Electricity: motive power systems – Positional servo systems – Vehicular guidance systems with single axis control
Patent
1986-05-01
1988-07-12
Dobeck, Benjamin
Electricity: motive power systems
Positional servo systems
Vehicular guidance systems with single axis control
318632, 114 201, G05D 160
Patent
active
047572434
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a method for a regulator for the servo control of a marine craft, for instance a torpedo, with variable speed and angle of attack, involving the detecting of the angle of attack of the craft and the transmission of a command signal representing the angle of attack to a control circuit contained in the regulator.
The invention also relates to a means for the execution of the method comprising a sensor capable of detecting the angle of attack of the craft and of transmitting a command signal representing the angle of attack to a control circuit contained in the regulator.
The expression angle of attack is used by accepted practice to denote the angle between the resulting velocity vector and the centre line of the craft. In the special case where the craft travels at a constant altitude, the resulting velocity vector lies in the horizontal plane.
A control system for a craft may have two or more signal transmitters which interact to provide a control function, for instance as in the depth regulator in a torpedo. In case of the depth regulator, which provides depth control for the torpedo, command signals are obtained not only from depth-detecting sensors, but also from angle-detecting sensors.
The depth of the torpedo is detected in this way by means of a sensor in the form of a depth indicator which measures the absolute pressure. The indicator can consist of four strain gauges in bridge connection mounted on a membrane with a vacuum on one side and water pressure on the other side.
The angle of attack of the torpedo can be detected by means of a sensor in the form of a pendulum or an electrolytic angle indicator.
The command signals from the two sensors are processed in an electronic control system and are transmitted to a rudder servo system.
BACKGROUND ART
Until now the depth control of the torpedo has been based only on the detecting of the depth and angle of attack of the torpedo. However, a control system of this kind is unsatisfactory for a torpedo with the facility to vary its speed during its course, because it is associated with depth errors during the speed variation period. This is attributable to the fact that all angle of attack sensors of the aforementioned types are sensitive to acceleration. During variation of the speed, acceleration forces will accordingly influence the behaviour of the torpedo. In the case of an increase in speed, but without any change in depth, the angle of attack sensor will thus transmit a signal corresponding to the signal which is transmitted when the torpedo is rising. The regulator would, if nothing were to be done to counter that effect, cause the torpedo to dive in order to achieve the normal angle of attack.
SUMMARY OF THE INVENTION
The object of the present invention is, therefore, to propose a method and a means of the kind indicated by way of introduction by which the angle of attack signal transmitted to the control circuit is not influenced by variations in the speed of the craft. This object is achieved by providing the method and the means in accordance with the invention.
Further developments of the invention are apparent from the subsidiary claims.
The invention is described below in greater detail with reference to the accompanying drawing, which shows a preferred embodiment of the invention.
DESCRIPTION OF THE FIGURES
FIG. 1 shows a block diagram of the preferred embodiment.
FIG. 2 shows the preferred embodiment incorporated into a control system for a torpedo.
PREFERRED EMBODIMENT
In FIG. 1 the reference designation 1 is used to denote an angle of attack sensor, the output signal from which is fed into a summing circuit 2. This may well be in the form of an electrolytic angle sensor. As such angle sensors are already generally familiar, and as its design does not constitute part of the present invention, the sensor is not described here in any more detail.
A sensor in the form of a revolution counter 3 counts the number of revolution impulses from a propulsion motor 12 in the torpedo (al
REFERENCES:
patent: 2677513 (1954-05-01), Kliever
patent: 2701111 (1955-02-01), Schuck
patent: 3127864 (1964-04-01), Bentkowsky et al.
patent: 3228370 (1966-01-01), Daly et al.
patent: 3673977 (1972-07-01), Hendley
patent: 4024648 (1978-02-01), Reid et al.
patent: 4046341 (1977-09-01), Quinlivan
patent: 4049223 (1977-09-01), Watson
patent: 4069784 (1978-01-01), Hedstrom et al.
patent: 4524710 (1985-06-01), Scott
patent: 4538230 (1985-08-01), Reust et al.
patent: 4595867 (1986-06-01), Cognevich et al.
patent: 4622504 (1986-11-01), Yamazaki
Bengtsson Leif
Danielsson Nils
Affarsverket FFV
Dobeck Benjamin
LandOfFree
Method and means for a regulator for the servo control of a mari does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Method and means for a regulator for the servo control of a mari, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Method and means for a regulator for the servo control of a mari will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-666068