US3090582A - Remote control and stabilizing apparatus - Google Patents

Remote control and stabilizing apparatus Download PDF

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Publication number
US3090582A
US3090582A US786997A US78699759A US3090582A US 3090582 A US3090582 A US 3090582A US 786997 A US786997 A US 786997A US 78699759 A US78699759 A US 78699759A US 3090582 A US3090582 A US 3090582A
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Prior art keywords
steering
movement
missile
stabilizing
longitudinal axis
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Expired - Lifetime
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US786997A
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English (en)
Inventor
Senger Horst
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Boelkow Entwicklungen KG
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Boelkow Entwicklungen KG
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control
    • F42B15/04—Arrangements thereon for guidance or control using wire, e.g. for guiding ground-to-ground rockets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
    • F42B10/60—Steering arrangements
    • F42B10/62—Steering by movement of flight surfaces
    • F42B10/64—Steering by movement of flight surfaces of fins
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B19/00—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means
    • F42B19/01—Steering control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/107—Simultaneous control of position or course in three dimensions specially adapted for missiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/30—Command link guidance systems
    • F41G7/32—Command link guidance systems for wire-guided missiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B19/00—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means
    • F42B19/01—Steering control
    • F42B19/10—Steering control remotely controlled, e.g. by sonic or radio control

Definitions

  • the present invention relates to an apparatus for controlling the movements of bodies traveling through air or water from .a point remote from such body, and also for stabilizing the movements of such bodies which especially include aircraft, watercraft, missiles, torpedoes, and the like, and will for the purpose of describing the present invention be hereafter simply referred to as missiles.
  • gyr-oscopic apparatus mounted on such missile.
  • Such gyroscopic apparatus act upon suitable steering devices, for example, so-called spoiler plates which are mounted on the lairfoils or fins and are move-d in a transverse direction into the air or water current.
  • Such action of the gyroscopic apparatus is similar to that produced by the control impulses sent by a remote-control apparatus upon the steering means of the missile for changing its direction of travel.
  • the operation of such spoiler plates by the steering and stabilizing means is carried out according to one known method by the separate provision of spoiler plates for steering purposes and of one or more spoiler plates for stabilizing the movements of the missile while in flight.
  • the present invention consists in functionally combining the operating means of each steering element of a missile with an apparatus for steering the missile which may be located, for example, at a point remote fnorn the missile and also with an automatically operated apparatus which is located on the missile itself ⁇ for stabilizing the movements of the missile during its flight.
  • the invention therefore proposes either to subject all of the steering elements of the missile to the commands given by the steering control apparatus, for example, a remote control apparatus, as well as to the eflects of the stabilizing apparatus when the missile is effectively stabilized about its longitudinal axis, or to subject only some of the steering elements, preferably those located within the same plane, to the eifects of both apparatus when the missile undergoes small stabilizing oscillating movements about its longitudinal axis.
  • the steering impulses or commands may be transmitted to the means for operating the spoiler plates by an electric switch system whereby the spoiler plates which 5 are alternately shifted outwardly from the airfoil, tin, or
  • the steering impulses may then be given by the remote control apparatus in such a manner that the spoiler plates will remain shifted for a greater length of time toward one side of the airfoil or the like than toward the other, while the gyro stabilizer will permit only those shifting movements of the spoiler plates which produce a rolling moment which has the tendency to return the missile to its normal flight position stabilized about its longitudinal axis. This is attained by interrupting those steering impulses which .would increase the deviation from the normal flight position, i.e., from the flight position of the missile which it would assume when stabilized about its longitudinal axis.
  • the principal advantage of the apparatus according to the invention consists in thereby attaining a steady flight path free of deviations from the intended course and in the fact that this may be achieved at no greater expense than that of the simplified prior apparatus as previously mentioned since it utilizes essentially the same structural elements as said prior apparatus.
  • a further import-ant improvement attained by the invention consists in the tact that the required amount of electric energy supplied by the battery of the missile for operating the new control system is considerably smaller than that required by the known apparatus since no morethan two spoiler coils will now be connected at the same time to the battery instead of the four spoiler coils which previously had to be energized.
  • FIGURE 1 shows an electric circuit diagram of the control means for operating the steering elements of a missile which is steered and stabilized according to the invention, the gyro stabilizer control arrangement 25 thereof being shown as would appear to an observer located in front of the missile;
  • FIGURE 2 shows diagrammatically a simplified rear view of a missile which is steered and controlled according to the invention, and the steering elements of which consist of spoiler plates, two of which are slide out so as to produce a right-hand rolling moment during recti linear flight;
  • FIGURE 2a shows a view similar to FIGURE 2 of the same missile with two spoiler plates being slid out so as to produce a left-hand rolling moment during recti linear flight;
  • FIGURE 3 shows a view similar to FIGURES 2 and 2a of the same missile with the two spoiler plates being slid out so as to produce a right-hand rolling moment as well as a turning moment which is superimposed upon the rolling moment and directed about the lateral axis of the missile for attaining a climbing of the missile;
  • FIGURE 4 shows a view similar to FIGURE 3 of the same missile with two spoiler plates being slid out so as to produce a right-hand rolling moment as well as a turning moment which is superimposed upon the rolling moment and directed about the vertical axis for making a right turn;
  • FIGURE 5 shows diagrammatically a rear view of the missile similar to FIGURES 2,. 2a, 3, and 4, and indicates the various axes of the missile and the directions in which the spoiler plates are shifted to produce aerodynamic forces;
  • FIGURE 6 shows a diagrammatic perspective view of the missile
  • FIGURE 7 shows diagrammatically a simplified illustration of the gyro stabilizer and its associated mechanism and seen by an observer located to the rear of the missile.
  • FIGURE 6 illustrates a missile 1 which is provided with four airfoils 41, 42, 43, and 44 extending at right angles to each other.
  • a spoiler plate is mounted which is adapted to be shifted in a direction perpendicular to the longitudinal axis of the airfoil and which in its normal position projects equally from both sides of the airfoil, the projecting parts at the two side of airfoils 41, 42, 43, and 44 being indicated in the drawings by the numerals 31 and 32, 33 and 34, 35 and 36, and 37, 38, respectively as shown in FIG. 5.
  • the directions in which the respective spoiler plate must be shifted in order to render the respective part 31 to 38 thereof effective are indicated in FIGURE 5 by numerals which are twenty numbers higher, that is, by numerals 51 to 58, respectively.
  • electromagnet coils 11 to 18 (FIG. 1), respectively, are provided within the respective airfoils. When energized by an electric current, these coils 11 to 18 act upon the respective spoiler plates 31 to 38 forming the armatures of the electromagnets to alternately shift them in one direction or the other.
  • relay 5 within missile 1 may be operated by current impulses of a constant frequency which are transmitted thereto preferably by wire lines 5' from a suitable impulse generator or control station 2 which is located at a point remote from missile 1. These impulses are intended for steering the missile about an axis C (FIGURE 5) which, in the embodiment illustrated, is inclined at an angle of 45 relative to the vertical axis A and simultaneously forms the axis of airfoils 41 and 42.
  • relay 5 is energized by the current pulses sent from the remote control station 2, it alternately opcrates switches 7 and 8 to connect either the spoiler coils 11 and 14 or 12 and 13 to one terminal of a battery 26 provided in missile 1.
  • a second relay 6 which is likewise mounted in missile 1 may also receive current pulses of the same frequency as those sent to relay 5 from the remote control station 2, for example, through wire lines 6' for steering the missile about an axis C which forms the axis of airfoils 43 and 44 and extends perpendicularly to the axis C.
  • Relay 6 will then be energized to operate switches 9 and to connect either spoiler coils 15 and 18 or 16 and 17 to one terminal of battery 26, the other terminal of which is likewise connected through contact breaker to the other ends of these coils so that spoiler plates 35, 36 and 37, 38 of airfoils 43 and 44, respectively, would be alternately shifted outwardly in one direction or the other except for the interruption of the steering pulses by cont-act breaker 25 to be described more fully hereinafter.
  • the steering impulses are given by the remote control station 2 so that switches 7 to 10 will be operated regularly at equal intervals for instance, by transmitting symmetrical square pulses varying in a conventional manner in amplitude between two predetermined values at regular intervals or periods of time so that each amplitude level occurs for substantially the same length of time as the other amplitude level.
  • the pulses transmitted to relay 5 through lines 5' will be changed by any conventional means so that, at the same frequency and amplitude thereof, switches 7 and 8 will connect spoiler coils 11 and 14 with battery 26 for a greater length of time than coils 12 and 13. Consequently, spoiler plates 31, 32 and 33, 34 will remain shifted in the directions 51 and 54, respectively, for a longer time than in the directions 52 and 53.
  • the contact breaker 25 forms an element of a stabilizing apparatus consisting of a gyroscope 71 (FIG. 7) which is mounted within a frame 73 so as to be rotatable about an axis 72.
  • Frame 73 is pivotable about an axis 74 which extends perpendicularly to axis 72 and parallel to the longitudinal axis D of the missile.
  • Frame 73 carries a sliding contact 75 which is adapted to slide along contact banks 23 and 24- which are connected to spoiler coils 11, 13, 15, 17 and 12, 14, 16, 18, respectively, by conductors 21 and 22, respectively. Sliding contact '15 and contact banks 23 and 24 therefore form the different electrodes of the contact breaker 25.
  • the missile carries out a rolling movement about its longitudinal axis D toward the left from its normal position, i.e., a counterclockwise rolling movement as seen in FIGURES 2 to 4 and 7 and a clockwise movement as seen in FIGURE 1, sliding contact 75 will move toward contact bank 24, as shown in the direction of flight in FIGURE 7, so that line 21 will be dead and spoiler coils 11, 13, 15, and 17 will be deenergized.
  • Spoiler coils 12, 14 and 16, 18 will then receive alternating current impulses through line 22 in accordance with the oscillation of relays 5 and 6 so that the spoiler plates will slide alternately in the directions 52 and 54 or 56 and 58, respectively.
  • FIGURE *2 illustrates in full lines the positions of the spoiler plates which correspond to the positions of relays 5 and 6 as shown in FIGURE 1, and it also illustrates in dashed lines those positions of the spoiler plates which correspond to the respective positions of relays 5 and 6 opposite to those shown in FIGURE 1.
  • the total length of time during which the relays remain in each position is equal among each other and equal to the period of oscillation of the relay frequency if no command signal is transmitted from the remote control station to change the course of flight of the missile.
  • All four spoiler plates produce the same restoring or corrective rolling moment, i.e., clockwise rolling movement as seen in FIGURE 2 which seeks to restore the missile to its normal position in which its lateral axis B extends horizontally and in which contact arm 75 would establish an electrical connection with both contact banks 23 and 24. Due to its kinetic rotary energy, the missile will, however, move beyond its normal or zero position so that the sliding contact 75 will slide upon the contact bank 23.
  • the spoiler coils working in the opposite direction will thus be connected to battery 26 so that the spoiler plates will be shifted outwardly in the direction as indicated in FIGURE 20 and impart to the missile a rolling movement in the opposite direction to FIGURE 2, i.e., in the clockwise direction as seen in FIGURES 2a and 7.
  • the missile will thus carry out continuously oscillating rolling movements of a few degrees in either direction from its normal position under the control of the stabilizing apparatus 25 which compensate each other and do not have any influence upon the direction of flight.
  • This oscillatory rolling movement may be reduced by inserting a precession element of a type known as such between sliding contact 75 and the contact bars 23 and 24. This will give the missile a rolling moment in the opposite direction even before sliding contact 75 passes beyond the normal position of the missile, so that the deflection in the other direction will be at least partly suppressed.
  • the stabilization of the rolling moment is superimposed upon the steering control in such a manner that only the spoiler coils which are connected by contact breaker 25 will also be connected by relays 5 and 6 to battery 26 and thus be controlled by the steering pulses sent by the remote control station 2 through lines 5 and 6'.
  • the spoiler plates will therefore carry out only those of the oscillatory movements in one direction as above described which are permitted by contact breaker 25.
  • the respective spoiler plates will remain in the zero position.
  • Both pairs of spoiler plates are shifted alternately in equal rolling directions, and the steering function is effected by the diiferent length of time during which they remain shifted outwardly. If a steering command is given to cause a climbing of the missile and at the same time the stabilizing apparatus is set to produce a corrective rolling movement toward the right, as illustrated in FIGURE 3, spoiler plates 33, 34, and 35, 36 will be shifted by suitably modifying the length of the control pulses in the directions 54 and 56 for a longer period than spoiler plates 31, 32 and 37, 38, as indicated in dotted lines, which are shifted in the directions 52 and 58, the dotted line for spoilers 32 and 38 indicating that they will remain for a shorter period of time in the positions illustrated in FIGURE 3 than the full-line spoilers 34 and 36.
  • the present invention is not limited to missiles or even to aircraft generally, and the same principles described herein may also be applied to floating bodies, for example, torpedoes, or to other kinds of watercraft.
  • the invention is also not limited to the operation of the spoiler plates by an electric control system, but the control forces may also be transmitted thereto by any other suitable means which may be of a hydraulic, pneumatic or mechanical type.
  • spoiler plates it is also possible to apply other kinds of steering elements, such as rudders, fins, or the like, and the type of movement of such elements need not be a sliding movement, but may also be a pivotal movement.
  • a control mechanism for steering and stabilizing the movements of a body traveling in a fluid medium said body being generally symmetrical about its longitudinal 'axis and being steerable in any direction relative to its path of movement and having limited rotation in opposite directions relative to its longitudinal axis which generally coincides withits path of movement to stabilize the body during its movements, comprising a plurality of steering elements on said body, means for operating said steering elements, said operating means including remote control means separate from said body and means carried by said bodyand so constructed and arranged as to communicate with said remoteco-ntrol means for controlling each of said steering elements on said body for steering the same, automatically acting stabilizing means on said body, and connecting'means for operatively and selectively connecting and disconnecting each ofsaid steering elements with said connecting means being so constructed and arranged that each of said steering elements is operated only by superimposed control functions of said operating means and said stabilizing means, whereby the operated position of each steering element is dependent upon the condition of both said stabilizing means and said operating means.
  • said remote control means comprise at least one generator for producing impulses of a uniform frequency and means for varying the length of said impulses, a plurality of finlike structures generally symmetrically disposed about the longitudinal axis of said body, said steering elements comprising only one steering element on each of said finlike structures, said operating means further comprising actuating means on said body for each of said steering elements, at least one relay on said body for operating said actuating means, and wire means operatively connecting said relay to said generator.
  • said actuating means comprise switch means connected to and adapted to be operated by said relay, an electromagnetic coil for operating each of said steering elements, and a source of electric current having one terminal connected to said switch means, said electromagnetic coils each having one end adapted to be connected to said switch means and through said switch means to said termi nal, a contact breaker connected to said source of current and also connected to and controlled by said stabilizing means, each of said electromagnetic coils having another end adapted to be connected to said contact breaker, said contact breaker being adapted to selectively connect said other terminal to said other ends of some of said electromagnetic coils and to disconnect said other terminal from the other coils in accordance with the movements of said stabilizing means.
  • said stabilizing means comprise a gyroscope, said contact breaker comprising a contact bank having two separate contacts thereon, each connected to said other ends of one of two sets of said electromagnet coils, and a sliding contact adapted to slide along said contact bank and mechanically connected to said gyroscope to be shifted thereby.
  • each of said switch means operated by said relay has two switch positions adapted to be alternately connected to those of said electromagnetic coils which are adapted to cause the counteracting rolling movement.
  • said operating means comprise two relays on said body, said steering elements including the actuating means thereof being divided into two sets, each of said sets being adapted to be actuated by one of said relays for producing a turning movement about an axis of said body, the two axes extending at right angles to each other.
  • each of said spoiler plates is adapted to be shifted in a direction at right angles to the central plane of the respective fin-like structure and toward both sides thereof.
  • a control mechanism for steering and stabilizing the movements of a body traveling in a fluid medium said body being generally symmetrical about its longitudinal axis and being steerable in any direction relative to its path of movement and having limited oscillatory rotation about its longitudinal axis for stabilization, comprising a plurality of steering elements on said body, means for operating said steering elements, steering control means carried by said body and responsive to a steering signal for controlling the operation of each of said steering elements for steering said body, automatic stabilizing means on said body for controlling the operation of said elements to maintain stabilization of said body with respect to its longitudinal axis, and control means for operatively and selectively connecting and disconnecting the operating means for each of said steering elements for control by said stabilizing means, said lastmentioned control means being operatively connected and responsive to said steering control means and so constructed and arranged to actuate each said steering element only to positions in which it simultaneously tends to steer said body in accordance with said steering signal and eflect rolling movement to return the body to a predetermined stabilized position with respect to its longitudinal axis
  • a control mechanism for steering and stabilizing the movements of a body traveling in a fluid medium said body being generally symmetrical about its longitudinal axis and being steerable in any direction relative to its path of movement, said body being essentially non-rotatable about its longitudinal axis during steering move ments, but having limited rolling movement in opposite directions about its longitudinal axis for stabilizing the body relative to its path of movement, comprising a plurality of movable steering elements on said body for reacting with said fluid medium to control movements of said body, motive means for moving said steering elements relative to said body, means on said body for receiving steering control signals from a control station remote from said body, automatically acting stabilizing means on said body for providing a stabilizing control efiect dependent upon the angular position of said body about its longitudinal axis with respect to a desired stabilized position, and means operatively connected with said motive means as well as with said receiving means and said stabilizing means to effect movement of each said steering element only in dependence upon the condition of both said receiving means and said stabilizing means, said last-menti

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Fluid Mechanics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
US786997A 1958-01-15 1959-01-15 Remote control and stabilizing apparatus Expired - Lifetime US3090582A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DEB47448A DE1109534B (de) 1958-01-15 1958-01-15 Verfahren und Vorrichtung zur Steuerung und Stabilisierung von Flugkoerpern

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US3090582A true US3090582A (en) 1963-05-21

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US (1) US3090582A (de)
CH (1) CH363243A (de)
DE (1) DE1109534B (de)
FR (1) FR1214018A (de)
GB (1) GB904496A (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3233548A (en) * 1963-11-12 1966-02-08 Canrad Prec Ind Inc Dirigible aerial torpedo
US3443774A (en) * 1962-10-20 1969-05-13 Bofors Ab Remote controlled spinning missile system
US3891161A (en) * 1964-06-19 1975-06-24 Bolkow Gmbh Optical position determining device for controlling a spin stabilized flying body

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1215554B (de) 1961-08-29 1966-04-28 Gen Dynamics Corp Steuervorrichtung fuer ein Geschoss
DE1270406B (de) * 1962-06-29 1968-06-12 Bofors Ab Rollstabilisierungseinrichtung fuer ferngelenkte Flugkoerper
DE1453871B3 (de) * 1964-06-18 2004-04-08 Short Brothers Plc, Belfast Lenkvorrichtung für einen Flugkörper
DE1298912B (de) * 1965-12-10 1969-07-03 Messerschmitt Boelkow Blohm Schubvektorsteuerung fuer einen raketengetriebenen Flugkoerper mit mindestens einem Strahlablenker
FR2166320B2 (de) * 1972-01-07 1976-10-29 Aerospatiale
FR2159167B1 (de) * 1971-11-08 1974-11-15 Aerospatiale

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1568973A (en) * 1915-06-11 1926-01-12 Jr John Hays Hammond Dirigible device
US2466528A (en) * 1946-05-31 1949-04-05 Gulf Research Development Co Dirigible bomb
US2603434A (en) * 1945-09-28 1952-07-15 Merrill Grayson Pilotless aircraft
US2850251A (en) * 1954-04-08 1958-09-02 Wilbur A Joerndt Roll compensator for guided missiles
US2959378A (en) * 1957-04-17 1960-11-08 Snecma Device for the control and coordination of the controls of an aircraft

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1568973A (en) * 1915-06-11 1926-01-12 Jr John Hays Hammond Dirigible device
US2603434A (en) * 1945-09-28 1952-07-15 Merrill Grayson Pilotless aircraft
US2466528A (en) * 1946-05-31 1949-04-05 Gulf Research Development Co Dirigible bomb
US2850251A (en) * 1954-04-08 1958-09-02 Wilbur A Joerndt Roll compensator for guided missiles
US2959378A (en) * 1957-04-17 1960-11-08 Snecma Device for the control and coordination of the controls of an aircraft

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3443774A (en) * 1962-10-20 1969-05-13 Bofors Ab Remote controlled spinning missile system
US3233548A (en) * 1963-11-12 1966-02-08 Canrad Prec Ind Inc Dirigible aerial torpedo
US3891161A (en) * 1964-06-19 1975-06-24 Bolkow Gmbh Optical position determining device for controlling a spin stabilized flying body

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DE1109534B (de) 1961-06-22
CH363243A (de) 1962-07-15
GB904496A (en) 1962-08-29
FR1214018A (fr) 1960-04-05

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