Conventional autopilot technology is not readily adaptable to the rolling airframe environment. Application filed by General Dynamics Corp, Assigned to HUGHES MISSILE SYSTEMS COMPANY, SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES, Control of position, course or altitude of land, water, air, or space vehicles, e.g.

For the example given, the guidance command signal would be a generally sinusoidal waveform that would induce pitch-up as the control plane of the vehicle approaches earth vertical and pitch-down after the control plane rotates and nears a one-half revolution from pitch-up, thereby producing a vertical angle of attack. Such missiles may be spun up initially by the launcher and then utilize canted control surfaces to maintain a roll rate of approximately 5 to 15 revolutions per second.

The autopilot according to claim 5 wherein: said control surfaces comprise delta planform canard surfaces. The acceleration limiter may be a variable limiter governed by time from launch (velocity related) and altitude (air density related). J�O>�o���A�Z���l�Wc�w��

Because the rolling airframe missile has a simplified control system, a reduction in cost and increase in reliability is realized over stablized airframe. Varying the incidence of the control surfaces produces lift on the control surfaces which rotate the body of the airframe in the control plane and causes the airframe to assume an angle of attack relative to the previous flight path. The trace 70 is a representation of the instantaneous position of the control plane. 14 0 obj As will appear more completely from FIG. 5 is a block diagram of the control system. The device is mounted on the longitudinal axis of the airframe with the rotational axis of the flapper 26 offset by 90° from the rotational axis of the control surfaces 14. The outputs of the accelerometer and pitch rate sensor are summed with the command signal in the control circuit. This contract combines purchases for the U.S. Navy; Germany; and the governments of Saudi Arabia, United Arab Emirates, Egypt, and Turkey under the Foreign Military Sales (FMS) program.

It will be noted that acceleration builds from zero to a maximum in approximately two rotations of the airframe.

endobj Thus, when added to the now zero guidance command signal, the accelerometer output produces a negative feed-back and causes the control servo to induce a pitch rotation of the airframe to return the airframe to alignment with the flight path. The lack of a practical autopilot for rolling airframes has limited their potential, particularly for high maneuverability applications.

2 0 obj During the next 90° of rotation, the positive incidence of the control surface is reduced to zero, and in the succeeding 90° of rotation is moved to negative angles of attack reaching a maximum when the control plane is again horizontal but with the vehicle related up section to the left. In the preferred embodiment, the control system drive 62 comprises the servo 18 which is mechanically connected to the pitch angle control system 42 in the form of the variable incidence canard control surfaces 14.

endobj The autopilot according to claim 1 further comprising: pitch rate sensor means mounted on said airframe for detecting the rate of change of said pitch angle of attack as a function of the rotational orientation of said airframe and for producing an pitch rate signal corresponding to the detected rate. endobj The output of the acceleration feed-back summer comprises an undamped control signal on line 52 which is delivered to the pitch rate damping summer 54. The RIM-116 Rolling Airframe Missile (RAM) is a small, lightweight, infrared homing surface-to-air missile in use by the German, Japanese, Greek, Turkish, South Korean, Saudi Arabian, Egyptian, Mexican and U.S. Navies. Therefore, the initial positive peak of the input command 78 produces a high initial positive deflection or angle of incidence on the control system 14 as is illustrated by the point 80 on wing incidence trace 82. Referring again to FIG. 3 0 obj It is another object of the invention to provide a new and improved rolling airframe autopilot that is usable with airframes having substantial neutral static ability.

Amphibious dock landing ship USS Gunston Hall (LSD 44) fires a rolling airframe missile to intercept a remote-controlled drone during an exercise to test the ship’s defensive capabilities. The roll rate as illustrated is 10 cycles per second.

The movement of the control surfaces 14 corresponds to a sinusoidal variation with a frequency equal to the roll rate and with the relative phase determined by the direction of the desired correction. <>stream In the illustrated example, pitch rate and acceleration are initially zero. <>

Fiscal 2020 weapons procurement; 2020 operations and maintenance (U.S. Navy); Foreign Military Sales (Saudi Arabia, Egypt, United Arab Emirates, and Turkey); and German cooperative funding in the amount of $146,076,524 will be obligated at time of award, and $969,000 will expire at the end of the current fiscal year. It is another object of the invention to provide a new and improved rolling airframe autopilot that allows the associated airframe to achieve high maneuverability. The acceleration signal is equal in frequency but opposite in sense to that of the input command. 5, there is illustrated the system block diagram circuit for the invention. Photo was taken by me in Kiel, Germany, on June 22, 2002 ) back to top go to the end of the page.
12 0 obj It was intended originally and used primarily as a point-defense weapon against antiship cruise missiles. Such a static stability inherently reduces the maneuverability of the airframe in that the control surfaces must first offset the stability generated forces to achieve a given angle of attack. 6, the incidence angle of the control surfaces illustrated in FIG. The output of the pitch rate sensor on line 49 is summed with the undamped control signal on line 52 by the summer 54 producing a damped control signal on line 56. Since the accelerometer signal is a sinusoidal variation, then the movement of the control surfaces will also vary in a sinusoidal pattern from a negative angle of incidence to a positive angle of incidence with each 180° of roll. endobj

This contract was not competitively procured under the exception 10 U.S. Code 2304(c)(4), International Agreement. 6f as portion 84 of the trace 82. © Copyright Military Leak 2020, All Rights Reserved.

6 0 obj ASSIGNMENT OF ASSIGNORS INTEREST.

The maximum magnitude of the guidance command signal is governed by a variable acceleration limiter 58 to limit the maximum G forces or angle of attack to which the airframe is exposed. 4. The systems utilized are designated open-loop in that they utilize a control demand that is not modified by feed-back as to the actual changes resulting in the missile flight parameters. According to the invention, a rolling airframe autopilot has been devised wherein a single linear accelerometer provides adequate feed-back to stabilize a rolling airframe. ;ASSIGNOR:GENERAL DYNAMICS CORPORATION;REEL/FRAME:006279/0578. An autopilot for an intentionally continuously axially rolling airframe having a pitch angle control system for producing pitch rotation of the airframe in a control plane in response to a rotation related guidance command signal to said control system by a control circuit comprising: an accelerometer means responsive to cyclically varying acceleration for mounting on the airframe and for detecting acceleration in the control plane and transverse to the longitudinal axis of the airframe during the continuous rolling of the airframe as a function of the rotation of said airframe and for producing acceleration signals corresponding to the detected acceleration. The initial deflection of the control system produces a corresponding acceleration in the control plane. References to up or down on the control plane are vehicle related directions.


For purposes of this series of diagrams, it is assumed that the airframe is in a horizontal flight path and that a guidance command signal is inputed to the autopilot system calling for a earth related vertical upward correction. The instrument measures angular rate or velocity in the control plane and therefore, measures the rate at which the airframe is assuming a new angle of attack.

16 0 obj (U.S. Navy photo by Lt. Christopher C. Yee/Released). A signal corresponding to the incidence angle which the control surfaces 14 has assumed, is derived from the pitch angle control system 42 and delivered on line 64 to a control system limiter 66. The device incorporates a magnetic flapper 26 which is mounted for pivotal movement about an axis defined by the bearings 28 on base 30 and the pivot pin 32 on flapper 26. This makes it possible to use a wide range of accelerometers which are not sensitive to DC variations in acceleration, and for which DC biases or offsets are not critical.

The orientation of the control plane is illustrated diagramatically at 20 in FIG. ӎ�S*{*35�/������(��BVQE`ߛ�X��m��<6�6�$[H,1O �2���7=�1��|�p���9M�O�\��N/X^����%>�0`����M=`ΐ[Ô"I.��R�A��~S��h��Z2�,R:��G�>�X��a�|L�B����&$%�G��Q����K����Y����"��K� �RB�=O�D��f����9��F]��B:@o:���K��'��@.

<> Such autopilots are sensitive and utilize complex mechanisms and therefore, are expensive and relatively unreliable. The rolling airframe concept has been applied to air and surface launched missiles. 4 is a sectional view taken on line 4--4 of FIG. Raytheon Missile Systems, Tucson, Arizona, is awarded a $146,076,524 firm-fixed-price contract for Rolling Airframe Missile Block 2/2A Guided Missile Round Pack and spare replacement components.

6d for the earth related horizontal plane shows that substantially all of the acceleration is in the direction of intended change for the flight path. <>
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Conventional autopilot technology is not readily adaptable to the rolling airframe environment. Application filed by General Dynamics Corp, Assigned to HUGHES MISSILE SYSTEMS COMPANY, SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES, Control of position, course or altitude of land, water, air, or space vehicles, e.g.

For the example given, the guidance command signal would be a generally sinusoidal waveform that would induce pitch-up as the control plane of the vehicle approaches earth vertical and pitch-down after the control plane rotates and nears a one-half revolution from pitch-up, thereby producing a vertical angle of attack. Such missiles may be spun up initially by the launcher and then utilize canted control surfaces to maintain a roll rate of approximately 5 to 15 revolutions per second.

The autopilot according to claim 5 wherein: said control surfaces comprise delta planform canard surfaces. The acceleration limiter may be a variable limiter governed by time from launch (velocity related) and altitude (air density related). J�O>�o���A�Z���l�Wc�w��

Because the rolling airframe missile has a simplified control system, a reduction in cost and increase in reliability is realized over stablized airframe. Varying the incidence of the control surfaces produces lift on the control surfaces which rotate the body of the airframe in the control plane and causes the airframe to assume an angle of attack relative to the previous flight path. The trace 70 is a representation of the instantaneous position of the control plane. 14 0 obj As will appear more completely from FIG. 5 is a block diagram of the control system. The device is mounted on the longitudinal axis of the airframe with the rotational axis of the flapper 26 offset by 90° from the rotational axis of the control surfaces 14. The outputs of the accelerometer and pitch rate sensor are summed with the command signal in the control circuit. This contract combines purchases for the U.S. Navy; Germany; and the governments of Saudi Arabia, United Arab Emirates, Egypt, and Turkey under the Foreign Military Sales (FMS) program.

It will be noted that acceleration builds from zero to a maximum in approximately two rotations of the airframe.

endobj Thus, when added to the now zero guidance command signal, the accelerometer output produces a negative feed-back and causes the control servo to induce a pitch rotation of the airframe to return the airframe to alignment with the flight path. The lack of a practical autopilot for rolling airframes has limited their potential, particularly for high maneuverability applications.

2 0 obj During the next 90° of rotation, the positive incidence of the control surface is reduced to zero, and in the succeeding 90° of rotation is moved to negative angles of attack reaching a maximum when the control plane is again horizontal but with the vehicle related up section to the left. In the preferred embodiment, the control system drive 62 comprises the servo 18 which is mechanically connected to the pitch angle control system 42 in the form of the variable incidence canard control surfaces 14.

endobj The autopilot according to claim 1 further comprising: pitch rate sensor means mounted on said airframe for detecting the rate of change of said pitch angle of attack as a function of the rotational orientation of said airframe and for producing an pitch rate signal corresponding to the detected rate. endobj The output of the acceleration feed-back summer comprises an undamped control signal on line 52 which is delivered to the pitch rate damping summer 54. The RIM-116 Rolling Airframe Missile (RAM) is a small, lightweight, infrared homing surface-to-air missile in use by the German, Japanese, Greek, Turkish, South Korean, Saudi Arabian, Egyptian, Mexican and U.S. Navies. Therefore, the initial positive peak of the input command 78 produces a high initial positive deflection or angle of incidence on the control system 14 as is illustrated by the point 80 on wing incidence trace 82. Referring again to FIG. 3 0 obj It is another object of the invention to provide a new and improved rolling airframe autopilot that is usable with airframes having substantial neutral static ability.

Amphibious dock landing ship USS Gunston Hall (LSD 44) fires a rolling airframe missile to intercept a remote-controlled drone during an exercise to test the ship’s defensive capabilities. The roll rate as illustrated is 10 cycles per second.

The movement of the control surfaces 14 corresponds to a sinusoidal variation with a frequency equal to the roll rate and with the relative phase determined by the direction of the desired correction. <>stream In the illustrated example, pitch rate and acceleration are initially zero. <>

Fiscal 2020 weapons procurement; 2020 operations and maintenance (U.S. Navy); Foreign Military Sales (Saudi Arabia, Egypt, United Arab Emirates, and Turkey); and German cooperative funding in the amount of $146,076,524 will be obligated at time of award, and $969,000 will expire at the end of the current fiscal year. It is another object of the invention to provide a new and improved rolling airframe autopilot that allows the associated airframe to achieve high maneuverability. The acceleration signal is equal in frequency but opposite in sense to that of the input command. 5, there is illustrated the system block diagram circuit for the invention. Photo was taken by me in Kiel, Germany, on June 22, 2002 ) back to top go to the end of the page.
12 0 obj It was intended originally and used primarily as a point-defense weapon against antiship cruise missiles. Such a static stability inherently reduces the maneuverability of the airframe in that the control surfaces must first offset the stability generated forces to achieve a given angle of attack. 6, the incidence angle of the control surfaces illustrated in FIG. The output of the pitch rate sensor on line 49 is summed with the undamped control signal on line 52 by the summer 54 producing a damped control signal on line 56. Since the accelerometer signal is a sinusoidal variation, then the movement of the control surfaces will also vary in a sinusoidal pattern from a negative angle of incidence to a positive angle of incidence with each 180° of roll. endobj

This contract was not competitively procured under the exception 10 U.S. Code 2304(c)(4), International Agreement. 6f as portion 84 of the trace 82. © Copyright Military Leak 2020, All Rights Reserved.

6 0 obj ASSIGNMENT OF ASSIGNORS INTEREST.

The maximum magnitude of the guidance command signal is governed by a variable acceleration limiter 58 to limit the maximum G forces or angle of attack to which the airframe is exposed. 4. The systems utilized are designated open-loop in that they utilize a control demand that is not modified by feed-back as to the actual changes resulting in the missile flight parameters. According to the invention, a rolling airframe autopilot has been devised wherein a single linear accelerometer provides adequate feed-back to stabilize a rolling airframe. ;ASSIGNOR:GENERAL DYNAMICS CORPORATION;REEL/FRAME:006279/0578. An autopilot for an intentionally continuously axially rolling airframe having a pitch angle control system for producing pitch rotation of the airframe in a control plane in response to a rotation related guidance command signal to said control system by a control circuit comprising: an accelerometer means responsive to cyclically varying acceleration for mounting on the airframe and for detecting acceleration in the control plane and transverse to the longitudinal axis of the airframe during the continuous rolling of the airframe as a function of the rotation of said airframe and for producing acceleration signals corresponding to the detected acceleration. The initial deflection of the control system produces a corresponding acceleration in the control plane. References to up or down on the control plane are vehicle related directions.


For purposes of this series of diagrams, it is assumed that the airframe is in a horizontal flight path and that a guidance command signal is inputed to the autopilot system calling for a earth related vertical upward correction. The instrument measures angular rate or velocity in the control plane and therefore, measures the rate at which the airframe is assuming a new angle of attack.

16 0 obj (U.S. Navy photo by Lt. Christopher C. Yee/Released). A signal corresponding to the incidence angle which the control surfaces 14 has assumed, is derived from the pitch angle control system 42 and delivered on line 64 to a control system limiter 66. The device incorporates a magnetic flapper 26 which is mounted for pivotal movement about an axis defined by the bearings 28 on base 30 and the pivot pin 32 on flapper 26. This makes it possible to use a wide range of accelerometers which are not sensitive to DC variations in acceleration, and for which DC biases or offsets are not critical.

The orientation of the control plane is illustrated diagramatically at 20 in FIG. ӎ�S*{*35�/������(��BVQE`ߛ�X��m��<6�6�$[H,1O �2���7=�1��|�p���9M�O�\��N/X^����%>�0`����M=`ΐ[Ô"I.��R�A��~S��h��Z2�,R:��G�>�X��a�|L�B����&$%�G��Q����K����Y����"��K� �RB�=O�D��f����9��F]��B:@o:���K��'��@.

<> Such autopilots are sensitive and utilize complex mechanisms and therefore, are expensive and relatively unreliable. The rolling airframe concept has been applied to air and surface launched missiles. 4 is a sectional view taken on line 4--4 of FIG. Raytheon Missile Systems, Tucson, Arizona, is awarded a $146,076,524 firm-fixed-price contract for Rolling Airframe Missile Block 2/2A Guided Missile Round Pack and spare replacement components.

6d for the earth related horizontal plane shows that substantially all of the acceleration is in the direction of intended change for the flight path. <>
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rolling airframe missile


MilitaryLeak is a blog dedicated to military news and defense technology.

1 is a perspective view of a typical missile incorporating the autopilot. It will be noted that only a minimal overshoot of the vertical acceleration as evidenced by portion 96 of FIG. In the exemplary embodiment, the airframe comprises an elongated generally cylindrical body with a control system that is effective in a single plane referred to as the control plane. In addition, many sensors suitable for use in the non-rolling environment cannot function effectively when subjected to continuous roll environments. automatic pilot, Simultaneous control of position or course in three dimensions, Simultaneous control of position or course in three dimensions specially adapted for missiles, Simultaneous control of position or course in three dimensions specially adapted for missiles animated with a rolling movement, General Dynamics Corp., Pomona Division Mz 1-25, Messerschmitt-Boelkow-Blohm Gmbh, 8000 Muenchen, HUGHES MISSILE SYSTEMS COMPANY, CALIFORNIA, ASSIGNMENT OF ASSIGNORS INTEREST.

The RAM Block 2 is an upgraded version of the RAM missile aimed at more effectively countering more maneuverable antiship missiles through a four-axis independent control actuator system, increased rocket motor capability, an improved passive radio frequency seeker and upgraded components of the infrared seeker, and advanced kinematics.

�� ��"|^����?g��O��_~�)�p��� �ָ�zwu��C�E�~-ia.��/߿���7߽���pZ%V�K%�q�"O2w����,���W�� 5 0 obj 6a through 6g illustrate graphically the system operating parameters.

Conventional autopilot technology is not readily adaptable to the rolling airframe environment. Application filed by General Dynamics Corp, Assigned to HUGHES MISSILE SYSTEMS COMPANY, SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES, Control of position, course or altitude of land, water, air, or space vehicles, e.g.

For the example given, the guidance command signal would be a generally sinusoidal waveform that would induce pitch-up as the control plane of the vehicle approaches earth vertical and pitch-down after the control plane rotates and nears a one-half revolution from pitch-up, thereby producing a vertical angle of attack. Such missiles may be spun up initially by the launcher and then utilize canted control surfaces to maintain a roll rate of approximately 5 to 15 revolutions per second.

The autopilot according to claim 5 wherein: said control surfaces comprise delta planform canard surfaces. The acceleration limiter may be a variable limiter governed by time from launch (velocity related) and altitude (air density related). J�O>�o���A�Z���l�Wc�w��

Because the rolling airframe missile has a simplified control system, a reduction in cost and increase in reliability is realized over stablized airframe. Varying the incidence of the control surfaces produces lift on the control surfaces which rotate the body of the airframe in the control plane and causes the airframe to assume an angle of attack relative to the previous flight path. The trace 70 is a representation of the instantaneous position of the control plane. 14 0 obj As will appear more completely from FIG. 5 is a block diagram of the control system. The device is mounted on the longitudinal axis of the airframe with the rotational axis of the flapper 26 offset by 90° from the rotational axis of the control surfaces 14. The outputs of the accelerometer and pitch rate sensor are summed with the command signal in the control circuit. This contract combines purchases for the U.S. Navy; Germany; and the governments of Saudi Arabia, United Arab Emirates, Egypt, and Turkey under the Foreign Military Sales (FMS) program.

It will be noted that acceleration builds from zero to a maximum in approximately two rotations of the airframe.

endobj Thus, when added to the now zero guidance command signal, the accelerometer output produces a negative feed-back and causes the control servo to induce a pitch rotation of the airframe to return the airframe to alignment with the flight path. The lack of a practical autopilot for rolling airframes has limited their potential, particularly for high maneuverability applications.

2 0 obj During the next 90° of rotation, the positive incidence of the control surface is reduced to zero, and in the succeeding 90° of rotation is moved to negative angles of attack reaching a maximum when the control plane is again horizontal but with the vehicle related up section to the left. In the preferred embodiment, the control system drive 62 comprises the servo 18 which is mechanically connected to the pitch angle control system 42 in the form of the variable incidence canard control surfaces 14.

endobj The autopilot according to claim 1 further comprising: pitch rate sensor means mounted on said airframe for detecting the rate of change of said pitch angle of attack as a function of the rotational orientation of said airframe and for producing an pitch rate signal corresponding to the detected rate. endobj The output of the acceleration feed-back summer comprises an undamped control signal on line 52 which is delivered to the pitch rate damping summer 54. The RIM-116 Rolling Airframe Missile (RAM) is a small, lightweight, infrared homing surface-to-air missile in use by the German, Japanese, Greek, Turkish, South Korean, Saudi Arabian, Egyptian, Mexican and U.S. Navies. Therefore, the initial positive peak of the input command 78 produces a high initial positive deflection or angle of incidence on the control system 14 as is illustrated by the point 80 on wing incidence trace 82. Referring again to FIG. 3 0 obj It is another object of the invention to provide a new and improved rolling airframe autopilot that is usable with airframes having substantial neutral static ability.

Amphibious dock landing ship USS Gunston Hall (LSD 44) fires a rolling airframe missile to intercept a remote-controlled drone during an exercise to test the ship’s defensive capabilities. The roll rate as illustrated is 10 cycles per second.

The movement of the control surfaces 14 corresponds to a sinusoidal variation with a frequency equal to the roll rate and with the relative phase determined by the direction of the desired correction. <>stream In the illustrated example, pitch rate and acceleration are initially zero. <>

Fiscal 2020 weapons procurement; 2020 operations and maintenance (U.S. Navy); Foreign Military Sales (Saudi Arabia, Egypt, United Arab Emirates, and Turkey); and German cooperative funding in the amount of $146,076,524 will be obligated at time of award, and $969,000 will expire at the end of the current fiscal year. It is another object of the invention to provide a new and improved rolling airframe autopilot that allows the associated airframe to achieve high maneuverability. The acceleration signal is equal in frequency but opposite in sense to that of the input command. 5, there is illustrated the system block diagram circuit for the invention. Photo was taken by me in Kiel, Germany, on June 22, 2002 ) back to top go to the end of the page.
12 0 obj It was intended originally and used primarily as a point-defense weapon against antiship cruise missiles. Such a static stability inherently reduces the maneuverability of the airframe in that the control surfaces must first offset the stability generated forces to achieve a given angle of attack. 6, the incidence angle of the control surfaces illustrated in FIG. The output of the pitch rate sensor on line 49 is summed with the undamped control signal on line 52 by the summer 54 producing a damped control signal on line 56. Since the accelerometer signal is a sinusoidal variation, then the movement of the control surfaces will also vary in a sinusoidal pattern from a negative angle of incidence to a positive angle of incidence with each 180° of roll. endobj

This contract was not competitively procured under the exception 10 U.S. Code 2304(c)(4), International Agreement. 6f as portion 84 of the trace 82. © Copyright Military Leak 2020, All Rights Reserved.

6 0 obj ASSIGNMENT OF ASSIGNORS INTEREST.

The maximum magnitude of the guidance command signal is governed by a variable acceleration limiter 58 to limit the maximum G forces or angle of attack to which the airframe is exposed. 4. The systems utilized are designated open-loop in that they utilize a control demand that is not modified by feed-back as to the actual changes resulting in the missile flight parameters. According to the invention, a rolling airframe autopilot has been devised wherein a single linear accelerometer provides adequate feed-back to stabilize a rolling airframe. ;ASSIGNOR:GENERAL DYNAMICS CORPORATION;REEL/FRAME:006279/0578. An autopilot for an intentionally continuously axially rolling airframe having a pitch angle control system for producing pitch rotation of the airframe in a control plane in response to a rotation related guidance command signal to said control system by a control circuit comprising: an accelerometer means responsive to cyclically varying acceleration for mounting on the airframe and for detecting acceleration in the control plane and transverse to the longitudinal axis of the airframe during the continuous rolling of the airframe as a function of the rotation of said airframe and for producing acceleration signals corresponding to the detected acceleration. The initial deflection of the control system produces a corresponding acceleration in the control plane. References to up or down on the control plane are vehicle related directions.


For purposes of this series of diagrams, it is assumed that the airframe is in a horizontal flight path and that a guidance command signal is inputed to the autopilot system calling for a earth related vertical upward correction. The instrument measures angular rate or velocity in the control plane and therefore, measures the rate at which the airframe is assuming a new angle of attack.

16 0 obj (U.S. Navy photo by Lt. Christopher C. Yee/Released). A signal corresponding to the incidence angle which the control surfaces 14 has assumed, is derived from the pitch angle control system 42 and delivered on line 64 to a control system limiter 66. The device incorporates a magnetic flapper 26 which is mounted for pivotal movement about an axis defined by the bearings 28 on base 30 and the pivot pin 32 on flapper 26. This makes it possible to use a wide range of accelerometers which are not sensitive to DC variations in acceleration, and for which DC biases or offsets are not critical.

The orientation of the control plane is illustrated diagramatically at 20 in FIG. ӎ�S*{*35�/������(��BVQE`ߛ�X��m��<6�6�$[H,1O �2���7=�1��|�p���9M�O�\��N/X^����%>�0`����M=`ΐ[Ô"I.��R�A��~S��h��Z2�,R:��G�>�X��a�|L�B����&$%�G��Q����K����Y����"��K� �RB�=O�D��f����9��F]��B:@o:���K��'��@.

<> Such autopilots are sensitive and utilize complex mechanisms and therefore, are expensive and relatively unreliable. The rolling airframe concept has been applied to air and surface launched missiles. 4 is a sectional view taken on line 4--4 of FIG. Raytheon Missile Systems, Tucson, Arizona, is awarded a $146,076,524 firm-fixed-price contract for Rolling Airframe Missile Block 2/2A Guided Missile Round Pack and spare replacement components.

6d for the earth related horizontal plane shows that substantially all of the acceleration is in the direction of intended change for the flight path. <>

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