• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for determining angle of incidence for a projectile in the path of the projectile from launcher to target, which projectile is guidable and substantially or partially roll-stable and comprises a control system and at least two actuators with associated control members, in which the following steps are included: determination of applied force for pitch control by evaluation of the moment upon the actuators of the projectile, determination of applied force for yaw control by evaluation of the moment upon the actuators of the projectile, calculation of the pitch component a of the angle of incidence and of the yaw component beta of the angle of incidence, based on comparison between the evaluated moments and reference data for moments. The invention also relates to a GNC system.
    公开号:SE1130088A1
    申请号:SE1130088
    申请日:2011-09-20
    公开日:2013-03-21
    发明作者:Mats Larsson
    申请人:Bae Systems Bofors Ab；
    IPC主号:
    专利说明:

    The control system proposed in the method is based on a neural network. A problem with the method according to US2010 / 0176238 A1 is that no or limited information is obtained about the angle of attack, which means that the navigation system does not provide a complete or correct position determination.
    Examples of another previously known method, see US-6,779,752 B1, refer to a guidance system without a gyroscope. The described system uses three accelerometers and a GPS receiver. A problem with the method according to US-6,779,752 B1 is that no or limited information is obtained about the roll angle, which means that the navigation system does not provide a complete or correct position determination.
    Examples of yet another prior art method, see US-5,775,636, relate to a steerable projectile comprising a GPS receiver. A problem with the method according to US-5,775,636 is that no or limited information is obtained about the roll angle, the angle of attack or the turning angle, which means that the navigation system does not provide a complete or correct position determination.
    Examples of yet another prior art method, see US-7, l63, l76 B1, refer to a two-dimensional correction system for both roll-stable and fen-stable projectiles. A problem with the method according to US-7, l63, l76 B1 is that no or limited information is obtained about the angle of attack, which means that the navigation system does not provide a complete or correct position determination.
    Problems with currently existing solutions according to the above-mentioned document are thus that no or limited information is obtained about the angle of attack, which means that the navigation system does not provide a complete or correct position determination.
    Additional problems which the invention intends to solve appear in connection with the following detailed description of the various embodiments.
    OBJECT OF THE INVENTION AND ITS FEATURES The present invention calculates and determines the angle of attack of a projectile on the basis of a smaller number of sensors than conventional systems.
    The present invention relates to a method for determining the angle of attack of a projectile in the projectile's trajectory from launch device to target, which projectile is steerable and substantially or partially role stable and comprises control systems and at least two actuators with associated controls including the following steps; determination of exhibited collar fi for tilt control by estimating the torque of the projectile actuators, determination of exhibited collar gir for steering control by estimating the torque of the projectile actuators, calculating the angle of attack a component of the angle of attack and the gear angle of the angle of attack ß based on the comparison torque reference data.
    According to further aspects of the improved method of angle of attack determination according to the invention apply; that reference data for torque is obtained from a look-up table produced on the basis of measurement of aerodynamic properties of the projectile. that reference data for torque is obtained from a look-up table produced from the calculation of aerodynamic properties of the projectile. that comparison of the estimated torque and reference data for torque takes place by the reference data closest to the estimated torque giving an estimate of the angle of attack tipping component u and the angle of attack gear component ß based on the reference table of said reference data. that comparison of the estimated torque and reference data for torque takes place by said reference data being a basis for creating a mathematical description of said reference data, which mathematical description uses said estimated torque as variables in the mathematical description in such a way that the angle of attack u and the angle of attack gear component ß is calculated. that the estimated torque is determined on the basis of measurement of electric current to the drive unit of the actuators. that the estimated torque is determined by measuring the torque acting on the actuators with a torque sensor.
    The invention furthermore relates to a GNC system for steerable projectiles, which projectile is steerable and mainly or partially role-stable and comprises control systems and at least two actuators with associated control devices where the angle of attack is determined by the following steps; determination of the applied force for tipping control by estimating the torque of the projectile actuators, determining the applied force for steering in gear by estimating the torque of the projectile actuators, calculating the tipping component a of the angle of attack and the gear angle of the angle of attack ß based on comparison between the estimated and for moments.
    According to further aspects of the improved GNC controllable projectile system according to the invention; that reference data for torque is obtained from a look-up table produced on the basis of measurement of aerodynamic properties of the projectile. that reference data for torque is obtained from a look-up table produced from the calculation of aerodynamic properties of the projectile. that comparison of the estimated torque and reference data for torque takes place by the reference data that is closest to the estimated torque giving an estimate of the angle of attack tipping component o. and the gear angle gear component ß based on said reference data look-up table. that comparison of the estimated torque and reference data for torque takes place by said reference data being a basis for creating a mathematical description of said reference data, which mathematical description uses said estimated torque as variables in the mathematical description in such a way that the angle of attack u. the angle of attack gear component ß is calculated. that the estimated torque is determined on the basis of measurement of electric current to the drive unit of the actuators. that the estimated torque is determined by measuring the torque acting on the actuators with a torque sensor.
    ADVANTAGES AND EFFECTS OF THE INVENTION 10 15 20 25 30 35 Based on the proposed method and proposed GNC system, the projectile's angle of attack can be estimated by comparison with exhibited torque on rudders or fins with torque measured on rudder or fins or from simulations calculated torque on rudder or fins . The angle of attack of the projectile can be used together with the measured roll angle velocity, for example from a roll gyro, to calculate the roll angle.
    Roll, tilt and turn angles together with a GPS receiver provide sensor information for a complete GNC system, which is why determining the angle of attack results in a simpler GNC system. The simplification compared to a traditional GNC system is that only one gyro is used instead of three gyros and three accelerometers.
    LIST OF FIGURES The invention will in the following be described in more detail with reference to the accompanying figures where: Fig. 1 shows a block diagram for a method for determining the angle of attack according to the invention.
    Fig. 2 shows a projectile with actuators applying method for attack angle determination according to the invention.
    DETAILED DESCRIPTION OF EMBODIMENT Fig. 1 shows a block diagram of the method for determining and calculating the angle of attack 1, where a controller 2 controls a motor 4 on the basis of a desired reference signal 8. The reference signal 8 consists of the setpoint of the motor. The motor can also be called a servo or actuator.
    The reference signal 8 is generated from the projectile control system. The motor 4 may be a linear motor but is preferably a motor with a rotating shaft. The measured motor current ll is compared with the signal estimated motor current 10 coming from the calculation block estimating motor current 3. The result of the difference between measured motor current 11 and estimated motor current 10 results in a current difference 12 which becomes input to a model of motor current / power function 6. Output signal 13 from motor current / power fi-fi function is a signal which corresponds to the difference between the actual value of the motor current and the setpoint value of the motor current. In the block Aerodata 7, calculation is made on the basis of output signal 13, which provides information on forces exhibited on the motor 4, with the reference signal 8, which provides information on expected exhibited forces. Output signal 13 and reference signal 8 together with reference data result in that the components of the angle of attack u 14 and ß 15 can be determined. The angle of attack consists of u 14 which symbolizes the tipping component of the angle of attack 10 15 20 25 30 35 and ß 15 which symbolizes the gear component of the angle of attack.
    The angle of attack gear component ß can also be called the side-blow angle.
    Determination of the angle of attack components u 14 and ß 15 takes place by calculation based on reference signal 8 and output signal 13, which is compared with data measured in wind tunnel or from simulation which data is stored in block Aerodata 7. The information created / measured in wind tunnel or calculated can be a look-up table or expressed in the form of a mathematical expression or otherwise represented in the block Aerodata 7.
    I F ig. 2 shows fi gur over controllable projectile 16 made with navigation system comprising angle of attack determination according to the invention. The figure shows a body-fixed coordinate system X, Y and Z for the projectile, a velocity vector V and the angles of attack ot and ß, where ot symbolizes the tipping component of the angle of attack and ß symbolizes the gear component of the angle of attack. The tilt component for the angle of attack is thus the change in the plane tensed by the X-axis and the Z-axis and the gear component for the angle of attack is the change in the plane tensed by the X-axis and Y-axis and where the plane is angled along the Y-axis by the angle u.
    The angle of attack is measured with or estimated with the method included in the projectile for calculating the angle of attack. By estimating the angles of attack, the yaw and pitch angle can be determined. Roll angle (roll) can be determined by estimating the angle of attack together with a roll angle velocity gyro. The different attitude angles, roll angle, roll angle (yaw) and pitch angle (pitch), together with current coordinates from a radio-based positioning system provide a complete navigation system. The radio-based positioning receiver, which can be a GPS receiver, a receiver for radar instruction or other radio-based positioning equipment, is designed to receive positioning information and thus also be able to calculate speed information.
    The GNC system mounted in the projectile, where GNC stands for Guidance, Navigation and Control, measures current measured values from sensors, calculates and forecasts the trajectory to reach the target and controls and regulates the control devices or actuators with which the projectile is equipped. The control system controls and regulates the forces that control the projectile, the forces are exerted with, for example, actuators, motors or servos which in turn move or in a armed way affect fins / rudders, canard fins or other controls to control the projectile based on that of the Guidance system calculated the path to the goal.
    The control system also takes care to keep the projectile stable during its trajectory from the launch device to the target. Thus, the projectile is equipped with a control system, actuators and controls to control the projectile in the projectile's trajectory between the launching device and the target. Preferably, the actuator, which moves the canard / fin, consists of an electric motor. The collar fi that moves the canard / fin consists of a torque acting on the motor. The torque created by the electric motor is proportional to the electric current supplied to the motor. By creating a mathematical model of the electric motor, for example by measuring in a test environment also called a test bench, a dynamic model can be created for estimating which torque a certain electric current generates. The dynamic motor model describes the behavior of an actuator including properties for, for example, motor and gear.
    The projectile's dynamic change depending on how the projectile's controls change can be measured in a so-called wind tunnel. The projectile is mounted when measured in the wind tunnel in such a way that a real firing condition is similar. By reading the projectile's change in response to the change of controls with the wind tunnel's sensors, a descriptive basis can be created where the projectile's change is described on the basis of the change in the controls. This descriptive data, also called reference data, is used in the estimation of the angle of attack when the moment measured or estimated on the control device, from the electric current driving on the actuator, is compared with the descriptive data. The procedure is performed on each actuator and at least two actuators and actuators are required. The location of the actuators and controls included in the projectile must be such that both the tipping component of the angle of attack and the gear component of the angle of attack can be calculated. Preferably, four controllers are used, with associated actuators, placed evenly distributed, with 90 degree separation, around the projectile body.
    The dynamic change of the projectile depending on how the projectile's controls change can, in addition to being measured in a wind tunnel, also be calculated. For example, the calculation may include CFD (Computational Fluid Dynamics) calculations or other flow mechanical calculations.
    An alternative embodiment is that the torque on the shaft of the canard / fin is measured with a torque sensor where the measurement result from said measuring sensor is compared with the descriptive base measured in the wind tunnel for determining the angle of attack. The comparison between the measurement result from the torque sensor and the reference data may need to be recalculated and converted for the measurement data to correspond to the reference data. 10 15 20 An example of a projectile with a GNC system applying method for determining the angle of attack is a roll-stabilized 155 mm artillery grenade equipped with four actuators and four control devices in the form of individually controlled control cannons. Furthermore, the projectile is made with a GPS receiver and a roll gyro for determining the roll angle speed and thus the roll angle.
    ALTERNATIVE EMBODIMENTS The invention is not limited to the specifically shown embodiments but can be varied in various ways within the scope of the claims.
    It will be appreciated, for example, that the number, size, material and shape of the elements and details included in the method of determining the angle of attack and the GNC system are adapted to the weapon system or design and other design features currently available.
    It will be appreciated that the method of determining the angle of attack described above can be applied to in principle all vessels and systems including ships, aircraft, projectiles and missiles.
    In addition, the method of angle of attack is applicable to, for example, wind turbines and hydroelectric power plants for adapting and / or determining the pitch angle of the turbine or turbine blade.
    权利要求:
    Claims (1)
    [1]
    1. 0 l5 20 25 30 35 PATENT REQUIREMENT Method for determining the angle of attack for a projectile in the projectile's trajectory from launch device to target, which projectile is steerable and mainly or partially role stable and includes control systems and at least two actuators with associated controls characterized by included; determination of applied force for tilt control by estimating the torque on the projectile actuators, determination of exhibited force for steering in gear by estimating the torque on the projectile actuators, calculating the angle of attack u component and the angle of attack gear component ß based on comparison between estimated moments and reference moments went moment. Method for determining the angle of attack according to claim 1, characterized in that reference data for moments are obtained from a look-up table produced on the basis of measurement of aerodynamic properties of the projectile. Method for determining the angle of attack according to claim 1, characterized in that reference data for torque are obtained from a look-up table obtained from the calculation of aerodynamic properties of the projectile. Method for determining the angle of attack according to one of the preceding claims, characterized in that the estimated torque and reference data for torque are ironed in by the reference data closest to the estimated torque giving an estimate of the angle of attack of the angle of attack and the gear component of the angle of attack. Method for determining angle of attack according to any one of the preceding claims, characterized in that comparison of the estimated moment and reference data for moments takes place in that said reference data is a basis for creating a mathematical description of said reference data, which mathematical description uses said estimated moments as variables in the mathematical description in such a way that the tipping component a of the angle of attack and the gear component ß of the angle of attack are calculated. 10 15 20 25 30 35 10. ll. Method for determining the angle of attack according to one of the preceding claims, characterized in that the estimated torque is determined on the basis of measurement of electric current to the drive unit of the actuators. Method for determining the angle of attack according to one of the preceding claims, characterized in that the estimated torque is determined by measuring torque acting on the actuators with a torque sensor. GNC controllable projectile system, which projectile is steerable and mainly or partially role-stable and comprises control systems and at least two actuators with associated controls characterized in that the angle of attack is determined by the following steps; determination of applied force for tilt control by estimating the torque on the projectile actuators, determination of exhibited force for steering in gear by estimating the torque on the projectile actuators, calculating the angle of attack component u and the angle of attack gear component ß based on comparison between the estimated moments and reference moments for moments. GNC system for steerable projectile according to claim 8, characterized in that reference data for torque is obtained from a look-up table produced on the basis of measurement of aerodynamic properties of the projectile. GNC controllable projectile system according to claim 8, characterized in that reference data for torques are obtained from a look-up table obtained from the calculation of aerodynamic properties of the projectile. GNC system for steerable projectile according to one of Claims 8 to 10, characterized in that a comparison of the estimated torque and reference data for torque takes place by the reference data closest to the estimated torque giving an estimate of the angle of attack tilt component etc. and the angle of attack gear component ß based on the reference data lookup table. GNC controllable projectile system according to any one of claims 8-11, characterized in that comparison of the estimated torque and reference data for torque takes place in that said reference data is a basis for creating a mathematical 13. 14. description of said reference data, which mathematical description uses said estimated moments as variables in the mathematical description in such a way that the tipping component a of the angle of attack and the gear component ß of the angle of attack are calculated. GNC system for controllable projectile according to one of Claims 8 to 12, characterized in that the estimated torque is determined on the basis of measurement of electric current to the drive unit of the actuators. GNC system for steerable projectile according to one of Claims 8 to 13, characterized in that the estimated torque is determined by measuring the torque acting on the actuators with a torque sensor.
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    同族专利:
    公开号 | 公开日
    SE536253C2|2013-07-16|
    EP2758744B1|2016-06-29|
    US20140326824A1|2014-11-06|
    EP2758744A1|2014-07-30|
    EP2758744A4|2015-04-22|
    US9347750B2|2016-05-24|
    WO2013043096A1|2013-03-28|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    IT1392259B1|2008-12-11|2012-02-22|Alenia Aeronautica Spa|ESTIMATION PROCEDURE OF THE INCIDENCE ANGLE AND THE DERAPATE CORNER OF AN AIRCRAFT|DE102015013913A1|2015-10-27|2017-04-27|Deutsch Französisches Forschungsinstitut Saint Louis|Full-caliber, spin-stabilized steer bullet with a long range|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1130088A|SE536253C2|2011-09-20|2011-09-20|METHOD AND GNC SYSTEM FOR DETERMINING THE ANGLE OF APPROACH|SE1130088A| SE536253C2|2011-09-20|2011-09-20|METHOD AND GNC SYSTEM FOR DETERMINING THE ANGLE OF APPROACH|
    PCT/SE2012/000134| WO2013043096A1|2011-09-20|2012-09-13|Determination of angle of incidence|
    EP12832803.6A| EP2758744B1|2011-09-20|2012-09-13|Determination of angle of incidence|
    US14/345,752| US9347750B2|2011-09-20|2012-09-13|Determination of angle of incidence|
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