JPH01297391A - Direction controller for flying navigation body - Google Patents

Abstract

PURPOSE:To facilitate the advance direction control of a navigation body by accommodating a rotary body whose one part is projected from the body into the top edge of the body of the flying navigation body which is equipped with a thrust generating means and has a nearly streamline-like form and generating a lift on the body by controlling the revolution of the rotary body. CONSTITUTION:A flying navigation body 1 such as missiles and torpedoes which flys in the air or under water has a trunk body 2 having a nearly streamline form in axis symmetry, and a thrust generating means 3 such as rocket motor is provided in the rear part of the trunk body 2. In this case, a large diameter hole 6 is formed at the top edge of the trunk body 2, and a spherical rotary body 8 is accommodated in rotatable ways through a plurality of bearings in the large diameter hole 6. A part or the front half of the rotary body 8 is projected from the top edge of the trunk body 2, and allowed to contact the fluid in the outside part. A lift in an arbitrary direction can be generated on the flying navigation body 1 by turning the rotary body 8 by a revolution providing mechanism 11 accommodated in the trunk body 2, and the direction control is facilitated.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a direction control device for controlling the traveling direction of a flying vehicle flying in the air, underwater, or on a water surface.

[Kamitate Katsukari Generally, aircraft, missiles, submarines, torpedoes, etc. are known as flying vehicles that fly in the air, underwater, or on the surface of water. Among these flying vehicles, aircraft, submarines, etc. are equipped with elevators, rudders, etc. on fixed wings such as main wings and tails, and by manipulating the rudder angle of these elevators, aircraft, etc. This generates a lift force that controls the direction of flight of aircraft, etc. On the other hand, in the case of flying vehicles that do not have fixed wings, such as missiles and torpedoes, movable wings that protrude from the side walls of the fuselage are specially installed, and directional control is performed by operating these movable wings. ing.

However, in the former case, in order to swing the elevator etc. against the flow of fluid, equipment that generates large operating force, such as hydraulic cylinders, motors, hydraulic pumps, and associated long piping, is required. This poses a problem in that the entire device becomes large and heavy, and its structure becomes complicated and expensive. In the latter case, in addition to this, the cross-sectional area perpendicular to the flow increases by the amount of the movable wing, creating extra fluid resistance.Furthermore, the small movable wing protruding from a part of the fuselage However, there are also problems in that the design of the launcher is difficult and it is easily damaged during transportation.

This invention is small, lightweight, simple in structure, and inexpensive.
An object of the present invention is to provide a direction control device for a flying vehicle that has no part protruding from a side wall of a main body.

This purpose is to provide a flying vehicle equipped with a generally streamlined main body and a thrust generating means that applies thrust to the main body to move it forward. This can be achieved by housing a rotatable rotating body with a portion protruding from the main body and providing a rotating means for rotating the rotating body while changing the rotation axis angle.

Suppose now that thrust is directly or indirectly applied to the main body by the thrust generating means, and the flying vehicle is moving straight forward, for example. When controlling the traveling direction of the flying vehicle in such a state, the rotating means is activated to rotate the rotating body at a predetermined speed, but at this time, a part of the rotating body protrudes from the tip of the body. At the same time, since the protruding part receives parallel flow of the surrounding fluid due to the straight flight of the flying vehicle, 1
A circulating flow of fluid is generated around the main body, and as a result, a lifting force corresponding to the rotational speed of the rotating body acts on the main body. When such a lift force is applied, the flying vehicle changes its traveling direction in the direction in which the lift force acts. If the rotating body is a sphere, the rotating axis of the rotating body can be changed in a vertical plane perpendicular to the central axis of the main body as necessary to change the rotational axis angle. It is possible to give lift in any direction, and if the rotating body is a cylindrical body, it is possible to give lift in two contradictory directions by rotating the rotation direction forward or reverse. The direction of the vehicle is controlled. In this way, since only a portion of the rotating body protrudes from the tip of the main body, there is no need to go against the flow of the surrounding fluid, and as a result, it is sufficient to have a rotating means that can generate a small amount of power. be. This makes the entire device smaller and
In addition to being lightweight, the structure is simple and inexpensive. Furthermore, since the rotating body does not protrude from the side wall of the main body, and only a portion protrudes from its tip, fluid resistance does not increase, and the design of the launcher is also simplified, making it easy to transport. There is no risk of damage.

on support An embodiment of the present invention will now be described based on the drawings.

In Figure 1.2, 1 is a flying vehicle such as a missile or torpedo that flies or travels in the air or water, and this flying vehicle 1 is composed of 4 Ifi bodies that are axially symmetrical and roughly streamlined. It has 2. Further, a thrust generating means 3 consisting of a rocket motor or the like is provided at the rear of the fuselage 2, and this thrust generating means 3 directly applies thrust to the fuselage 2 to move the flying vehicle l forward. Further, a large diameter hole 6 is formed at the tip of the body 2, and a plurality of bearings 7 are supported on the inner surface of the hole 6. Reference numeral 8 denotes a spherical rotating body that is housed at the tip of the body 2 by being inserted into the hole 6. This rotating body 8 is preferably as light and soft as possible, so it is hollow. . Further, this rotary body 8 is rotatably supported by the body 2 while being prevented from being removed by the bearing 7, and a portion thereof, that is, a front half thereof, protrudes from the tip of the body 2 and comes into contact with an external fluid such as air or water. ing. The shape of the protruding portion of this rotating body 8 is the shape of the body 2.
, that is, a shape that substantially follows the aforementioned streamlined shape, and prevents sudden changes in the shape of the flying vehicle l as a whole. II is a rotation imparting mechanism housed in the body 2, and this rotation imparting mechanism 11
is a motor 12 that applies rotational force to the rotating body 8, and a rotating body 8.
It has a motor 13 that changes the angle of the rotation axis of the motor. Also, in the fuselage 2, a control signal A is sent to the motors 12 and 13.
A motor controller 14 that sends each B is housed,
The motor controller 14 receives an addition signal C from an adder 15 manually. This adder 15 contains the flying vehicle.
A command signal corresponding to the target flying direction of the flying object 1 and a feedback signal E detecting the current flying direction of the flying object 1 are sent from the inertial control section 16, and feedback control is performed. Further, the inertia control section 1
8, the current flight speed signal F of the flying vehicle I is sent to the motor controller 14. The motor controller 14 then performs calculations based on the addition signal C and the flight speed signal F, and outputs the results as the control signals A and B. The rotation imparting mechanism 1
1 has a rotating frame 22 supported by a body 2 via a bearing 21, and this rotating frame 22 has a central axis of the body 2,
That is, it can be rotated around an axis of symmetry. An output shaft 24 of the motor 12 is rotatably supported by the rotating frame 22 via a bearing 23, and the output shaft 24 is located on the central axis of the body 2. A bevel gear 25 is fixed to the tip of the output shaft 24, and this bevel gear 25 is connected to the intermediate shaft 2 rotatably supported by the rotating frame 22 via a bearing 2B.
It meshes with a bevel gear 28 fixed to 7. Reference numeral 29 denotes an external gear fixed to the intermediate shaft 27, and this external gear 29 meshes with an external gear 32 fixed to a transmission shaft 31 supported by the rotating frame 22 via a bearing 30. A friction roller 33 is fixed to the center of the transmission shaft 31 and has its outer periphery pressed against the outer surface of the rotating body 8. This friction roller 33 transmits the rotation of the motor 12 to the rotating body 8, and rotates the rotating body 8. It is rotated around a rotation axis parallel to the rotation axis of the friction roller 33. Further, the motor 1
An external gear 37 is fixed to the output shaft 36 of No. 3, and this external gear 37 meshes with an external gear 38 formed on the rotating frame 22. As a result, the rotating frame 22 is driven and rotated around the central axis of the body 2 by the motor 13.
When the rotating frame 22 rotates in this manner, the rotating shaft of the rotating body 8 rotates within the superposition plane perpendicular to the central axis of the body 2, and the rotating shaft angle of the rotating body 8 changes. The aforementioned rotation imparting mechanism 11. The motor controller 14, the adder 15, and the inertia control section 1G collectively constitute a rotation means 17 that rotates the rotating body 8 while changing the rotation axis angle.

Next, the operation of one embodiment of the present invention will be explained.

Now, it is assumed that thrust is applied to the fuselage 2 by the thrust generating means 3, and the flying vehicle 1 is moving straight forward at a speed V through a fluid such as air or water. In such a state, when controlling the traveling direction of the flying vehicle 1 to change it to the target direction, first, a command signal corresponding to the target direction is sent to the adder 15. 15, the inertial control unit 16 sends a feedback signal E that detects the current flying direction of the flying vehicle l, and as a result, the adder 15 outputs both of these signals, E
An addition signal C obtained by adding up is sent to the motor controller 14. At this time, the motor controller 14 is also sent the current flight speed signal F of the flying vehicle 1 from the inertia control unit 16, and the motor controller 14 performs calculations based on these two signals. do the
The results are sent as control signals A and B to motors 12 and 13, respectively.

The motor 13 is activated by this control signal B, and the rotating frame 22 is rotated by a predetermined angle around the central axis of the body 2.

As a result, the rotation axis of the rotating body 8 rotates within a vertical plane perpendicular to the central axis of the body 2, and assumes a predetermined angular position. On the other hand, the control signal A causes the remote motor 12 to operate, causing the friction roller 33 to rotate at a predetermined rotational speed, thereby causing the rotating body 8 to rotate at a predetermined rotational speed about the rotation axis at the predetermined angular position described above. When the rotating body 8 is rotated around its rotation axis in a parallel flow having a speed V, the surrounding fluid is dragged by the rotating body 8 that protrudes from the tip of the body 2, and the rotating body 8 moves around the body 2. A circulating flow is generated that flows in the rotational direction of 8. When a circulating flow occurs around the fuselage 2 in this way,
A lifting force perpendicular to the parallel flow and also perpendicular to the rotational axis of the rotating body 8 acts on the body 2 . Note that this value of lift is a value per unit length of the fuselage 2, and is determined by the Hutta-Zhukowski equation shown below.

L=ρVr Here, ρ is the wave body density, ■ is the speed of the parallel flow (same as the forward speed of the flying vehicle 1), and r is the circulation around the fuselage 2.

Due to such a lift force, a couple acts on the flying vehicle 1, but this couple is dependent on the distance between the aerodynamic center of the flying vehicle 1 and the point of application of the lift force, and the direction of action of the lift force. and size. Due to such a couple, the traveling direction of the flying vehicle 1 changes in the direction in which the lift force acts, and directional control is performed. In this way, by changing the rotational axis angle of the rotating body 8 and changing the rotational speed of the rotating body 8, a lifting force of an arbitrary magnitude is applied to the fuselage 2 in an arbitrary direction, thereby making it possible to fly. It controls the traveling direction of the running body l. Here, since only a part of the 5-rotator 8 protrudes from the tip of the body 2, it does not go against the flow of the surrounding fluid, and as a result, the rotor 8 can be rotated sufficiently with a small power. As a result, the entire device can be made smaller and lighter.

The structure is also simple and inexpensive. Furthermore, since the rotating body 8 protrudes from the tip of the fuselage 2 rather than from the side wall, the two-fluid resistance does not increase, and even when a firing device is used, the design of the device becomes easy, and i! l! There is no risk of damage during transportation.

In addition, when the flying vehicle l is an aircraft, a submarine, etc., a rotating body is provided at the tip of the fixed χ such as the main wing or tail as the main body, but in this case, the rotating body has a fixed axis of rotation. It is preferable to have a cylindrical or cylindrical shape extending in the longitudinal direction of the wing. In this way, when the rotating body is rotated forward or reverse, lift forces in two contradictory directions are obtained on the fixed wing, and the value of the lift force can also be changed by changing the rotation speed. . Further, in this case, thrust is indirectly applied to the fixed wing via the aircraft body or the hull.

In the above embodiment, the rotating frame 22 and the friction roller 33 are rotated around the central axis of the body 2 to change the rotational axis angle of the rotating body 8. However, in this invention, the rotational axis angle of the rotating body 8 is changed. A shaft passing through the center thereof is fixedly fixed therethrough, and a ring rotatably supported at the tip of the body 2 is arranged around the rotating body 8, and both ends of the shaft are rotatably supported by this ring. The angle of the rotation axis of the rotating body 8 may be changed by rotating the ring 5 times.

Menzu Nikou] As explained above, according to the present invention, the entire control device can be made smaller and lighter, and the structure can also be made simpler and cheaper.

Moreover, since it does not protrude from the side wall of the main body, there is no increase in fluid resistance, the design of the launcher is easy, and there is no risk of damage during transportation.

[Brief explanation of the drawing]

FIG. 1 is an overall conceptual diagram showing an embodiment of the present invention, and FIG. 2 is a sectional view of the rotating body and the vicinity of the rotating means. 1... Flying vehicle 2... Main body 3... Thrust generating means 8... Rotating body 17... Rotating means Patent applicant Teijin Seiki Co., Ltd. Agent Patent attorney Ta 1) Toshio

Claims (1)

[Claims] A flying vehicle comprising a main body having a generally streamlined shape and a thrust generating means for applying thrust to the main body to advance the main body, and a rotatable rotating body having a part protruding from the main body at the tip of the main body. At the same time, a rotating means is provided to rotate the rotating body while changing the rotational axis angle, and the rotating means rotates the rotating body with a predetermined rotational axis angle at a predetermined speed, thereby generating lift on the main body, thereby causing the main body to fly. A direction control device for a flying vehicle, characterized in that the direction of travel of the vehicle is controlled.