JP2000292097A - Aerial towed body and its flight control method - Google Patents

Abstract

(57) [Summary] [Problem] To perform a stable aerial flight of a towed object. SOLUTION: This is a towed body provided with a main body having a plurality of movable wings 6a to 6d which are towed by a flying body and are arranged in parallel at equal intervals in a circumferential direction, wherein the towed body controls aerial flight of the main body. A control device 2 is provided. The flight control device 2 includes actuators 8a to 8d for driving the movable wings 6a to 6d, acceleration sensors 9a to 9d for detecting the acceleration and attitude angle of the main body due to aerial flight, a vertical gyro. 9e and a controller 10 that controls the driving of each of the actuators 8a to 8d based on the detection results of the sensors 9a to 9e.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial towed vehicle used as a target for military training, for example, and a flight control method therefor.

[0002]

2. Description of the Related Art In general, this kind of aerial towed vehicle for military training is used by towing a body of a body by, for example, an aircraft, and igniting and burning an explosive flare on the body of the body. Conventionally, this kind of aerial towed body is configured as shown in FIG. The aerial towed body will be described with reference to the same figure. In the figure, the aerial towed body indicated by reference numeral 31 includes a main body 33 having fixed fins 32, and is attached to a flying body (not shown) such as an aircraft. It is connected via a towing line 34. In such an aerial towed body,
When the flying object flies in the air, the main body 3
3 is towed.

[0003]

However, in a conventional aerial towed vehicle, fixed fins 3 are used as aerial wings.
Because of the structure having only two, it was not possible to control the flight of the main body 33 in the air. As a result, when a large disturbance is suddenly applied to the main body 33 during the straight flight, there is a problem that the air attitude of the main body 33 is deteriorated and a stable air flight cannot be performed.

[0004] Japanese Patent No. 2671861 discloses a prior art as a "power and signal transmission system for towing targets". However, the prior art shown in this patent is
A power transmission system that supplies power to the towing target and a control signal system that outputs high frequency to the towing machine, while a monitor signal transmission system that outputs to the towing target a high frequency that is different from the control signal transmission system to the towing machine Therefore, the above-mentioned problem cannot be solved.

The present invention has been made in view of such circumstances, and provides an aerial towed body capable of obtaining a good aerial attitude and capable of performing a stable aerial flight, and a method of controlling its flight. Aim.

[0006]

In order to achieve the above object, an aerial towed vehicle according to a first aspect of the present invention has a plurality of movable wings towed by a flying object and arranged in parallel at equal intervals in a circumferential direction. A towed body having a main body, wherein a flight control device for controlling the aerial flight of the main body is arranged on the towed body, the flight control device includes an actuator for driving each movable wing, The configuration includes a sensor that detects acceleration and an attitude angle due to flight, and a controller that drives and controls the actuator based on the detection result of the sensor. Therefore, when the sensor detects the acceleration and attitude angle of the main body due to aerial flight, the controller drives and controls the actuator based on the detection result, and each movable wing is driven by this drive control.

According to a second aspect of the present invention, in the aerial towed vehicle according to the first aspect, the sensor comprises an acceleration sensor for detecting the acceleration in the vertical and horizontal directions of the main body, and a gyro for detecting the attitude angle of the main body. There is. Therefore, the vertical acceleration and the horizontal acceleration and the attitude angle generated during the air flight of the main body are detected by the acceleration sensor and the gyro, respectively.

[0008] The invention described in claim 3 is claim 1 or 2.
In the aerial towed body described, the actuator is configured to include a plurality of actuators corresponding to each movable wing. Therefore, when each actuator is driven,
The movable wing corresponding to each of these actuators is driven.

According to a fourth aspect of the present invention, in the aerial towed vehicle of the first, second or third aspect, an antenna for receiving a command signal from the ground is attached to each movable wing, and the reception level among these antennas is high. An antenna output selector for selecting an output signal from the antenna is included in the flight control device, and a receiver for receiving the output signal selected by the antenna output selector and outputting the signal to the controller is included. Therefore, when each antenna receives a command signal from the ground and outputs it to the antenna output selector, the antenna output selector selects the signal with the highest output level among these output levels, and the receiver receives the selected output signal. And output to the controller.

According to a fifth aspect of the present invention, there is provided the airborne towed body according to any one of the first to fourth aspects, wherein the main body is formed by at least two body portions which can be detachably attached to each other. Among them, a flight control device is mounted on a body including movable wings. Therefore, assembling of the main body is performed by mounting the flight control device on one body including the movable wing and mounting the flight control device on the other body.

According to a sixth aspect of the present invention, there is provided a method for controlling aerial flight of a main body having a plurality of movable wings which are towed by the flying object and are arranged in parallel in the circumferential direction at equal intervals. Then, the acceleration and attitude angle of the main body due to aerial flight are detected, and each movable wing is drive-controlled based on the detection result. Therefore, the aerial flight control of the towed body is performed by detecting the acceleration and the attitude angle of the main body due to the aerial flight, and controlling the driving of each movable wing based on the detection result.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described.
This will be described with reference to the drawings. FIG. 1 is a block diagram showing a flight control device of an aerial towed object according to a first embodiment of the present invention,
FIG. 2 is a side view showing the aerial towed body according to the first embodiment of the present invention. 1 and FIG.
Is provided with a main body 3 having a flight control device 2 therein, and is connected to a flying object (not shown) such as an aircraft via a towing line 4.

The main body 3 has a first body 5, a second body 6 and a third body 7, and is formed entirely of a substantially cylindrical body including a hemispherical tip. The first body 5 forms the tip of the main body 2 and is detachably attached to the front end of the second body 6.

The second body 6 has four movable wings 6a to 6d on the outer peripheral surface which are arranged in parallel at equal intervals in the circumferential direction on the outer peripheral surface, and is provided between the first body 5 and the third body 7. It is arranged detachably. The flight control device 2 for controlling the aerial flight of the main body 3 is accommodated in the second trunk portion 6.

The flight control device 2 includes movable wings 6a to 6d, and includes an actuator 8, a sensor 9, a controller 10,
It has an antenna 11, an antenna output selector 12, a receiver 13, and a power supply 14. Thus, the flight of the towed body 1 (main body 3) in the air is automatically controlled, and the flight of the main body 3 in the air is also controlled by a command signal from the ground.

The actuator 8 includes movable wings 6a to 6d
Consists of four actuators 8a to 8d for driving
It is connected to the controller 10. Thus, when the actuators 8a to 8d are driven, the movable wings 6a to 6d corresponding to the actuators 8a to 8d are driven.

The sensor 9 includes acceleration sensors 9a to 9d for detecting acceleration in the vertical and horizontal directions of the main body 3, respectively.
And a vertical gyro 9e for detecting the attitude angle (pitch angle and roll angle) of the camera, and is connected to the controller 10. Thus, the acceleration sensor 9 detects the vertical and horizontal accelerations and attitude angles generated when the main body 3 flies in the air, that is, when the main body 3 rises, processes and turns.
a to 9d and the vertical gyro 9e.

The controller 10 includes acceleration sensors 9a to 9a.
Each of the actuators 8a to 8d is drive-controlled based on a detection result by the vertical gyro 9e and a signal from the receiver 13. Thereby, when the towed object 1 is unstable, the movable wings 6a to 6d are driven so as to correct the position change and the attitude change of the main body 3, so that the towed object 1 can fly stably in the air.

The antenna 11 comprises four antennas 11a to 11a for receiving command signals (radio waves) from the ground, and is incorporated in each of the movable wings 6a to 6d. The antenna output selector 12 is connected to each of the antennas 11 a to 11 d and the receiver 13, selects an output signal from an antenna having a higher reception level among the antennas 11 a to 11 d, and outputs the output signal to the receiver 13.

The receiver 13 has a detector and an amplifier (both not shown), and is connected to the controller 10 and the antenna output selector 12. Thus, when a selection output signal from the antenna output selector 12 is received, a command signal from the antennas 11a to 11d corresponding to the received signal is output to the controller 10. The power supply 14
Power is supplied to each component of the flight control device 2.

The third body 7 has four fixed fins 7a to 7d (fixed fins 7d) arranged in parallel at equal intervals in the circumferential direction.
Has an attachment portion 7e for fixing one end of the towing line 4 connected to the flying object, and is detachably attached to the rear end of the second trunk portion 6.

Next, the aerial flight control method ("automatic flight control" and "flight control according to commands from the ground") of the towed body in this embodiment will be described with reference to FIGS. First, when disturbance is applied to the towed body 1 (main body 3), the acceleration sensors 9a to 9d and the vertical gyro 9e respectively detect the vertical and horizontal accelerations and attitude angles of the main body 3, and these detection signals are sent to the controller. 1
Output to 0.

Next, the controller 10 outputs a control signal to each of the actuators 8a to 8d based on the detection results of the acceleration sensors 9a to 9d and the vertical gyro 9e. The movable wings 6a to 6d are driven and controlled in a direction in which the posture is corrected.

[Flight control by command from the ground] When it becomes necessary to control the flight of the towed object 1 to change the relative position with respect to the flying object, a signal for flight control is transmitted from the ground. When each of the antennas 11a to 11d receives a command signal from the ground, the received signal is output to the antenna output selector 12.

Next, the antenna output selector 12 selects an output signal from the antenna having a higher reception level among the antennas 11a to 11d, and outputs the selected output signal to the receiver 13. When the receiver 13 detects and amplifies and receives the signal selected by the antenna output selector 12, it detects and amplifies the received signal and outputs it to the controller 10 as a command signal.

The controller 10 sends a control signal to the actuators 8a to 8d based on a signal from the receiver 13 to drive and control the movable wings 6a to 6d. At this time, if the operation and posture of the towed body 1 become unstable, the sensor 9 detects this state and outputs it to the controller 10. That is, the controller 10 outputs a control signal to each of the actuators 8a to 8d based on the detection results of the acceleration sensors 9a to 9d and the vertical gyro 9e at the same time as the flight control based on the instruction from the ground.
a to 8d drive and control the movable wings 6a to 6d in a direction to correct the unstable operation and posture of the main body 3. In this way, the airborne flight control of the towed body 1 can be reliably performed.

Therefore, in the present embodiment, since the actuators 8a to 8d (the movable wings 6a to 6d) are drive-controlled to control the aerial flight of the main body 3, a large disturbance is applied to the main body 3 during the straight flight. A good aerial attitude can be obtained even when suddenly added.

In this embodiment, since the aerial flight of the main body 3 can be controlled by a command signal from the ground, the aerial position of the towed object 1 with respect to the flying object is set within the range towed by the towing line 4. Can be changed freely.

Further, in the present embodiment, the main body 3 is formed by first to third torso portions 7 which can be detachably attached to each other, and the flight control device 2 is built in the second torso portion 6 among them. Accordingly, the flight control device 2 can be inspected by detaching the second trunk portion 6 from the main body 3, and the inspection work can be easily performed.

In this embodiment, the case where the flying body as the towing body is an aircraft has been described, but the present invention is not limited to this, and another flying body such as a helicopter may be used. In the present invention, the explosive flare is ignited.
It is not limited to use as a target for military training to burn, but can also be used for spraying pesticides, seeds, digestives, water and the like.

[0031]

As described above, according to the present invention, an actuator for driving each movable wing, an acceleration and an attitude angle of the main body by aerial flight are provided for a towed body having a main body having a plurality of movable wings. And a controller that drives and controls the actuator based on the detection result of the sensor. Therefore, when the sensor detects the acceleration and attitude angle of the main body due to aerial flight, the detection result is obtained. The controller controls the drive of the actuator based on the above, and each movable wing is driven by the drive control.

Therefore, since the aerial flight of the main body is controlled by controlling the driving of each actuator, a good aerial attitude can be obtained even if a large disturbance is suddenly applied to the main body during a straight flight, and a stable aerial flight can be obtained. Can fly.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a flight control device for an aerial towed object according to a first embodiment of the present invention.

FIG. 2 is a side view showing an aerial towed object according to the first embodiment of the present invention.

FIG. 3 is a side view showing a conventional aerial towed object.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 towed body 2 flight control device 3 main body 4 towing line 5 first body 6 second body 6 a to 6 d movable wing 7 third body 8, 8 a to 8 d actuator 9 sensor 9 a to 9 d acceleration sensor 9 e vertical gyro 10 Controller 11, 11a to 11d Antenna 12 Antenna output selector 13 Receiver 14 Power supply

Claims (6)

[Claims] 1. A towed body provided with a main body having a plurality of movable wings which are towed by a flying body and are arranged in parallel at equal intervals in a circumferential direction, wherein the towed body controls an aerial flight of the main body. A control device is provided, the flight control device includes an actuator that drives each of the movable wings, a sensor that detects an acceleration and an attitude angle of the main body due to aerial flight, and the actuator that controls the actuator based on a detection result by the sensor. An aerial towed body having a controller for driving control. 2. The apparatus according to claim 1, wherein said sensor comprises an acceleration sensor for detecting an acceleration in the vertical and horizontal directions of said main body, and a gyro for detecting a posture angle of said main body.
Aerial towed body as described. 3. The aerial towed body according to claim 1, wherein the actuator comprises a plurality of actuators corresponding to each of the movable wings. 4. An antenna for receiving a command signal from the ground is attached to each movable wing, and an antenna output selector for selecting an output signal from an antenna having a high reception level among these antennas is included in the flight control device. With
The aerial towed vehicle according to claim 1, 2, or 3, further comprising a receiver that receives the output signal selected by the antenna output selector and outputs the signal to the controller. 5. The flight control device according to claim 1, wherein the body is formed of at least two body parts each of which is detachable from each other, and the flight control device is mounted on a body part including the movable wing among the two body parts. Item 5. The aerial towed body according to any one of Items 1 to 4. 6. A method for controlling an aerial flight of a main body having a plurality of movable wings towed by a flying object and arranged in parallel at equal intervals in a circumferential direction, comprising detecting acceleration and an attitude angle of the main body caused by the aerial flight. A flight control method for an aerial towed body, wherein the movable wing is drive-controlled based on the detection result.