis can be achieved. Further, in the thrust deflection device provided in the flying object attitude control device, only the attitude control about the pitch axis and the yaw axis is performed, and the attitude control about the roll axis is performed by the steering wing provided on the flying object body. In order to generate a control force around each axis of pitch, yaw, and roll, a control force around each axis of pitch, yaw, and roll is conventionally provided on each of the four thrust deflection plates. Actuators that were designed to perform the deflection for generating the driving force, and the drive shafts for transmitting the driving force to the thrust deflection plates do not need to be provided for each individual thrust deflection plate. Well, this allows thrust deflection device actuators,
The drive shaft can be halved to reduce the weight, the weight of the flying object can be reduced gradually, and the space for the thrust deflection device can be reduced, and the size of the booster can be reduced. In addition, even when it is necessary to control the turning immediately after the launch, the required turning control can be performed even at the initial stage of the launch. Therefore, the turning performance requirement of the flying object main body which needs to separate the booster and perform the high turning flight is required. Is alleviated,
In addition, since the thrust deflection device is used for attitude control around the pitch axis and yaw axis, and the projectile body steering wing is used for attitude control around the roll axis, the attitude control of the flying object is possible with a simple configuration become. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a flying object attitude control apparatus according to the present invention will be described below with reference to the drawings. FIG. 1 is an overall side view of a flying object equipped with an embodiment of a flying object attitude control device of the present invention, and FIG.
FIG. 2 is a perspective view showing a thrust deflection device included in the flying object attitude control device shown in FIG. 1. In FIGS. 1 and 2, the same members as those shown in FIGS. 3 and 4 are denoted by the same reference numerals, and description thereof will be omitted. In the flying object attitude control apparatus of the present embodiment, in order to generate a propulsive force for the purpose of controlling or stabilizing the attitude of the flying object 1 in the rear end of the booster 3, the flying object is ejected to the outside. A biaxial link-type thrust deflection device 15 described later for deflecting the combustion gas is provided to control the so-called pitch-type and yaw-type flying object 1 around the pitch axis and the yaw axis. That is, as shown in FIG. 2, an axis A is arranged in the nozzle of the booster 3 in parallel with the pitch axis.
First thrust deflection plate 1 having rotation axis centered on line 26
6. By deflecting the trailing edge side of the third thrust deflection plate 18 downward, for example, the high-speed combustion gas is deflected rearward and downward, and the deflection of the combustion gas causes the booster to deflect. A propulsive force is generated to push the rear end of the flying object 3 upward, and a rotating force in a head-down direction is generated around the center of gravity of the flying object 1, whereby the attitude control of the flying object 1 around the pitch axis can be performed. . The booster 3 is made parallel to the yaw axis.
By deflecting the rear end sides of the second thrust deflecting plate 17 and the fourth thrust deflecting plate 19 on which the rotation axis is disposed, for example, to the right on the axis B27 line disposed in the nozzle of FIG. The high-speed combustion gas is deflected rightward and backward, and a propulsive force for moving the rear end of the booster 3 to the left is generated. The rotating force of the flying object 1 is directed around the center of gravity and the head toward the right. Is generated, the attitude control of the flying object 1 around the yaw axis can be performed. In the control of the flying object 1 around the roll axis, the conventional flying object 1 has an initial launch, that is,
At the time of flying the booster, the four steering wings 10 provided at the rear end of the flying object body 2 that are not conventionally operated are deflected in the same circumferential direction.
A rotational force about the axis C28, which is arranged concentrically with the roll axis, is generated by pneumatic force to generate a roll control force of the flying object 1. In addition, since the aerodynamic force acting on the steering wing 10 is less affected by aerodynamic interference, it is possible to generate a sufficient roll control force capable of coping with disturbance at the initial stage of firing. Next, a description will be given in detail of the two-axis link type thrust deflection device 15 which controls the pitch body Y and the yaw axis Z of the flying object 1 at the initial stage of launching with reference to FIG. The deflecting device 15 includes first to fourth thrust deflecting plates 16, 17, 18, and 19, and opposing first thrust deflecting plates 16, third thrust deflecting plates 18, and second thrust deflecting plates 17, In order to connect the fourth thrust deflecting plates 19 to each other, the fourth thrust deflecting plates 19 are arranged on the outer periphery of the booster nozzle over a half circumference. Link A20 and link B2 connected to the rotation axes of the thrust deflection plate 16 and the third thrust deflection plate 18 and to the rotation axes of the second thrust deflection plate 17 and the fourth thrust deflection plate 19, respectively.
1 and an actuator A22 and an actuator B23 for driving the link A20 and the link B21 via the ball screw A24 and the ball screw B25 described above. Since the present deflecting device is constructed as described above, the ball screw A is driven by the actuator A22.
When the link A20 is driven back and forth, the link A20 rotates about the axis of the axis A26 arranged in parallel with the pitch axis, and the first thrust deflecting plate 16 and the third
The thrust deflection plate 18 is rotated in the same direction at the same angle. As a result, it is possible to deflect the thrust that generates a moment in the aircraft body axis pitch direction P, and it is possible to control the attitude of the flying object 1 around the pitch axis. Further, when the ball screw B25 is driven back and forth by the actuator B23, the link B21 rotates about the axis of the axis B27 arranged in parallel with the yaw axis, and the link B21 is arranged oppositely. The second thrust deflecting plate 17 and the fourth thrust deflecting plate 19 are rotated in the same direction at the same angle. As a result, it is possible to deflect the thrust for generating a moment in the body axis yaw direction Q, and to control the attitude of the flying object 1 around the yaw axis. In the flying object attitude control device of the present embodiment, in addition to the above-described two-axis thrust deflection device 15,
Normally, in the initial stage of the launch of the flying vehicle 1, the attitude control around the roll axis is performed by a steering blade 10 provided at the rear end of the flying vehicle body 2 which is not operated. That is, by changing the angle of the four steering blades 10 in the same circumferential direction, a moment about the axis C28 concentric with the roll axis is generated, and a rotational force is generated around the axis C28. Roll control is performed. The steering wing 10 is driven by an actuator mounted on the projectile body 2 and is originally used when flying only on the projectile body 2 after the booster 3 is separated. However, the flying object attitude control apparatus 2 of the present embodiment is configured such that only the roll control can be performed by the steering wing 10 even when the booster flies at the initial stage of firing. (1) The flying object attitude control apparatus of the present embodiment is configured as described above, and independently controls the roll system by aerodynamic steering, and controls the pitch and yaw systems by a thrust deflection device. Controlling. (2) Moreover, the thrust deflecting device is a two-axis link type thrust deflecting device 15 that controls four thrust deflecting plates with two actuators. it can. (A) Since the control about the pitch axis and the yaw axis is performed by the two-axis link type thrust deflection device 15, the steering blade is not affected by aerodynamic interference, and the steering force, that is, the control force, can be improved. (B) As for the disturbance response, the pitch system and the yaw system can be positively controlled by the two-axis link type thrust deflection device 15, so that the attitude control at the initial stage of the launch can be sufficiently performed, and the flying object 1 can be controlled. The flying characteristics do not vary. Further, the steering wing 10 is not affected by aerodynamic interference, the controllability of the roll system is improved, and the disturbance response of the roll system can be improved. (C) The pitch and yaw systems are controlled by the two-axis link type thrust deflection device, and the turning control at the initial stage of the launch can be performed. Therefore, the turning performance requirement for the flying object main body 2 is eased. (D) Since the two-axis link type thrust deflection device 15 is used, the number of actuators and the like is smaller than that of the conventional thrust deflection device 7 which controls all pitch, yaw, and roll systems. To be small and lightweight.
The weight of the flying object 1 can be reduced, and the booster 3 can be prevented from becoming large. In addition, compared with the conventional thrust deflector 7 which controls the flying object 1 in the early stage of the launching of the flying object. And lower costs. Although the embodiments of the present invention have been described above, it is obvious to those skilled in the art that the present invention is not limited to the embodiments and that various modifications and changes can be made within the scope of the claims. There will be. According to the flying object attitude control apparatus of the present invention, a flying object composed of a flying object main body and a booster for accelerating the flying object main body to a range in which the flying object can fly can be used in the initial stage of launch of the flying object. For attitude control around the pitch axis and the yaw axis, two pairs of thrust deflection plates are provided to deflect the combustion gas discharged at a high speed to generate a control force around the pitch axis and the yaw axis. For attitude control, four projectile bodies that protrude outward from the rear periphery of the projectile body that are less affected by aerodynamic interference and generate control force around the roll axis Steering wings were provided. As a result, a large control force can be generated around the pitch axis and the yaw axis even at the initial stage of launching of the flying object, and stable attitude control around the pitch axis and the yaw axis can be performed. Since the ability to cope with disturbance can be improved and a stable flight can be performed, the dispersion of the flight can be reduced. In the attitude control around the roll axis, the steering wings provided on the four flying object bodies which can generate a large steering force without being affected by aerodynamic interference are used. Disturbance response can be improved, and controllability around the roll axis can be improved. Further, the thrust deflecting device comprises a pair of thrust deflecting devices.
Two-axis link that drives by connecting the axes of force deflector plates with links
The thrust deflecting device performs only attitude control around the pitch axis and yaw axis, and controls the attitude around the roll axis with the steering wing. Therefore, the actuators that drive the four thrust deflecting plates of the thrust deflecting device are The number of the thrust deflecting device itself can be reduced, the weight of the flying object can be gradually reduced, the space for installing the thrust deflecting device can be reduced, and the size of the booster can be reduced. Further, even if the flying object body requires a turning performance when the booster is separated, the flying object is turned with a large control force around the pitch axis and the yaw axis when the booster is flying. Therefore, the turning performance requirement for the flying object body is eased. Also,
Since the thrust deflection device is used for controlling the attitude and stability around the pitch axis and the yaw axis, and the flying body main body steering wing is used for controlling the attitude around the roll axis and the stability, the configuration is simple.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an embodiment of the present invention and is an overall side view of a flying object equipped with a flying object attitude control device. FIG. 2 is a perspective view showing a thrust deflection device included in the flying object attitude control device shown in FIG. FIG. 3 is an overall side view of a conventional flying object provided with a flying object attitude control device. FIG. 4 is a perspective view showing a conventional thrust deflection device provided on the flying object shown in FIG. 3; [Description of Signs] 1 Flying object 2 Flying object body 3 Booster 6 Thrust deflecting plate 7 Thrust deflecting device 10 Steering wing 11 Actuator 12 Drive shaft 15 2-axis link type thrust deflecting device 16 First thrust deflecting plate 17 Second thrust Deflection plate 18 Third thrust deflection plate 19 Fourth thrust deflection plate 20 Link A 21 Link B 22 Actuator A 23 Actuator B 24 Ball screw A 25 Ball screw B 26 Axis A 27 Axis B 28 Axis C

Claims (1)

(57) [Claims] [Claim 1] A flying object main body and a booster connected to the rear of the flying object main body and accelerating the flying object main body to a flying range. In the flying object attitude control device for controlling the attitude of the flying object, two pairs of thrust deflection plates installed in the nozzles of the booster so as to face each other, and the pair of thrust deflection plates are initially fired. Each is deflected in the same direction, and a thrust deflection device that controls the pitch direction and yaw direction of the flying object, and is installed on the outer periphery of the rear end of the flying object body,
A steering wing for controlling the roll direction of the flying object by changing the angle at the time of flying the booster , wherein the thrust deflecting device comprises a pair of shafts of the thrust deflecting plate forming a pair.
Link type thrust deflection device that drives by linking the two
Flying object posture control device, characterized in that it.