JPH1038498A - Steering/thrust controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a steering/thrust controller capable of being miniaturized by reducing the power of a driving motor for controlling the flight of an airframe. SOLUTION: The centers CPs of applying powers of aerodynamic forces, generated on an aerodynamic wing 5 and a thrust deflecting vane 07, are set so that the direction of an external load torque Tef due to aerodynamic load generated on the aerodynamic wing 5 and generated in the output shaft 06 of a driving motor 01, and the direction of another external load torque Tev due to an aerodynamic load generated in a thrust deflecting steering vane 07, become reverse mutually. According to this method, the load of the driving motor 01 becomes a difference between external load torque Tef and the same Tev whereby the output and the size of the driving motor can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of controlling the rotation of an output shaft, on which an aerodynamic wing for controlling a flying object during flight and a thrust deflection vane are respectively mounted, by a single drive motor. In particular, the torque generated by the aerodynamic load generated on the aerodynamic wings and the aerodynamic load generated on the thrust deflection vanes are offset each other, thereby reducing the torque applied to the drive motor. The present invention relates to a steering / thrust control device that can be used.

[0002]

2. Description of the Related Art In order to control the attitude and flight direction of a flying object, an external flow (air flow) is applied to a control surface (aerodynamic wing), and a combustion gas flow of a propulsion engine is controlled by a thrust deflection vane. 2. Description of the Related Art It has been practiced to change the direction to change the thrust direction to generate the movement required for aircraft control on a flying object.

FIG. 4 is a perspective view showing a flying object steering / thrust control device provided with such aerodynamic wings and thrust deflection vanes to control the aircraft. At the rear end of the flying object (not shown), an output shaft 06 is attached, and the rotation of the output shaft 06 changes the angle of attack with respect to the airflow 010 flowing outside to change the aerodynamic force generated on the wing surface. Aerodynamic wing 05 that controls the size and generates the desired motion on the flying object
And an outlet of a rocket motor nozzle 08 from which a combustion gas 09 of a rocket motor for propelling the flying object is ejected is attached to an output shaft 06 ', and the rotation of the output shaft 06' causes combustion. A thrust deflection vane 07 for controlling the direction of propulsion by changing the direction in which the gas 09 is jetted to generate a desired motion in the flying object is provided.

An aerodynamic wing 05 and a thrust deflection vane 07 are also provided.
The output shafts 06 and 06 'for rotating the aerodynamic blades 05 and the thrust deflection vanes 07 are threaded in the same direction on both the aerodynamic wing 05 side and the thrust deflection vane 07 side. The motor shaft 02 has the same screw direction and is screwed into a screw groove formed in the motor shaft 02, and the rotation of the motor shaft 02 causes the longitudinal direction of the machine shaft to be the direction in which the motor shaft 02 is disposed. The two ball screws 03, 03, which move in the same phase, and the ball screws 03, 03,
The operation is performed by transmitting the torque of the drive motor 01 via the torque arms 04 and 04 connected to the drive motor 03, respectively.

That is, the operation of one drive motor 01 changes the inclination angle of the aerodynamic wings 05 and the thrust deflection vanes 07 with respect to the flow direction of the air flow and the combustion gas flow 09, so that a desired motion is performed on the flying object. In the case of the generation, the motion generated in the flying body at the inclination angle of the aerodynamic wing 05 and the flying body at the inclination angle of the thrust deflection vane 07 in the same direction as the inclination angle of the aerodynamic wing 05 Since the generated motion causes the motion in the same direction, as described above, the ball screw 03 that rotates the output shaft 06, the screw groove formed in the motor shaft 02, and the output shaft 0
Rotate 6 ', ball screw 03, motor shaft 0
2, the screw grooves are formed in the same direction, the ball screws 03, 03 move in the same phase, and the output shafts 06, 06 'are rotated in the same direction, so that the flying object To generate a motion in the same direction.

As described above, the required torque of the drive motor 01 for rotating the two output shafts 6, 6 'is determined by the air flow 010 and the combustion gas 09 acting on the aerodynamic blade 05 and the thrust deflection vane 07, respectively. The external load torque generated by the aerodynamic load generated in each of the aerodynamic wing 05 and the thrust deflection vane 07 acts in a direction opposite to the increase in the rotation angle of the output shafts 6 and 6 ′. This requires a torque greater than the sum of the torques.

That is, in the conventional steering / thrust control device shown in FIG. 4, the external load torque Tef generated by the aerodynamic load caused by the airflow 010 acting on the aerodynamic wing 05 is such that the center CP of the aerodynamic force acts on the aerodynamic force. Since it is on the downstream side of the flow from the output shaft 06 on which the blades 05 are axially mounted, the rotation angle of the output shaft 06 acts in a direction opposing the rotation direction R that further increases the aerodynamic load, and furthermore, the thrust deflection vane 07 The external load torque Tev caused by the aerodynamic load generated by the combustion gas flow 09 acting on the combustion gas flow 09 is also on the downstream side of the output shaft 06 'where the acting force center CP' of the combustion gas flow 09 is axially mounted on the thrust deflection vane 07. And acts in a direction opposite to the rotation direction R 'which further deflects the direction of thrust and increases the rotation angle.

As described above, the torque of the drive motor 01 is applied to the output shaft 06 of the aerodynamic wing 05 and the thrust deflection vane 0.
7, the motor shaft 02 transmitting to the output shaft 06 ',
And a ball screw 03 screwed to the motor shaft 02,
03 are the same in the screw direction, so that the external load torques Tef and Te generated by the aerodynamic wings 05 and the thrust deflection vanes 07 are obtained.
v is the motor shaft converted load T'ef, T'ev
As a result, a load is applied to the drive motor 01. Therefore, in the conventional steering / thrust control device, the drive motor 01
Is required to be equal to or greater than the sum of external load torques generated by the aerodynamic load acting on the aerodynamic wings 05 and the thrust deflection vanes 07, Tef + Tev, resulting in an increase in the output of the drive motor 01 and an increase in dimensions. Was.

[0009]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned disadvantages of the conventional steering / thrust control device by using an external load torque generated by an aerodynamic wing and an external load torque generated by a thrust deflection vane. However, it is an object of the present invention to provide a steering / thrust control device capable of reducing the output of the drive motor, reducing the size, and reducing the capacity, by applying torques to the drive motor in opposite directions. And

[0010]

For this reason, the steering / thrust control apparatus of the present invention has the following means. An aerodynamic load generated on the aerodynamic wing by an external flow acting on the aerodynamic wing protruding into the external flow from the fuselage causes the aerodynamic wing to be pivotally mounted on a first output shaft that rotates and generates a first output shaft. It is installed in the direction of torque applied to the drive motor via a torque arm, a ball screw and a motor shaft, which is provided for controlling the rotation of the motor, and in a combustion gas flow ejected to the outside from the propulsion engine. The fluid (aerodynamic) load generated on the thrust deflection vane by the combustion gas flow acting on the thrust deflection vane causes the thrust deflection vane to be axially attached to the thrust deflection vane and to be generated on the rotating second output shaft. Each of the aerodynamic wing and the thrust deflection vane is provided so that the direction of the torque applied to the drive motor is opposite to the direction of the torque applied to the drive motor via the above-described device provided for controlling the rotation of the output shaft. Occurs on An action force center of the aerodynamic load was to set that.

That is, the direction in which an external load torque generated around the output shaft acts on the drive motor due to the aerodynamic load generated by the action of the air flow and the combustion gas flow on each of the aerodynamic blade and the thrust deflection vane. In order to reverse the direction, either the aerodynamic blade or the center of force of the aerodynamic load of the thrust deflecting vane is located on the upstream side of the flow from the output shaft on which the aerodynamic wing or thrust deflecting vane is axially mounted. Or, by adopting the vane shape, two external load torques generated by both aerodynamic loads are offset, and the external load torque acting on the drive motor is reduced.

The thrust deflecting vane of the present invention also includes a thrust deflecting beta which changes the direction of the combustion gas flow to change the direction of the thrust, similarly to the thrust deflecting vane.

According to the steering / thrust control apparatus of the present invention, the external load torque Tef generated on the output shaft on which the aerodynamic wing is mounted by the aerodynamic load acting on the aerodynamic wing by the means described above,
The external load torque Tev generated on the output shaft on which the thrust deflection vane is mounted by the aerodynamic load acting on the thrust deflection vane is expressed by the equation (1), as expressed by the equation (1). The directions of the external load torques Tef and Tev generated by the action of both aerodynamic loads are opposite. Thus, the torque Tm applied as an external load torque to the drive motor is expressed by the following equation (3) if the deceleration by the ball screw and the torque arm is omitted.

That is, the external load torques Tef, Tev
Can reduce the torque required for the drive motor as compared with the case of the same orientation, and by reducing the required torque, the drive motor can be reduced in size and output, that is, the steering / thrust control device can be reduced in size. it can.

[0015]

(Equation 1)

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a steering / thrust control device according to the present invention will be described below with reference to the drawings. FIG.
1 is a perspective view showing a first embodiment of a steering / thrust control device of the present invention. In the drawing, the same reference numerals as those of the conventional steering / thrust control device shown in FIG. 4 denote the same members, and a description thereof will be omitted.

In the aerodynamic wing 5 of the present embodiment, the center of action CP of the aerodynamic load generated by the action of the airflow 010 flowing outside the flying object is attached to the aerodynamic wing 5 so that the airflow 01
An aerodynamic wing-shaped one arranged at an upstream side of the flow from the output shaft 06 as a first output shaft was selected so that the angle of attack with respect to 0 was changed. The aerodynamic load generated on the aerodynamic wing 5 generates an external load torque Tef in the same direction as the direction R when the output shaft 06 is rotated in a direction to increase the aerodynamic load on the aerodynamic wing 5. That is, the external load torque Tef is proportional to the reduction ratio determined by the ball screw 03 and the torque arm 04 and is the aerodynamic load torque Tef.
The motor shaft converted torque T'ef acts on the motor shaft 02.

The center of the aerodynamic load acting by the combustion gas flow 09 acting on the thrust deflection vane 07 is centered on the thrust deflection vane 07 similarly to the conventional steering / thrust control device shown in FIG. And the angle of attack with respect to the combustion gas flow 09 is changed, and the blowing direction of the combustion gas flow 09, that is,
Output shaft 06 'as second output shaft for changing thrust direction
, Is arranged behind the flow. As a result, the output shaft 06 'which largely deflects the direction of thrust,
An aerodynamic load that generates an external load torque Tev that causes rotation in the direction opposite to the rotation direction R ′ is generated in the thrust deflection vane 07 by the action of the combustion gas flow 09.

The external load torque T generated on the output shaft 06 'by the aerodynamic load generated on the thrust deflection vane 07.
ev is an external load torque Tef generated by the aerodynamic wing 5.
Ball screw 03, 4 torque arm 04
Aerodynamic load torque Te proportional to the reduction ratio determined by
v becomes the motor shaft converted torque T'ev, and the motor shaft 02
Act on.

These two motor shaft converted torques T'e
Since f and T'ev are torques in opposite directions,
The required output torque of the drive motor 1 may be only the difference as in the case of the equation (3), and the output of the drive motor 1 can be reduced.
It is possible to reduce the size of the drive motor 01 and the size of the steering / thrust control device of the present embodiment.

FIG. 2 is a perspective view showing a steering / thrust control device according to a second embodiment of the present invention. In the present embodiment, the thrust deflection vane 7 has a thrust deflection vane 7 in which the center of the acting force of the aerodynamic load is located on the upstream side of the flow from the output shaft 06 '. The center of action of the aerodynamic load generated on the aerodynamic wings 05 is arranged on the downstream side of the flow from the output shaft 06, similarly to the conventional steering / thrust control device shown in FIG. As a result, the output torque required for the drive motor 01 becomes equal to the aerodynamic load torque Te due to the aerodynamic load on the aerodynamic wings 05, as in the first embodiment.
f The difference between the motor shaft converted torque T'ef and the aerodynamic load torque Tev caused by the aerodynamic load of the thrust deflection vane Tev, the motor shaft converted torque T'ev, which makes it possible to reduce the output and size of the drive motor. The form of the steering / thrust control device can be reduced in size.

FIG. 3 is a perspective view showing a steering / thrust control device according to a third embodiment of the present invention. In the present embodiment, the thrust deflection beta 10 as the thrust deflection vane of the present invention is used as the thrust deflection body for changing the direction of the flow of the combustion gas flow 09. The center of acting force of the aerodynamic load generated by the combustion gas 09 acting on the thrust deflection beta 10 is attached to the thrust deflection beta 10 and the direction of the center line of the thrust deflection beta 10 is changed to the direction of the combustion gas flow 09. Since it is always located downstream from the output shaft 06 'inclined to the direction, the shape of the aerodynamic wing 5 is the same as that of the aerodynamic wing 5 in the first embodiment shown in FIG. The load acting force center CP is located on the upstream side of the output shaft 06. As a result, similarly to the first and second embodiments, the external load applied to the drive motor 01 can be reduced.
Can be reduced and the size of the steering / thrust control device of the present embodiment can be reduced.

Although the embodiment of the steering / thrust control device of the present invention has been described above, the present invention is also applicable to an industrial articulated robot arm.

[0024]

As described above, according to the steering / thrust control device of the present invention, the aerodynamic wings and the thrust deflection vanes forming the steering / thrust control device have the configurations described in the claims. The external load torque generated by the aerodynamic load and applied to the drive motor can be reduced, the drive motor can have a low output, and the drive motor can be downsized and reduced in capacity. It is possible to reduce its own size and realize a flying object with excellent flying performance.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a first embodiment of a steering / thrust control device of the present invention,

FIG. 2 is a perspective view showing a second embodiment of the steering / thrust control device of the present invention,

FIG. 3 is a perspective view showing a third embodiment of the steering / thrust control device of the present invention,

FIG. 4 is a perspective view showing an example of a conventional steering / thrust control device.

[Explanation of symbols]

01 Drive motor 02 Motor shaft 03 Ball screw 04 Torque arm 5,05 Aerodynamic wing 06,06 'Output shaft 7,07 Thrust deflection vane 08 Rocket motor nozzle 09 Combustion gas flow 010 Air flow 11 Thrust deflection beta CP Aerodynamic blade action Force center CP 'Center of thrust deflection vane (beta) action R, R' Output shaft rotation direction Tef Aerodynamic blade external load torque Tev Thrust deflection vane (beta) external load torque T'ef Aerodynamic blade external load torque Motor shaft conversion Hour torque T'ef Thrust deflection vane (beta) external load torque Motor shaft equivalent torque

Claims (1)

[Claims] 1. A front and a back of a ball screw in which a first output shaft on which an aerodynamic wing is mounted and a second output shaft on which a thrust deflection vane is mounted are respectively screwed to a motor shaft of a single drive motor. In a steering / thrust control device for a flying object, which is rotated by movement to control the aerodynamic force generated by the aerodynamic wings and the thrust direction of the thrust deflection vanes, respectively, and fly, The direction of the external load torque generated on the first output shaft by the aerodynamic load generated on the aerodynamic blade and applied to the drive motor, and the aerodynamic load generated on the thrust deflection vane by the action of the combustion gas flow. The air generated in each of the aerodynamic blades and the thrust deflection vanes is generated on the second output shaft so that the direction of the external load torque applied to the drive motor is opposite to the direction of the external load torque. A steering / thrust control device, wherein an acting force center of a force load is set.