Guiding of spinning projectiles by cyclical oscillation of steering surfaces

Abstract

A projectile (6) comprises a shell (10) extending along a longitudinal axis (8) which has a twist (14) about the longitudinal axis (8) in the direction of flight (12), at least one support surface (16a-h) which is pivotably mounted about a pivot axis (18) relative to the shell (10), and an actuating unit (28) which is connected to at least one of the support surfaces (16a-h) via a linkage (30) and which actuates the support surfaces (16a-h) with respect to their respective current pivot angle (WS), thereby establishing a twist-decoupled cyclic profile (32) of the respective current pivot angle (WS) for each of the actuated support surfaces (16a-h) depending on a circumferential angle (WU) in the circumferential direction about the longitudinal axis (8), wherein the profile (32) can be changed by the actuating unit (28). A munition (2) contains the projectile (6).

Description

[0001] The invention relates to the guidance of spinning projectiles or corresponding ammunition containing such projectiles. Such a projectile exhibits a spin around its longitudinal axis pointing in the direction of flight, thus being spin-stabilized.

[0002] EP 3 667 226 A1 discloses a control device for a projectile fired from a gun barrel by means of a propellant charge, comprising at least one braking element which, in a resting state, has a smaller braking force for the projectile against the direction of flight and, in a braking state, a greater braking force, and comprising an activation module for the braking state upon fulfillment of a braking criterion. A control device is assembled with a base body to form the projectile. In a method for operating the projectile, the projectile is fired and at least one braking element is placed in the braking state during flight. In a method for engaging a target object, the projectile is fired at the target object at an increased elevation compared to a direct trajectory, the braking state is activated, and the braked projectile is deflected downwards toward the target object.The well-known solution is suitable for both spin-stabilized and vane-stabilized projectiles.

[0003] US 2014 / 0224922 A1 discloses a method for extending a control surface from an outer surface of a rotating projectile during flight. The method comprises: moving the control surface inside the projectile such that part of the movement retracts the control surface into the interior and part of the movement extends the control surface from the outer surface of the projectile; determining a roll angle of the projectile; and synchronizing the movement of the control surface with the roll angle of the projectile.

[0004] The object of the invention is to propose improvements in the guidance of spinning projectiles.

[0005] The problem is solved by a projectile according to patent claim 1. The projectile contains a casing. The term "casing" is to be broadly understood here in the sense of a projectile body and includes not only the actual outer casing of the projectile, but possibly also other structural parts inside or on the projectile, particularly in its tail region, that are connected to the casing in a rotationally fixed or spin-resistant manner, thus also exhibiting spin. The casing extends along a longitudinal axis of the projectile. The casing or the entire projectile is designed to exhibit spin around the longitudinal axis during intended flight in one direction of flight, i.e., to rotate with spin or spin around the longitudinal axis. "Intended" is to be understood as meaning that the projectile is fired / launched as planned or intended – e.g., from a barrel weapon – and flies through the air as expected or planned.The projectile's normal, trouble-free operation is considered. After firing / launch, the spinning projectile exhibits a spin around its longitudinal axis, which points in the direction of flight. It rotates around this longitudinal axis, thus being spin-stabilized.

[0006] The projectile contains at least one landing surface. The or each of the landing surfaces is pivotally mounted on the casing. Due to its - albeit pivotable - mounting on the casing, the landing surface also has the same spin around its longitudinal axis as the casing. Each landing surface has its own, associated pivot axis. In particular, pivot axes can run parallel to one another or coincide. In particular, however, all pivot axes are different from one another, i.e. they are at most parallel to one another, otherwise they intersect or run skew relative to one another. In particular, all pivot axes lie in the same plane, in particular perpendicular to the longitudinal axis. At any given time, each of the landing surfaces has a current pivot angle around the pivot axis, i.e. relative to the casing.

[0007] The projectile contains an actuating unit. The actuating unit is connected to at least one of the actuating surfaces via a linkage. The actuating unit thus actuates at least one of the actuating surfaces, i.e., causes it to rotate around the pivot axis (changing the current pivot angle) or holds the actuating surface at a specific current pivot angle. In other words, the actuating unit specifies the current actuating angle of the actuating surface, or sets it, changes it, or holds it. Thus, there is a linkage or linkage structure between the actuating unit and the actuating surface, e.g., in the form of a linkage rod, gear, cable, etc.

[0008] The actuator unit is designed to set a spin-decoupled cyclic curve of the current setting angle in the circumferential direction for each of the actuating surfaces it controls, depending on a circumferential angle around the longitudinal axis. This curve can be changed by the actuator unit. The curve is therefore the (temporal) curve of the current value of the setting angle during the spin of the actuating surface around the longitudinal axis, i.e., depending on a current circumferential angle around the longitudinal axis on which the actuating surface in question is currently located.

[0009] In addition to its spin around its longitudinal axis or trajectory, the bullet also performs a purely translational movement along its trajectory. The trajectory is therefore a constant shape that is decoupled from the bullet's trajectory (in the direction of the longitudinal axis) and does not spin around its longitudinal axis. In other words, the shape of the trajectory—seen in the casing's reference system—rotates in the opposite direction to the spin, i.e., it exhibits a counter-spin or opposite spin that corresponds in magnitude to the spin. A change in the trajectory leads to a change / transformation of this shape, which does not spin around its longitudinal axis. At any point in time during the bullet's flight, a configuration of target surfaces results that corresponds to the trajectory in a spin-fixed circumferential direction around the longitudinal axis, with the individual target surfaces that follow this shape rotating cyclically in the circumferential direction—virtually through the trajectory.

[0010] During a swirling rotation of the support surface around its longitudinal axis, the setting angles depend on the circumferential angle. The curve can be either constant (unchanged, constant swivel angle for all circumferential angles between 0° and 360° around the longitudinal axis) or continuously changing. "Cyclic" means that the rotation angles are identical at the circumferential angles of 0° and 360°; jumps in the setting angles during the curve are not possible. In particular, the curve is continuously differentiable, meaning it does not exhibit any kinks.

[0011] However, the progression, i.e., the sequence of rotation angles in the circumferential direction, is variable. This means that different progressions of rotation angles around the longitudinal axis can be set. In other words, a progression curve of the rotation angle between 0° and 360° circumferential angle can be adjusted for each actuating surface articulated by the actuating unit.

[0012] In particular, the curves for two or more, especially all, control surfaces are identical in terms of their curve and phase position around the longitudinal axis. As they rotate around the longitudinal axis with the spin, these control surfaces exhibit the same curve of swivel angles in phase (relative to the circumferential angle in the non-spinning coordinate system). The curve thus represents the setting angles of all articulated control elements over the circumferential angle.

[0013] The curve is in particular a constant (straight line) or a sinusoidal curve over the setting angle (possibly shifted and / or scaled to a zero value).

[0014] Depending on the trajectory angle, a target exerts an aerodynamic force on the projectile during flight. The magnitude and direction of the force depend on the trajectory angle. By synchronizing the effects of different targets in the circumferential direction according to a non-spinning specification (course) in the circumferential direction around the projectile, the corresponding effects are always summed up at the same circumferential position / circumferential angle. This allows the projectile's trajectory to be deliberately influenced / course corrected in a specific direction not subject to spin, despite spinning targets. The projectile can be steered. By changing the course, the influence / course correction can be changed and the projectile can be steered.

[0015] According to the invention, the projectile is guided not by the actuation of small vanes, as in a canard system, but by the deflection (pivoting movement) of control surfaces on the projectile, particularly those distributed circumferentially, particularly in the form of airbrakes. This results in simpler actuation compared to controlling multiple canards and a smaller integration volume, making it easy to use with spin-like projectiles. The integration of the control surfaces (airbrakes) on the projectile body, particularly those distributed circumferentially, represents a significantly simplified solution compared to the complex canard system.

[0016] In a preferred embodiment, the projectile contains a control unit which has a controlling effect on the actuating unit. The control unit is designed to change the course of the projectile by controlling or acting on the actuating unit, depending on a desired course correction. For example, for a course correction in a direction transverse to the trajectory, the actuation angles pointing in this direction are increased for the rear-side actuating surfaces, so that the actuating surfaces spinning past this circumferential position pivot radially outwards. On the opposite side, the actuation angles are reduced, so that the actuating surfaces spinning past this opposite circumferential position pivot radially inwards. Starting from the actuating surfaces, the tail unit is attached to the rear of the projectile. As a result, the course and the cyclical alignment of the actuating surfaces corresponds approximately to the pivoting of a double tail unit in the desired direction of the course change.By radially pivoting all distributed control surfaces, a braking effect on the projectile can be achieved, for example. By pivoting out only on one side and pivoting in opposite directions, the yaw and pitch angles of the projectile can be influenced.

[0017] The control system receives the desired course correction, for example, from within the projectile using a trajectory sensor / control system and / or from outside, e.g., by receiving guidance commands. This correction is therefore commanded primarily by a sensor integrated into the projectile, which detects a guidance signal, e.g., a laser guidance field.

[0018] In a preferred embodiment, the projectile has a plurality of at least two or exactly two guide surfaces distributed around the circumference of the projectile around the longitudinal axis. In particular, at least three or four or five or six or seven or eight or nine or ten or eleven or twelve guide surfaces are present. With at least two guide surfaces distributed around the circumference, differentiated guidance of the ammunition can be achieved, for example, in the yaw and pitch directions. By increasing the number of guide surfaces, the guidance can be made more precise / finely tuned.

[0019] In a preferred embodiment, at least two, in particular several, in particular all of the control surfaces are connected to the control unit via the linkage, i.e., are linked by the control unit. The control unit can also contain several sub-control units, each of which links a specific number of control surfaces. This allows for particularly good or complete control of the projectile.

[0020] In a preferred embodiment, the course is the same for all control surfaces articulated by the actuating unit. "Same" here means with regard to the shape of the course and the phase / angle in the circumferential direction around the longitudinal axis. This means that all control surfaces traverse the same course of their respective pivot angles (phase-shifted in the circumferential direction around the longitudinal axis). This forms a kind of "band" of control surfaces, whereby the band shape is constant and is cyclically traversed by all articulated control surfaces equally and with a phase shift. This leads to particularly effective guidance of the projectile. In addition to the control surfaces articulated by the actuating unit, there may also be additional control surfaces on the projectile. In particular, however, all control surfaces are articulated by the actuating unit.

[0021] In a preferred embodiment, at least one, in particular several or all, of the support surfaces are mounted on the casing so that they can pivot only about the pivot axis. The pivoting movement about the pivot axis is thus the only degree of freedom of the support surface with respect to the casing. This leads to a particularly simple articulation of the support surfaces.

[0022] In a preferred embodiment, at least one, in particular several or all, of the support surfaces form a rearward end of the projectile with respect to the direction of flight. The projectile thus ends opposite to the direction of flight with the support surfaces. In particular, the remaining projectile ends at the longitudinal position where the support surfaces begin and the pivot axes are located. Thus, the support surfaces form part or all of the tail unit for the projectile(s), adjoining the rest of the projectile at the rear.

[0023] In a preferred embodiment, at least one, in particular several or all, of the pivot axes run transversely to the longitudinal axis. Support surfaces adjacent to the pivot axis opposite to the direction of flight therefore form vertical and / or horizontal stabilizers for the projectile, depending on their current circumferential position during spin and their current deflection (pivot angle). In particular, all pivot axes lie in the same plane, in particular a plane transverse to the longitudinal axis. In particular, all pivot axes have the same vertical distance from the longitudinal axis.

[0024] In a preferred embodiment, at least one of the pivot axes is spaced from the longitudinal axis by at least 90% of the caliber radius, i.e., the pivot axis has a perpendicular distance from the longitudinal axis that is at least 90% of the caliber radius. In the radial direction, the pivot axes are thus located in the outer edge region of the projectile. This embodiment is particularly suitable in combination with the above-mentioned embodiment of pivot axes running transversely to the longitudinal axis. This results in a positioning surface arrangement that is particularly suitable for projectile guidance.

[0025] According to the invention, the actuating unit contains a spin-decoupled carrier. The carrier therefore moves translationally, not rotationally, i.e. without spin, with the projectile along the trajectory. The actuating unit then contains a spin-decoupled trajectory element that determines the trajectory, just like the carrier. The position of the trajectory element relative to the carrier is adjustable. The actuating unit contains a linkage element that is mounted so as to rotate relative to the carrier and spins with the casing, thus having the same spin as the casing. The linkage element is motion-coupled to the trajectory element with regard to a change in position. A change in the position of the linkage element therefore necessarily leads to a change in the position of the linkage element. The linkage element, in turn, is connected to the actuating surfaces via the steering. A change in the position of the linkage element therefore leads to a change in the course of the pivot angle of the actuating surfaces.In other words, the articulation element maps the current position of the progression element onto the progression of the swivel angles of the articulated positioning surfaces.

[0026] The actuator assembly also contains a spin-decoupled actuator assembly, like the carrier. This actuator assembly is arranged fixedly relative to the carrier, in particular fixedly on the carrier. The actuator assembly is designed to predetermine the position of the guide element relative to the carrier. To achieve the respective spin decoupling between the hull and the carrier / guide element / actuator, these are mounted within the hull, rotating around their longitudinal axis. In the operating case where the hull exhibits a certain spin, the corresponding parts "spin" (rotate) with opposite or counter-spin relative to or within the hull. Influencing the actuator assembly for course correction can thus be achieved as follows: A predeterminable control of the actuator assembly takes place: The above-mentioned motion coupling then establishes a desired course of the swivel angles.

[0027] In this way, a corresponding adjustment of the swivel angle on the projectile can be achieved in a technically simple manner,

[0028] In a preferred variant of this embodiment, the extension element is formed by a first ring (thus spin-decoupled), and the articulation element is formed by a second ring (thus having the spin) of a swashplate. The two rings are motion-coupled to one another by a rotating bearing with a single degree of freedom (sole rotation). Apart from the single degree of freedom, any change in the position of the first ring inevitably causes a change in the position of the second ring. The extension element and articulation element together thus form a swashplate. The rings are constructed, in particular, concentrically, with the first ring located radially inward and the second ring radially outward.The adjustment of the course of the adjusting elements thus corresponds in principle to the adjustment of the angle of attack of the rotor blades of a helicopter, whereby in particular the axes of rotation of such rotor blades would run radially perpendicular to the longitudinal axis, but the pivot axes run transversely to the longitudinal axis, in particular tangentially to the circumferential direction of the longitudinal axis.

[0029] Thus, the invention can make use of an established adjustment technology (swash plate) for the adjustment surfaces.

[0030] In a preferred variant of this embodiment, the support extends centrally in the shell along the longitudinal axis, and the extending element, in particular the swashplate, is mounted on the support so that it can be axially displaced concentrically and tilted relative to a plane of extension of the extending element, e.g., the plane of the swashplate. In particular, in a zero position, the plane of extension is perpendicular to the longitudinal axis at a specific axial position and, from this zero position, can be moved axially forwards and backwards, as well as tilted in any direction relative to the longitudinal axis within specific angular limits. This, too, essentially corresponds to a common procedure for controlling a helicopter rotor.

[0031] In a preferred variant of this embodiment, the actuator arrangement contains three actuators evenly distributed in the circumferential direction around the carrier, whose base structures are attached to the carrier and whose movable output ends are attached to the guide element (e.g., via a ball joint to compensate for tilting). The actuators are, in particular, linear drives. This enables particularly simple mounting of the guide element on the carrier, namely by means of a sliding guide on the carrier. The axial mounting / guiding on the carrier is then achieved simultaneously with tilting relative to the carrier by the output ends. In particular, the guide element / swash plate is mounted on the carrier so that it can be freely moved axially.

[0032] In a preferred embodiment, the projectile is a medium-caliber ammunition projectile (medium-caliber ammunition). This projectile has a caliber ("medium caliber") approximately in the range of 20 mm to 57 mm. The invention allows such ammunition or a correspondingly sized projectile to be made particularly easy to guide.

[0033] The object of the invention is therefore also achieved by an ammunition according to claim 14, which contains a projectile according to the invention.

[0034] The ammunition and at least some of its possible embodiments as well as the respective advantages have already been explained in connection with the projectile according to the invention.

[0035] The invention is based on the following findings, observations, and considerations and also includes the following embodiments. These embodiments are sometimes referred to as "the invention" for simplicity. These embodiments may also contain or correspond to parts or combinations of the aforementioned embodiments and / or may also include previously unmentioned embodiments.

[0036] The invention is based on the desire to guide a projectile, in particular a medium caliber ammunition.

[0037] The invention is based on the following observation: It is known from practice that the trajectory of projectiles can be modified by integrating canards into the projectile body. However, to integrate the canards into the projectile, the projectile body must be sub-caliber, or the canards can only be deployed after leaving the weapon barrel. The canards are actuated by servomotors. The integration of such a system is complex, cost-intensive, and requires a large integration volume.

[0038] The invention is based on the idea of ​​steering spinning projectiles with the help of control surfaces, particularly in the form of airbrakes.

[0039] The basic idea is to periodically (cyclically) deflect the control surfaces or airbrakes – especially via a swashplate – to make course corrections for spinning projectiles. The sequential deflection, coupled with the spin of the rotating control surfaces, is then virtually spin-decoupled.

[0040] According to the invention, to guide a spinning projectile, several control surfaces are distributed, particularly around the circumference (relative to the longitudinal axis), which are connected to the projectile in an articulated manner (swivel axes). The projectile contains a spin / roll decoupled correction unit (control unit). This contains the necessary steering electronics (control unit), three actuators, and a swashplate consisting of a stationary (first ring) and a rotating part (second ring). The actuators, in the form of linear actuators, change the position of the swashplate, whereby the control surfaces rotating with the projectile are periodically actuated (changing the swivel angle). In a spatially fixed reference system (translational along the trajectory, without spin), this results in a constant deflection direction of the control surfaces, whereby aerodynamic forces act on the projectile, leading to an inclination of the projectile body (casing).This achieves the trajectory correction in the specified direction (desired course correction).

[0041] Further features, effects, and advantages of the invention will become apparent from the following description of a preferred embodiment of the invention and the accompanying figures. Each of these figures shows a schematic diagram: Figure 1: an ammunition with a projectile in longitudinal section, Figure 2: different courses of the swivel angles from the projectile's landing surfaces Figure 1 during one rotation of the projectile around its longitudinal axis. Figure 3adas projectile from Figure 1 during its flight during a course correction in rear view, Figure 3b in horizontal cross-section from above, and Figure 3c in lateral cross-section from the left, Figure 3d the projectile according to Figure 3a at a later time.

[0042] Figure 1shows an ammunition 2 with an ammunition body 4 (projectile casing, ...) only indicated by dashed lines, and a projectile 6. The ammunition 2 in this case has a medium caliber of 40 mm, and is therefore a medium caliber ammunition. The ammunition 2 and the projectile 6 extend along a central longitudinal axis 8. The projectile 6 has a casing 10 that also extends along the longitudinal axis 8. When the ammunition is used as intended, the projectile 6 in this case is fired from a tube weapon (not shown). After firing, it moves as intended in a flight direction 12 (shown by an arrow), with the longitudinal axis 8 coinciding with the flight direction 12. During firing, the projectile 6 is imparted a spin 14 (indicated by an arrow) around the longitudinal axis 8, here clockwise as seen in the flight direction 12.Among other things, the shell 10 carries out the corresponding spin movement, i.e. it has the spin 14.

[0043] In the example, floor 6 has eight storage spaces 16a-h (see e.g. Figure 3a ) of which in Figure 1 For the sake of clarity, only the support surfaces 16a, e are shown. Each of the support surfaces 16a-h is mounted on the casing 10 via a pivot axis 18, so that the respective support surface 16a-h is pivotally mounted or pivotable relative to the casing 10 exclusively about the pivot axis 18. The support surfaces 16a-h are evenly distributed over the circumference of the projectile 6 about the longitudinal axis 8 (offset by 45° each). The pivotability of the support surfaces 16a-h about the pivot axes 18 is their only degree of freedom for mobility relative to the casing 10, i.e. the support surfaces 16a-h are mounted on the casing 10 so that they can pivotally move exclusively about the pivot axis 18.

[0044] Due to the mounting on the hull 10, each of the support surfaces 16a-h also exhibits the spin 14 around the longitudinal axis 8 during flight. Each of the support surfaces 16a-h exhibits a current swivel angle WS around its respective swivel axis 18 at any given time. The swivel angle WS is defined as follows: A swivel angle of WS=0° corresponds to an orientation of the support surface 16a-h opposite to the flight direction 12, parallel to the longitudinal axis 8, in Figure 1 symbolized by a dashed line. A radially inward swiveling of the support surfaces 16a-h corresponds to negative, a radially outward swiveling to positive swivel angles WS, which Figure 1 indicated by the symbols "+" and "-".

[0045] All landing surfaces 16a-h form - viewed in the direction of flight 12 - a rear end 20 of the projectile 6. Thus, together they form a tail unit 22 for the projectile 6, which is connected to the rear (opposite the direction of flight 12) to the rest of the projectile 6.

[0046] In the example, all swivel axes 18 run transversely to the longitudinal axis 8 in the same transverse plane 24 (in Figure 1 indicated by dashed lines) to the longitudinal axis 8, have the same vertical distance A to the longitudinal axis 8 and each run tangentially to the circumferential direction around the longitudinal axis, i.e. to a circle 26 around the longitudinal axis 8 in the transverse plane 24 with radius distance A (see Figure 3a (below). The distance A in this case is 95% of the caliber radius R of the projectile 6, here the casing 10.

[0047] Floor 6 contains an actuating unit 28. The actuating unit 28 is configured to control all actuating surfaces 16a-h with respect to their respective current pivot angle WS, i.e., to set or fix their respective current pivot angle WS. The corresponding linkage 30 is implemented here by eight linkage rods for each of the actuating surfaces 16a-h, of which only two are symbolically indicated here. Thus, all actuating surfaces 16a-h are connected to the actuating unit 28 via the linkage 30.

[0048] The actuating unit 28 is further configured as follows: It sets a cyclical course 32 of the swivel angle WS in the circumferential direction around the longitudinal axis 8 for each of the actuating surfaces 16a-h.

[0049] Figure 2serves to further explain this fact: The course 32 is to be understood in relation to a reference system moving purely translationally in the direction of flight 12, which therefore does not spin with the projectile 6, i.e., does not have a spin 14. In this respect, the course 32 is a function of the swivel angle WS over the circumferential angle WU around the longitudinal axis 8. The course 32 or a corresponding curve is therefore "spin-decoupled". The course 32 is also variable by the actuating unit 28. This is Figure 2 represented by the alternative courses 32' to 32‴.

[0050] Figure 3 explains the effects of course 32 on floor 6 as an example. Figure 3a-c shows the projectile 6 flying in the direction of flight 12 at a certain point in time. Figure 3a shows the rear view of the projectile 6 (the flight direction 12 points into the plane of the page), Figure 3b a planar cross-section through floor 6 from above, Figure 3cA vertical cross-section of projectile 6 from the left. The directions indicated refer to a real, exemplary flight situation over terrain. At the selected time, projectile 6 is, for example, in a position with respect to its spin 14, in which the landing surface 16a is "up," namely at a circumferential angle WU=0° around the longitudinal axis 8. The curve 32 of the oscillation angle WS is set identically for all landing surfaces 16a-h by the actuating unit 28. With respect to the aforementioned spin-decoupled reference system, landing surface 16a is therefore at a circumferential angle WU=0° around the longitudinal axis 8. Its current oscillation angle WS is WS=0° according to curve 32. Landing surface 16b is at a circumferential angle WU=45°, which is why its oscillation angle WS is 3° according to curve 32.For the remaining shelves 16c-h, the following circumferential angles and swivel angles result: 16c: WU=90°, WS= 5° / 16d: WU=135°, WS= 3° / 16e: WU=180°, WS= 0° / 16f: WU=225°, WS= -3° / 16g: WU=270°, WS= -5° / 16h: WU=315°, WS= -3°.

[0051] Based on the Figures 3a-c It can be seen that the overall position of the control surfaces 16a-h for the tail unit 22 results in a position which here causes a desired course correction KK of the projectile 6 to the right, indicated by an arrow.

[0052] Figure 3d now shows floor 6 at a later time, when this is starting from Figure 3a-chas rotated around the longitudinal axis 8 by 45° following its spin 14. The support surface 16a is now at the circumferential angle WU=45° and therefore has a current swivel angle WS of WS=3° according to the still unchanged course 32, the support surface 16b is at the circumferential angle WU=90° with the current swivel angle WS=5°, etc. Due to the spin decoupling of the course 32, the same course correction KK to the right is still carried out on the projectile 6 with different individuals of the support surfaces 16a-h - seen in a spin-decoupled manner.

[0053] The setting of an alternative course 32' leads to a different cyclic deflection of the support surfaces 16a-h depending on the circumferential angle WU. Thus (indicated by dashed lines) the course 32' in the situation in Figure 3aThis results in the articulated platform 16a being pivoted at a pivot angle of WS=-3°, the platforms 16b and 16h being pivoted at a pivot angle of WS=-2°, the platforms 16c and 16g being pivoted at a pivot angle of WS=0°, the platforms 16d and 16f being pivoted at a pivot angle of 2°, and the platform 16e being pivoted at a pivot angle of WS=3°. This results in a downward course correction KK' (indicated by dashed lines in Figures 3a-cb). However, the deflection of the platforms 16a-h is reduced, thus the course correction KK' is smaller.

[0054] The setting of an alternative course 32" leads to a yet different cyclic deflection of the positioning surfaces 16a-h depending on the circumferential angle WU, namely a constant zero deflection WS=0° for all positioning surfaces 16a-h. A course correction KK" is zero here, ie, does not occur as a result.

[0055] Setting an alternative course 32‴ results in a yet different cyclic deflection of the support surfaces 16a-h depending on the circumferential angle WU, namely a constant deflection WS=10° for all support surfaces 16a-h, i.e., a constant radial outward spread. A course correction KK‴ occurs here in the form of a deceleration of projectile 6.

[0056] The curves 32 can be adjusted as desired, provided this is within the technical capabilities of the actuating unit 28, as explained below.

[0057] To implement a desired course correction KK, the projectile 6 contains a control unit 34, here in the form of an electronic unit. This unit acts on the actuating unit 28, which then adjusts the corresponding courses 32. Specifically, the actuating unit 28 is configured as follows to control the actuating surfaces 16a-h and thus adjust the course 32: The actuating unit contains a carrier 36 that is decoupled from the spin 14. In the above-explained reference system of the projectile 6, which moves translationally in the direction of flight 12, the carrier 36 is thus at rest. With respect to the casing 10, the carrier 36 rotates therein with the negative or opposite spin 14, i.e., with an equal but negative "counter-spin." In the present case, this is achieved by a bearing 38 of the carrier 36 in the casing 10, which is only symbolically indicated here by a ball bearing, which allows free rotation of the carrier 36 about the longitudinal axis 8 relative to the casing 10.

[0058] The actuating unit 28 also contains a course element 40, which is also decoupled from the shell 10, i.e. rests corresponding to the carrier 36, but whose position L relative to the carrier 36 is adjustable.

[0059] The actuating unit 28 also contains a linkage element 42, which is mounted with the spin 14 so as to rotate about the longitudinal axis 8 relative to the carrier 36 and is motion-coupled to the linkage element 42 with respect to a change in position L. The linkage element 42 is in turn connected to the actuating surfaces 16a-h via the linkage 30. A change in the position L of the course element 40 therefore also leads, via the motion coupling, to a changed position of the linkage element 42, whereby the latter position is not to be understood in the sense of the spin 14 as such. Rather, it is the position of the linkage element 42, which rotates with the spin 14. The changed position of the linkage element 42, in turn, leads, via the linkage 30, to different pivot angles WS of the actuating surfaces 16a-h and thus to a changed course 32 of the pivot angles WS.

[0060] The actuating unit 28 also contains an actuator assembly 44, which is again fixedly arranged relative to the carrier 36 and thus also spin-decoupled. This actuator assembly is configured to predeterminably adjust the position L of the contouring element 40. The position L is predefined such that a desired contour 32 is established via the above-described motion coupling and linkage 30.

[0061] In the present case, the extension element 40 is formed by a first inner ring 46 of a swash plate 48. The articulation element 42 is formed by a second outer ring 50 of the swash plate 48. The above-mentioned movement coupling is achieved by the exclusively rotating bearing (symbolically indicated by a ball bearing, rotation being the only degree of freedom) of the outer ring 50 on the inner ring 46. The position L describes the axial position of the swash plate 48 on the carrier 36 as well as its tilting relative to the carrier 36. The carrier 36 runs centrally in the shell 10 along the longitudinal axis 8 or is mounted accordingly therein. To change the position L, the swash plate 48 is mounted concentrically axially displaceable and tiltable on the carrier 36 (indicated by partial circles).

[0062] The actuator arrangement 44 in turn contains three evenly distributed in the circumferential direction around the carrier 36 (in Figure 1Only two of them are symbolically shown) actuators 52 in the form of linear actuators, which, or rather whose base structure 54, is fixedly attached to the support 36. The respective output ends 56 (movable relative to the base structure 54) are attached to the first ring 46 of the swash plate 48 (articulated due to tilting of the swash plate 48).

[0063] Thus, the actuators 52 can cause the displacement of the swash plate 48 along the carrier 36 in the direction of the longitudinal axis 8, which equally increases or decreases the pivot angles WS of all positioning surfaces 16a-h. The actuators 52 can also cause the tilting of the first ring 46 and thus of the entire swash plate 48. This leads to a circumferentially varying change in the pivot angles WS of the positioning surfaces 16a-h and thus to their asymmetrical deflection and thus to a possible course correction of the projectile 6. List of reference symbols

[0064] 2 Ammunition 4 Ammunition body 6 Projectile 8 Longitudinal axis 10 Casing 12 Direction of flight 14 Spin 16a-h Base 18 Swivel axis 20 End 22 Tail unit 24 Transverse plane 26 Circle 28 Actuator 30 Linkage 32 Course 34 Control unit 36 ​​Carrier 38 Bearing 40 Course element 42 Linkage element 44 Actuator arrangement 46 First ring 48 Swash plate 50 Second ring 52 Actuator 54 Basic structure 56 Output end WS Swivel angle A Distance RK Caliber radius WU Circumferential angle KK Course correction LL Attitude

Claims

1. Projectile (6), with a body (10) extending along a longitudinal axis (8), which is designed to have a spin (14) around the longitudinal axis (8) in a flight direction (12) in the case of a flight as intended, - with at least one steering surface (16a-h) which is pivotably mounted around a pivot axis (18) relative to the body (10) so as to spin with the body (10), wherein each of the steering surfaces (16a-h) has a respective current pivot angle (WS) around the pivot axis (18), - with an actuating unit (28) which is connected via a linkage (30) to at least one of the steering surfaces (16a-h) and which is designed to deflect the steering surfaces (16a-h) with regard to their respective current pivot angle (WS), and in doing so, to set, for each of the hinged steering surfaces (16a-h), a spin-decoupled cyclic course (32) of the respective current pivot angle (WS) depending on a circumferential angle (WU) in the circumferential direction around the longitudinal axis (8), wherein the course (32) can be changed by the actuating unit (28), - characterized in that the actuating unit (28) comprises: - a spin-decoupled carrier (36), namely moving in flight in a translational not rotating manner, without spin (14), with the projectile (6) along a trajectory, - a spin-decoupled course element (40) which specifies the course (32) and the position (L) of which relative to the carrier (36) is adjustable, - a linkage element (42) rotationally mounted relative to the carrier (36), having the spin (14) and movement-coupled to the course element (40) with regard to a change in the position (L), which linkage element is connected to the steering surfaces (16a-h) via the linkage (30), - a spin-decoupled actuator arrangement (44) which is configured to set the position (L) of the course element (40) predefinably.

2. Projectile according to Claim 1, characterized in that the projectile (6) comprises a control unit (34) which acts on the actuating unit (28) and is configured to change the course (32) by acting on the actuating unit (28) depending on a desired course correction (KK) of the projectile (6).

3. Projectile (6) according to either of the preceding claims, characterized in that the projectile (6) has a plurality of at least two steering surfaces (16a-h) distributed around the longitudinal axis (8) over the circumference of the projectile (6).

4. Projectile (6) according to one of the preceding claims, characterized in that at least two of the steering surfaces (16a-h) are connected to the actuating unit (28) via the linkage (30).

5. Projectile (6) according to one of the preceding claims, characterized in that the course (32) is the same for all steering surfaces (16a-h) deflected by the actuating unit (28).

6. Projectile (6) according to one of the preceding claims, characterized in that at least one of the steering surfaces (16a-h) on the body (10) is pivotably movable only around the pivot axis (18).

7. Projectile (6) according to one of the preceding claims, characterized in that at least one of the steering surfaces (16a-h) forms a rear end (20) of the projectile (6) with regard to the flight direction (12).

8. Projectile (6) according to one of the preceding claims, characterized in that at least one of the pivot axes (18) runs transversely with respect to the longitudinal axis (8).

9. Projectile (6) according to one of the preceding claims, characterized in that at least one of the pivot axes (18) is at a perpendicular spacing (A) of at least 90% of a calibre radius (R) of the projectile (6) from the longitudinal axis (8).

10. Projectile (6) according to one of the preceding claims, characterized in that the course element (40) is formed by a first ring (46), and the linkage element (42) by a second ring (50) of a swash plate (48), wherein the two rings (46,48) are movement-coupled to each other by a rotating bearing.

11. Projectile (6) according to one of the preceding claims, characterized in that the carrier (36) runs along the longitudinal axis (8) in the middle of the body (10), and the course element (40) is mounted on the carrier (36) such that it can be moved axially concentrically and can be tilted.

12. Projectile (6) according to one of the preceding claims, characterized in that the actuator assembly (44) comprises three actuators (52) distributed uniformly in the circumferential direction around the carrier (36), the basic structures (54) of which are fastened to the carrier and the movable output ends (56) of which are fastened to the course element (40).

13. Projectile (6) according to one of the preceding claims, characterized in that the projectile (6) is a projectile (6) of medium calibre munition (2).

14. Munition (2), with a projectile (6) according to one of the preceding claims.

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