RU177795U1 - STEERING DRIVE OF CONTROLLED ROCKETS AND Shell - Google Patents

STEERING DRIVE OF CONTROLLED ROCKETS AND Shell Download PDF

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Publication number
RU177795U1
RU177795U1 RU2017136843U RU2017136843U RU177795U1 RU 177795 U1 RU177795 U1 RU 177795U1 RU 2017136843 U RU2017136843 U RU 2017136843U RU 2017136843 U RU2017136843 U RU 2017136843U RU 177795 U1 RU177795 U1 RU 177795U1
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RU
Russia
Prior art keywords
steering
projectile
shaft
steering wheel
rotation
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Application number
RU2017136843U
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Russian (ru)
Inventor
Сергей Викторович Наумов
Кирилл Сергеевич Кузьминов
Виктор Владимирович Соколовский
Антон Андреевич Куклин
Алексей Викторович Тауров
Сергей Иванович Кацан
Иван Петрович Кириллов
Борис Анатольевич Страховский
Original Assignee
Акционерное общество "Машиностроительное конструкторское бюро "Факел" имени Академика П.Д. Грушина" (АО "МКБ "Факел")
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Application filed by Акционерное общество "Машиностроительное конструкторское бюро "Факел" имени Академика П.Д. Грушина" (АО "МКБ "Факел") filed Critical Акционерное общество "Машиностроительное конструкторское бюро "Факел" имени Академика П.Д. Грушина" (АО "МКБ "Факел")
Priority to RU2017136843U priority Critical patent/RU177795U1/en
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Publication of RU177795U1 publication Critical patent/RU177795U1/en

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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42AMMUNITION; BLASTING
    • F42BEXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00Self-propelled projectiles or missiles, e.g. rockets; Guided missiles

Abstract

The utility model relates to the field of aircraft motion control, in particular, to electro-hydraulic and electro-pneumatic steering drives of guided missiles and shells. The steering gear of guided missiles and projectiles includes an adder (1) connected to an electronic power amplifier (2), an electromechanical converter (3) , hydraulic or pneumatic distributor (4), power cylinders (5) with pistons (6) interacting via pushers (7) with a two-arm lever (10), the working surfaces of which are made by involute nte, steering wheel (12), feedback sensor (12), while the two-arm lever (10) is fixedly mounted on the shaft (11), the axis of rotation of which coincides with the axis of rotation of the steering wheel (12), fixedly mounted on one of the end surfaces of the shaft ( 11), and the cases of power cylinders (5) are fixed motionless on the body of a rocket or projectile (13). The feedback sensor rotor (14) is fixedly mounted on the second end surface of the shaft (11). The stator of the sensor (15) is fixed motionless on the body of the rocket or projectile (13). These signs ensure the accuracy of the rudder of the guided missile and the projectile of the control commands arriving at the input of the steering drive and reduce energy costs.

Description

The utility model relates to the field of aircraft motion control, in particular, to electro-hydraulic and electro-pneumatic steering drives of guided missiles and shells.

Steering drives are designed to rotate the motion control and stabilization of a guided missile or guided missile in accordance with the commands received at the input of the system (see B. G. Krymov, L. V. Rabinovich, V. G. Stebletsov, “Actuators of control systems aircraft ”, Moscow,“ Mechanical Engineering ”, 1987, p. 3).

Electrohydraulic and electro-pneumatic steering drives are known that are widely used in rocketry (see ibid., P. 29, p. 109).

The electro-hydraulic (electro-pneumatic) steering gear for guided missiles and projectiles includes (see ibid., P. 36, Fig. 2.3 and p. 116, Fig. 3.4) an adder, an electronic power amplifier, an electromechanical converter, a hydraulic (pneumatic) fluid distributor (gas), power cylinder, piston with a rod that is connected to the steering wheel through kinematic links, feedback sensor.

Electro-hydraulic and electro-pneumatic drives have high speed, energy consumption and compactness.

The disadvantages of these drives are:

1. A variable depending on the angle of rotation of the steering wheel, the amount of shoulder through which the translational movement of the rod of the power cylinder is converted into angular movement of the steering wheel, which leads to a change, depending on the angle of rotation of the steering wheel, of the moment acting relative to the axis of rotation of the steering wheel, with constant force stock (at large angles of rotation of the steering wheel, the moment value tends to zero). In order to provide a given moment at all steering angle, a need arises to increase the shoulder, which leads to an increase in the stroke of the rod to provide a given angle of rotation of the steering wheel and to an increase in the flow rate of the working fluid (liquid or gas) to provide a given angular velocity of rotation of the steering wheel. As a result, the dimensions of the power cylinder increase, energy costs increase or the steering angle is limited.

2. The nonlinear relationship between the movement of the rod of the power cylinder and the movement of the rudder, the presence of backlashes in the kinematics connecting the rod of the power cylinder and the rudder, as well as the elasticity of the kinematic links in combination with friction in their articulated joints, lead to phase and amplitude distortions in the movement of the rudder relative to the movement of the rod the power cylinder, therefore, to the mismatch of the angle of deviation of the steering wheel relative to the body of the rocket or projectile control signal, since the feedback sensor, the signal of which corresponds T control signal part of the cylinder and measures the position of the actuator rod relative to its housing.

3. The ratio of the magnitude of the stroke of the rod to the magnitude of the angle of rotation of the steering wheel increases as the steering wheel deviates from its middle position, which leads to an increase in the linear size of the power cylinder.

The above problems are largely resolved in RU 2535811 (publication date 12/20/2014, F15B 15/06). The sources describe a half-turn actuator, which includes a two-arm lever, whose working surfaces are made according to an involute, which converts the translational movement of the rods of the power cylinders into a rotational output link. The advantage of such a mechanism is the constancy of the shoulder value, through which the translational movement of the rod of the power cylinder is converted into the angular movement of the output link. This circumstance ensures independence of the angle of rotation of the output link of the moment acting relative to the axis of rotation of the output link, with constant force on the rod of the power cylinder, and the constancy of the ratio of the stroke to the value of the angle of rotation of the steering wheel in the entire range of steering deviation. In addition, the advantages of such a mechanism include the absence of backlashes in kinematics, which converts the translational movement of the rod of the power cylinder into a rotational output shaft.

However, it is impossible to apply this solution to the steering drive of a guided missile and a projectile because the involute drive made in a single housing cannot be installed into the steering gear of a guided missile and a missile due to lack of free space.

This utility model is aimed at solving the problem of creating an electro-hydraulic / electro-pneumatic steering drive of guided missiles and a projectile devoid of these drawbacks with the possibility of realizing all the advantages of the drive: independence of the available torque from the piston stroke, reducing power consumption, reducing the piston stroke, lack of backlash, and improving accuracy working out the steering signal.

The proposed solution allows to achieve the technical result, which consists in increasing the accuracy of the rudder's development of a guided missile and a projectile control commands received at the input of the steering gear; in reducing energy consumption, in particular with an increase in the maximum steering angle.

The technical result is achieved due to the fact that the two-arm lever 10 is fixedly mounted on the shaft 11, the axis of rotation of which coincides with the axis of rotation of the steering wheel, fixedly mounted on one of the end surfaces of the shaft 11, and the housing of the power cylinders 5 are fixedly mounted on the body of the rocket or projectile 13; wherein the rotor of the feedback sensor 14 is fixed motionless on the second end surface of the shaft 11, and the stator of the sensor 15 is fixed motionless on the body of the rocket or projectile 13.

The essence of the proposal is illustrated by drawings.

In FIG. 1 shows a functional diagram of the drive: in FIG. 1a when the rudder 12 is in the middle position; in FIG. 1b when turning the steering wheel clockwise; in FIG. 1c - when turning the steering wheel counterclockwise.

In FIG. 2 shows the cross section of the drive by a plane passing through the axis of the piston and parallel to the axis of the shaft.

In FIG. Figure 3 shows the cross section of the drive with a plane passing through the axis relative to which the shaft and the steering wheel rotate.

The steering gear of the guided missile and projectile includes an adder 1; electronic power amplifier 2; electromechanical converter 3; a hydraulic (pneumatic) distributor 4 connected to a source of hydraulic (pneumatic) power; power cylinders 5; pistons 6, in each of which the pusher 7 is fixedly fixed (Fig. 2), in the eyes of which bearings 8 are installed; axis 9, fixed in the inner race of the bearings 8; two-arm lever 10, the working surfaces of which are made according to involute; shaft 11 (Fig. 3); steering wheel 12; missile or projectile body 13; feedback sensor rotor 14; feedback sensor stator 15; hydraulic (pneumatic) line 16 (Fig. 1) connecting the outputs of the distributor 4 with the working cavities of the power cylinders 5.

In contrast to the known solutions, the claimed two-arm lever 10 is fixedly mounted on the shaft 11. The axis of rotation of the shaft 11 coincides with the axis of rotation of the steering wheel 12, which is fixedly mounted on one of the end surfaces of the shaft 11. The rotor of the feedback sensor 14 is fixedly mounted on the second end the surface of the shaft 11, which allows you to measure the movement of the steering wheel directly. The stator of the sensor 15 is fixed motionless on the body of the rocket or projectile 13. Housings of the power cylinders 5 are fixed motionless on the body of the rocket or projectile 13. As a result, the proposed design provides a constant ratio of the stroke of the rod to the value of the angle of rotation of the steering wheel in the entire range of steering deviation, as well as due to the absence of backlash, the accuracy of working out the steering signal increases.

The steering gear of a guided missile and a shell works as follows.

In the initial position (Fig. 1a), the control signal (Uupr) and the feedback signal (Uoc) supplied to the inputs of the adder 1 are equal to zero; accordingly, the signals from the output of the adder 1 to the input of the electronic power amplifier 2 and from the output of the electronic power amplifier 2 to the input of the electromechanical converter 3 are equal to zero. The output links of the electromechanical converter 3 and the hydraulic (pneumatic) distributor 4, pistons 6 and connected through them with two shoulders lever 10 steering wheel 12 are in the middle position. The pressure of the liquid (gas) in the working cavities of the power cylinders 5 are equal to each other. When the control signal (Uadr) is changed, an output signal of non-zero appears at the output of adder 1, which is amplified by an electronic power amplifier 2 and fed from its output to the input of the electromechanical converter 3. The output link of the electromechanical converter 3 deviates from the middle position, as a result of which it is shifted from the middle position of the output link of the hydraulic (pneumatic) distributor 4. The volume of liquid (gas) entering the working cavity of one of the power cylinders 5 through the appropriate guide avlicheskuyu (pneumatic) line 16 which connects this cavity with the outlet of the distributor 4 is increased. The pressure of the liquid (gas) in this cavity increases, the piston 6 located in it begins to advance. The translational movement of the piston 6 (Fig. 2) through the pusher 7, the bearing 8 and the axis 9 is transmitted to the two-arm lever 10 and is converted into the angular movement of the shaft 11 (Fig. 3), the associated steering wheel 12 and the feedback sensor rotor 14. When turning the two-armed of lever 10, the force acting on it from the side of the extendable piston 6 is transmitted to the second piston 6 (Fig. 1), which begins to move in, displacing the liquid (gas) through the second line 16 into the drain line of the hydraulic (pneumatic) system. When the rotor of the feedback sensor 14 is rotated, the electrical signal at the output of the stator of the feedback sensor 15 (Uoc) changes until it becomes equal to the control signal (Uad). Accordingly, the signals at the output of the adder 1 and at the output of the electronic power amplifier are reset, and the output links of the electromechanical converter 3 and the hydraulic (pneumatic) distributor 4 are set to the desired position. Depending on the polarity of the control signal (Uoc), the steering wheel 12 from the middle position (Fig. 1a) rotates either clockwise (Fig. 1b) or counterclockwise (Fig. 1c).

Thus, the steering wheel of a guided missile or projectile deviates by an angle proportional to the control signal at the input of the steering drive, while the available moment on the steering wheel remains unchanged, and there are no backlashes in the kinematic links. The absence of backlash and the ability to directly measure the angle of rotation of the steering wheel increases the accuracy of the rudder working out a guided missile and a projectile control commands received at the input of the steering gear.

Claims (3)

1. The steering drive of a guided missile or projectile, comprising an adder (1) connected to an electronic power amplifier (2), an electromechanical converter (3), a hydraulic or pneumatic distributor (4), power cylinders (5) with pistons (6) interacting through pushers (7) with a two-arm lever (10), the working surfaces of which are made according to an involute, a steering wheel (12), a feedback sensor (12), characterized in that the two-arm lever (10) is fixed motionless on the shaft (11), the axis of rotation which coincides with the axis of rotation of the steering wheel (12), motionlessly closed captive on one of the end surfaces of the shaft (11), and a power cylinder housings (5) are fixed on a missile or projectile body (13).
2. The steering drive according to claim 1, characterized in that the feedback sensor rotor (14) is fixedly mounted on the second end surface of the shaft (11).
3. The steering drive according to claim 1, characterized in that the sensor stator (15) is fixed motionless on the rocket or projectile body (13).
RU2017136843U 2017-10-19 2017-10-19 STEERING DRIVE OF CONTROLLED ROCKETS AND Shell RU177795U1 (en)

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RU2017136843U RU177795U1 (en) 2017-10-19 2017-10-19 STEERING DRIVE OF CONTROLLED ROCKETS AND Shell

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU262573A1 (en) * С. В. Наумов Pneumatic hydraulic full-turning executive mechanism
US2195400A (en) * 1936-06-05 1940-04-02 Charles A Arens Control mechanism
RU2261195C1 (en) * 2004-01-12 2005-09-27 Открытое акционерное общество "Павловский машиностроительный завод ВОСХОД" (ОАО "ПМЗ ВОСХОД") Self-contained hydraulic drive- electrohydraulic servo unit module
RU142186U1 (en) * 2013-10-15 2014-06-20 Федеральное государственное унитарное предприятие "Центральный аэрогидродинамический институт имени профессора Н.Е. Жуковского" (ФГУП "ЦАГИ") Mechanism for declining the steering surface of the aerodynamic plane model
RU2535811C1 (en) * 2013-07-15 2014-12-20 Сергей Сергеевич Наумов Limited slewing executive mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU262573A1 (en) * С. В. Наумов Pneumatic hydraulic full-turning executive mechanism
US2195400A (en) * 1936-06-05 1940-04-02 Charles A Arens Control mechanism
RU2261195C1 (en) * 2004-01-12 2005-09-27 Открытое акционерное общество "Павловский машиностроительный завод ВОСХОД" (ОАО "ПМЗ ВОСХОД") Self-contained hydraulic drive- electrohydraulic servo unit module
RU2535811C1 (en) * 2013-07-15 2014-12-20 Сергей Сергеевич Наумов Limited slewing executive mechanism
RU142186U1 (en) * 2013-10-15 2014-06-20 Федеральное государственное унитарное предприятие "Центральный аэрогидродинамический институт имени профессора Н.Е. Жуковского" (ФГУП "ЦАГИ") Mechanism for declining the steering surface of the aerodynamic plane model

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
КРЫМОВ Б. Г. и др., Исполнительные устройства систем управления летательными аппаратами, Москва, Машиностроение, 1987, с. 3, 29, 36, 109, 116. *

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