Flying object

Abstract

To obtain a flying object capable of improving propulsion performance and improving guidance accuracy to targets moving at high speeds.SOLUTION: A flying object 1, which corresponds to ground-to-air, ship-to-air, or air-to-air, comprises: a rotary detonation engine 5 with a thrust deflector 6 that controls a thrust deflection angle to change a thrust axis; a pulse detonation engine 7 with a plurality of nozzles; a seeker 2 that obtains tracking information of a target; an inertial device 3 that obtains inertial information of the flying object 1; and an autopilot 4 that calculates a thrust command and a thrust deflection angle command of the rotary detonation engine 5, which are necessary to correct an error to an expected meeting point with a target on the basis of the tracking information and the inertial information, and a nozzle thrust command of the pulse detonation engine 7, and outputs the commands to the rotary detonation engine 5 and the pulse detonation engine 7.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present disclosure relates to projectiles corresponding to ground-to-air, ship-to-air, and air-to-air.

Background Art

[0002] Conventionally, as means for guiding projectiles corresponding to ground-to-air, ship-to-air, and air-to-air to a target, in mid-course guidance, acceleration by a rocket motor using a combustion phenomenon and aerodynamic control by control surfaces have been proposed, and in terminal guidance, side thrusters using a combustion phenomenon have been proposed.

[0003] Patent Document 1 proposes a side thruster using a combustion phenomenon that discharges gas in a direction orthogonal to the longitudinal axis of the aircraft body to control the translational and rotational movements of the aircraft body.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the side thruster using a combustion phenomenon disclosed in Patent Document 1, since the acceleration in the translational direction of the aircraft body is small, there is a problem that the guidance accuracy to a target moving at high speed is reduced.

[0006] The present disclosure has been made in view of the above, and an object thereof is to obtain a projectile capable of improving propulsion performance and improving the guidance accuracy to a target moving at high speed.

Means for Solving the Problems

[0007] In order to solve the above-described problems and achieve the object, the projectile according to the present disclosure is a projectile corresponding to ground-to-air, ship-to-air, or air-to-air. The projectile includes a rotary detonation engine having a thrust deflection device that controls a thrust deflection angle to change a thrust axis, a pulse detonation engine having a plurality of nozzles, a seeker that obtains target tracking information, an inertial device that obtains inertial information of the projectile, a thrust command and a thrust deflection angle command of the rotary detonation engine necessary for correcting an error to a predicted meeting point with the target based on the tracking information and the inertial information, and an autopilot that calculates a nozzle thrust command of the pulse detonation engine and outputs the commands to the rotary detonation engine and the pulse detonation engine.

Effect of the Invention

[0008] According to the projectile of the present disclosure, it is possible to improve the propulsion performance and improve the guidance accuracy to a target moving at high speed.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

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Figure 10

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Figure 16

Mode for Carrying Out the Invention

[0010] Hereinafter, the flying object according to the embodiment will be described in detail with reference to the drawings.

[0011] Embodiment 1. FIG. 1 is a front cross-sectional view showing the configuration of the flying object 1 according to Embodiment 1. FIG. 2 is a side cross-sectional view showing the configuration of the flying object 1 according to Embodiment 1. FIG. 3 is a side cross-sectional view showing the configuration of the flying object 1 according to Embodiment 1. FIG. 2 is a view obtained by cutting FIG. 1 along line II-II, and FIG. 3 is a view obtained by cutting FIG. 1 along line III-III.

[0012] In FIGS. 1 to 3, the projectile 1 includes an airframe 40, a seeker 2, an inertial device 3, an autopilot 4, a rotary detonation engine 5, a pulse detonation engine 7, an oxidizer storage section 10 for storing an oxidizer Ox, and a fuel storage section 11 for storing fuel Fu. The rotary detonation engine 5 is disposed at the rearmost part of the airframe 40 and has an ignition device 14 and a thrust deflection device 6. The pulse detonation engine 7 is disposed at the front and rear parts of the airframe 40 and has an ignition device 15, a plurality of nozzles 8, and a plurality of lateral offset nozzles 9. In this specification, the direction along the axis O of the airframe 40 is referred to as the X direction or the axis direction, a certain direction perpendicular to the axis O is referred to as the Y direction or the lateral direction perpendicular to the axis, and the direction perpendicular to the X direction and the Y direction is referred to as the Z direction or the longitudinal direction perpendicular to the axis. The lateral direction perpendicular to the axis and the longitudinal direction perpendicular to the axis are collectively referred to as the direction perpendicular to the axis. Hereinafter, the X direction may also be described as the front-rear direction, the Z direction as the up-down direction, and the Y direction as the left-right direction.

[0013] The oxidizer storage section 10 for storing the oxidizer Ox, the rotary detonation engine 5, and the pulse detonation engine 7 are connected by an oxidizer supply passage 41 indicated by a broken line. The oxidizer supply passage 41 is provided with an on-off valve 12a disposed at the outlet of the oxidizer storage section 10, an on-off valve 12b disposed at the inlet of the rotary detonation engine 5, and an on-off valve 12c disposed at the inlet of the pulse detonation engine 7. The fuel storage section 11 for storing the fuel Fu, the rotary detonation engine 5, and the pulse detonation engine 7 are connected by a fuel supply passage 42 indicated by a thick solid line. The fuel supply passage 42 is provided with an on-off valve 13a disposed at the outlet of the fuel storage section 11, an on-off valve 13b disposed at the inlet of the rotary detonation engine 5, and an on-off valve 13c disposed at the inlet of the pulse detonation engine 7.

[0014] In the rotary detonation engine 5, when an air-fuel mixture of fuel Fu and oxidizer Ox is ignited by the ignition device 14, a detonation wave (detonation shock wave) is generated to burn the air-fuel mixture, and the gas generated by the combustion of the air-fuel mixture is ejected rearward of the airframe 40 to generate thrust. In the rotary detonation engine 5, the thrust axis is changed using the thrust deflection device 6.

[0015] The pulse detonation engine 7 is arranged at the front and rear of the airframe 40. The pulse detonation engine 7 provided on the front side is connected to four nozzles 8 provided on the top, bottom, left, and right of the airframe 40, as shown in FIG. 2. The pulse detonation engine 7 provided on the rear side is connected to two nozzles 8 provided on the top and bottom of the airframe 40 and is also connected to four side offset nozzles 9 provided on the left and right of the airframe 40, as shown in FIG. 3. Two side offset nozzles 9 are provided on each side of the airframe 40. Therefore, the pulse detonation engine 7 has ten nozzles including six nozzles 8 and four side offset nozzles 9. Each side offset nozzle 9 is offset by a distance L Z in the ±Z direction from the center of gravity 16 of the flying body 1. The distance L X is the X-direction distance from the center of gravity 16 to the nozzles 8 arranged at the front and rear. The side offset nozzle 9 may be simply referred to as the nozzle 9.

[0016] In the pulse detonation engine 7, when an air-fuel mixture of fuel Fu and oxidizer Ox is ignited by the ignition device 15, a detonation wave is generated to burn the air-fuel mixture, and the gas generated by the combustion of the air-fuel mixture is ejected from the nozzles 8 and the side offset nozzles 9 to generate thrust. In the pulse detonation engine 7, the detonation wave is generated intermittently.

[0017] The seeker 2 tracks the target and transmits the target tracking information to the autopilot 4. The inertial device 3 transmits the inertial information of the flying object 1 to the autopilot 4. Based on the target tracking information and the inertial information of the flying object 1, the autopilot 4 calculates the guidance signal necessary for correcting the error to the predicted meeting point with the target, calculates the acceleration command and the angular velocity command based on the guidance signal, and calculates the thrust command and the thrust deflection angle command of the rotary detonation engine 5, and the nozzle thrust command of the pulse detonation engine 7.

[0018] In the rotary detonation engine 5, based on the thrust command and the thrust deflection angle command, the on-off valve 12b, the on-off valve 13b, and the ignition device 14 are controlled to generate thrust. Also, in the rotary detonation engine 5, the thrust axis is changed in the direction of the thrust deflection angle command using the thrust deflection device 6. Also, in the pulse detonation engine 7, based on the thrust command of each nozzle 8, 9, the on-off valve 12c, the on-off valve 13c, and the ignition device 15 are controlled to generate thrust.

[0019] FIG. 4 is a front partial cross-sectional view for explaining the operation of the thrust deflection device 6 of the rotary detonation engine 5 of the flying object 1 according to the first embodiment. FIG. 5 is a side view of the rotary detonation engine 5 of the flying object 1 according to the first embodiment. The thrust deflection device 6 deflects the thrust of the rotary detonation engine 5 by translating the rotary detonation engine 5 in three directions of X, Y, and Z and rotating it about three axes of pitch, roll, and yaw by a multi-axis parallel link mechanism. As the thrust deflection device 6, for example, a Stewart platform is used.

[0020] In FIGS. 4 and 5, 17 is the thrust deflection angle of the rotary detonation engine 5, 18 is the thrust axis of the rotary detonation engine 5, 19 is the thrust of the rotary detonation engine 5, 20 is the component force of the thrust 19 of the rotary detonation engine 5 in the axis direction (X direction) of the machine shaft, and 21 is the component force of the thrust 19 of the rotary detonation engine 5 in the vertical direction (Z direction) perpendicular to the machine shaft and the component force in the horizontal direction (Y direction) perpendicular to the machine shaft. In the rotary detonation engine 5, the thrust deflection device 6 controls the thrust deflection angle 17 to change the thrust axis 18. At this time, the thrust deflection device 6 controls the position and angle of the thrust deflection device 6 so that the thrust axis 18 overlaps the center of gravity 16 of the flying object 1. Thereby, the thrust 19 of the rotary detonation engine 5 can generate a component force 20 in the axis direction of the airframe 40 and a component force 21 in the direction perpendicular to the axis of the airframe without exciting a rotational motion in the flying object 1. The component force 21 in the direction perpendicular to the axis of the machine can be generated in the vertical direction (Z direction) perpendicular to the axis of the airframe 40 and the horizontal direction (Y direction) perpendicular to the axis of the airframe 40 of the airframe 40 by controlling the thrust deflection angles in the vertical and horizontal directions of the thrust deflection angle 17.

[0021] FIG. 6 is a front view for explaining the operation of the pulse detonation engine 7 of the flying object 1 according to the first embodiment. FIG. 7 is a side sectional view for explaining the operation of the pulse detonation engine 7 of the flying object 1 according to the first embodiment. FIG. 8 is a side sectional view for explaining the operation of the pulse detonation engine 7 of the flying object 1 according to the first embodiment. FIG. 9 is a side sectional view for explaining the operation of the pulse detonation engine 7 of the flying object 1 according to the first embodiment. FIG. 7 is a sectional view obtained by cutting FIG. 6 at the position of the center of gravity 16 of the flying object 1. FIG. 8 is a view obtained by cutting FIG. 6 along line VIII-VIII, and FIG. 9 is a view obtained by cutting FIG. 6 along line IX-IX.

[0022] In FIGS. 6 to 9, 22 is the thrust generated by the nozzles 8 and 9 of the pulse detonation engine 7, and 23 is the axis vertical force generated by the control of the pulse detonation engine 7. The axis vertical force 23 includes a component force generated in the axis vertical longitudinal direction (Z direction) of the airframe 40 and a component force generated in the axis vertical lateral direction (Y direction) of the airframe 40. The pulse detonation engine 7 uses a plurality of nozzles 8 and a plurality of nozzles 9 to generate the axis vertical force 23 on the airframe 40. Also, by controlling the thrust of the plurality of nozzles 8 and the plurality of nozzles 9, the attitude angle of the airframe 40 can be controlled.

[0023] FIG. 10 is a block diagram showing the configuration of the control system of the projectile 1 according to Embodiment 1. The seeker 2 observes and tracks the target and transmits the target tracking information to the autopilot 4. The inertial device 3 transmits inertial information including the acceleration and angular velocity of the projectile 1 to the autopilot 4. The autopilot 4 includes a target tracking filter 4a, an acceleration command calculation unit 4b, and an autopilot calculation unit 4c. The target tracking filter 4a calculates a guidance signal necessary for correcting the error to the predicted meeting point with the target from the target tracking information and the inertial information of the projectile 1. The acceleration command calculation unit 4b calculates an acceleration command and an angular velocity command from the guidance signal. The autopilot calculation unit 4c calculates a thrust command and a thrust deflection angle command for the rotary detonation engine 5 and nozzle thrust commands for the plurality of nozzles 8 and 9 of the pulse detonation engine 7 based on the acceleration command and the angular velocity command. The autopilot calculation unit 4c outputs the thrust command and the thrust deflection angle command to the rotary detonation engine 5. The autopilot calculation unit 4c outputs a plurality of (ten) nozzle thrust commands for the plurality of nozzles 8 and 9 to the pulse detonation engine 7.

[0024] In the rotary detonation engine 5, based on the thrust command and the thrust deflection angle command, the on-off valve 12b of the oxidizer Ox, the on-off valve 13b of the fuel Fu, and the ignition device 14 are controlled to generate thrust, and the thrust deflection device 6 is driven and controlled to change the thrust axis 18 in the direction of the thrust deflection angle command. At this time, the position and angle of the thrust deflection device 6 are controlled so that the thrust axis 18 of the rotary detonation engine 5 overlaps the center of gravity 16 of the projectile 1 so that the thrust of the rotary detonation engine 5 does not excite rotational motion in the projectile 1.

[0025] In the pulse detonation engine 7, based on a plurality of nozzle thrust commands, the on-off valve 12c of the oxidizer Ox, the on-off valve 13c of the fuel Fu, and the ignition device 15 are controlled to generate thrust. By continuously performing the above operations, the projectile 1 flies toward the predicted meeting point with the target.

[0026] Here, the body motion of the projectile 1 of the first embodiment will be described. In FIG. 4, when the thrust command and the thrust deflection angle command of the rotary detonation engine 5 and the nozzle thrust command of the pulse detonation engine 7 are input to the rotary detonation engine 5 and the pulse detonation engine 7, translational acceleration is excited in the projectile 1, and the body motion is performed so that the error to the predicted meeting point with the target is reduced. This can be expressed as in Equation (1).

[0027]

Equation

[0028] In Equation (1), a X (t) is the acceleration in the X direction at time t, and a Y (t) is the acceleration in the Y direction at time t, and a Z (t) is the acceleration in the Z direction at time t. T RDE is the thrust of the rotary detonation engine 5. β p is the component of the thrust deflection angle 17 of the rotary detonation engine 5 in the vertical direction perpendicular to the machine axis, and β yis the component force in the lateral direction perpendicular to the axis of the thrust deflection angle 17 of the rotary detonation engine 5. T PDE (i) r is the thrust in the lateral direction perpendicular to the axis acting in the roll direction of the pulse detonation engine 7, and T PDE (i) Y is the thrust in the Y direction of the pulse detonation engine 7, and T PDE (i) Z is the thrust in the Z direction of the pulse detonation engine 7. m is the mass of the projectile 1. dΦ(t) is the roll angular velocity at time t, dθ(t) is the pitch angular velocity at time t, and dψ(t) is the yaw angular velocity at time t. I xx is the moment of inertia in the roll direction, and I yy is the moment of inertia in the pitch direction, and I zz is the moment of inertia in the yaw direction.

[0029] According to Embodiment 1, since the rotary detonation engine 5 and the pulse detonation engine 7 that utilize the detonation phenomenon are used, the acceleration in the axis direction of the projectile 1 and the turning acceleration in the direction perpendicular to the axis can be increased, the propulsion efficiency is higher than that of the side thruster that utilizes the combustion phenomenon, and the propulsion performance of the projectile 1 can be improved.

[0030] According to Embodiment 1, the thrust deflection device 6 of the rotary detonation engine 5 controls the position and angle of the thrust deflection device 6 so that the thrust axis 18 overlaps the center of gravity 16 of the projectile 1. Therefore, thrust can be given as a component force in the direction perpendicular to the axis O of the projectile 1 without exciting rotational motion, and the motion performance of the projectile 1 can be improved.

[0031] Therefore, in Embodiment 1, for a fast-moving target, the airframe motion is performed so that the error to the predicted meeting point with the target is reduced, and the guidance accuracy to the target can be improved.

[0032] Embodiment 2. FIG. 11 is a front view showing the configuration of the flying object 1 according to Embodiment 2. FIG. 12 is a side cross-sectional view showing the configuration of the flying object 1 according to Embodiment 2. In Embodiment 2, the flying object 1 includes a steering device 24 having a plurality of steering wings 24b. Components in Embodiment 2 that achieve the same functions as those in Embodiment 1 are denoted by the same reference numerals, and redundant descriptions are omitted.

[0033] As shown in FIGS. 11 and 12, a steering device 24 is provided at the rear of the airframe 40. The steering device 24 has a plurality of rotary shaft drive units 24a and a plurality of steering wings 24b attached to the rotary shafts of the respective rotary shaft drive units 24a. For example, four steering wings 24b are provided. An aerodynamic force 25 is generated by the steering device 24. Also, an airframe moment 26 is generated in the airframe 40 by controlling the steering device 24. Further, an aerodynamic force 27 is generated in the airframe 40 by controlling the steering device 24.

[0034] FIG. 13 is a block diagram showing the configuration of the control system of the flying object 1 according to Embodiment 2. The seeker 2 observes and tracks the target and transmits the target tracking information to the autopilot 4. The inertial device 3 transmits inertial information including the acceleration and angular velocity of the flying object 1 to the autopilot 4. The autopilot 4 includes a target tracking filter 4a, an acceleration command calculation unit 4b, and an autopilot calculation unit 4c. The target tracking filter 4a calculates a guidance signal necessary for correcting the error to the predicted meeting point with the target from the target tracking information and the inertial information of the flying object 1. The acceleration command calculation unit 4b calculates an acceleration command and an angular velocity command from the guidance signal. The autopilot calculation unit 4c calculates a thrust command and a thrust deflection angle command for the rotary detonation engine 5 and nozzle thrust commands for the plurality of nozzles 8, 9 of the pulse detonation engine 7 based on the acceleration command and the angular velocity command.

[0035] Furthermore, when the altitude is less than the set value h1 corresponding to the first set value, the autopilot calculation unit 4c calculates the rudder angle commands for the plurality of steering wings 24b of the steering device 24. The set value h1 is set in advance as the upper limit value of the altitude at which the generation of the aerodynamic force 25 can be expected. The autopilot calculation unit 4c outputs the thrust command and the thrust deflection angle command to the rotary detonation engine 5. The autopilot calculation unit 4c outputs a plurality of (ten) nozzle thrust commands for the plurality of nozzles 8, 9 to the pulse detonation engine 7. Also, when the altitude is less than or equal to the set value h1, the autopilot calculation unit 4c outputs a plurality of (four in this example) rudder angle commands to the steering device 24.

[0036] In the rotary detonation engine 5, based on the thrust command and the thrust deflection angle command, the on-off valve 12b of the oxidizer Ox, the on-off valve 13b of the fuel Fu, and the ignition device 14 are controlled to generate thrust, and the thrust deflection device 6 is driven and controlled to change the thrust axis 18 in the direction of the thrust deflection angle command. At that time, the position and angle of the thrust deflection device 6 are controlled so that the thrust axis 18 of the rotary detonation engine 5 overlaps the center of gravity 16 of the flying object 1 so that the thrust of the rotary detonation engine 5 does not excite the rotary motion of the flying object 1.

[0037] In the pulse detonation engine 7, based on the plurality of nozzle thrust commands, the on-off valve 12c of the oxidizer Ox, the on-off valve 13c of the fuel Fu, and the ignition device 15 are controlled to generate thrust.

[0038] The steering device 24 controls the rudder angle of the steering device 24 based on the plurality of rudder angle commands, thereby generating the aerodynamic force 25 in the steering device 24. The aerodynamic force 25 of the steering device 24 generates a body moment 26 on the airframe 40 of the flying object 1. The body moment 26 changes the attitude angle of the airframe 40, thereby generating the aerodynamic force 27 on the airframe 40 of the flying object 1. By continuously performing the above operations, the flying object 1 flies toward the predicted meeting point with the target.

[0039] Here, the aircraft motion of the flying body 1 in Embodiment 2 will be described. In FIG. 13, when the thrust command and thrust deflection angle command of the rotary detonation engine 5, the nozzle thrust command of the pulse detonation engine 7, and the rudder angle command of the steering device 24 are input to the rotary detonation engine 5, the pulse detonation engine 7, and the steering device 24, the flying body 1 is excited with an acceleration in the translational direction, and the aircraft motion is performed so that the error to the predicted meeting point with the target is reduced. This can be expressed as in Equation (2).

[0040]

Number

[0041] In Equation (2), the symbols used in Equation (1) are as described above. F X is the aerodynamic force in the axis direction generated by the control of the steering device 24, and F Y is the aerodynamic force in the lateral direction perpendicular to the axis generated by the control of the steering device 24, and F Z is the aerodynamic force in the vertical direction perpendicular to the axis generated by the control of the steering device 24. M x is the rolling moment generated by the control of the steering device 24, and M y is the pitching moment generated by the control of the steering device 24, and M z is the yawing moment generated by the control of the steering device 24.

[0042] According to Embodiment 2, at an altitude where the generation of the aerodynamic force 25 can be expected, since the steering device 24 is driven, the acceleration in the translational direction of the flying body 1 can be increased, the motion performance of the airframe 40 of the flying body 1 is further improved, and the guidance accuracy to the target can be further improved.

[0043] Embodiment 3. FIG. 14 is a front view showing the configuration of the flying body 1 according to Embodiment 3. FIG. 15 is a side sectional view showing the configuration of the flying body 1 according to Embodiment 3. In Embodiment 3, the flying body 1 includes a plurality of flaps 28. Components in Embodiment 3 that achieve the same functions as those in Embodiment 1 are denoted by the same reference numerals, and redundant descriptions are omitted.

[0044] As shown in FIGS. 14 and 15, a plurality of flaps 28 that are deployed and driven are provided at the rear of the airframe 40. For example, four flaps 28 are provided. Aerodynamic force 29 is generated by the flaps 28. Also, an airframe moment 30 is generated in the airframe 40 by controlling the deployment angle of the flaps 28. Further, an aerodynamic force 31 is generated in the airframe 40 by controlling the deployment angle of the flaps 28.

[0045] FIG. 16 is a block diagram showing the configuration of the control system of the flying body 1 according to Embodiment 3. The seeker 2 observes and tracks the target and transmits the target tracking information to the autopilot 4. The inertial device 3 transmits inertial information including the acceleration and angular velocity of the flying body 1 to the autopilot 4. The autopilot 4 includes a target tracking filter 4a, an acceleration command calculation unit 4b, and an autopilot calculation unit 4c. The target tracking filter 4a calculates a guidance signal necessary for correcting the error to the predicted meeting point with the target from the target tracking information and the inertial information of the flying body 1. The acceleration command calculation unit 4b calculates an acceleration command and an angular velocity command from the guidance signal. The autopilot calculation unit 4c calculates a thrust command and a thrust deflection angle command for the rotary detonation engine 5 and a nozzle thrust command for the plurality of nozzles 8, 9 of the pulse detonation engine 7 based on the acceleration command and the angular velocity command.

[0046] Furthermore, when the altitude is less than the set value h2 corresponding to the second set value, the autopilot calculation unit 4c calculates the deployment angle command for the flap 28. The set value h2 is preset as the upper limit value of the altitude at which the generation of the aerodynamic force 29 can be expected. The autopilot calculation unit 4c outputs the thrust command and the thrust deflection angle command to the rotary detonation engine 5. The autopilot calculation unit 4c outputs a plurality of (ten) nozzle thrust commands for the plurality of nozzles 8, 9 to the pulse detonation engine 7. Also, when the altitude is less than or equal to the set value h2, the autopilot calculation unit 4c outputs a plurality of deployment angle commands (four in this example) to the flap 28.

[0047] In the rotary detonation engine 5, based on the thrust command and the thrust deflection angle command, the on-off valve 12b of the oxidizer Ox, the on-off valve 13b of the fuel Fu, and the ignition device 14 are controlled to generate thrust, and the thrust deflection device 6 is driven and controlled to change the thrust axis 18 in the direction of the thrust deflection angle command. At that time, the position and angle of the thrust deflection device 6 are controlled so that the thrust axis 18 of the rotary detonation engine 5 overlaps the center of gravity 16 of the flying body 1 so that the thrust of the rotary detonation engine 5 does not excite a rotational motion in the flying body 1.

[0048] In the pulse detonation engine 7, based on the plurality of nozzle thrust commands, the on-off valve 12c of the oxidizer Ox, the on-off valve 13c of the fuel Fu, and the ignition device 15 are controlled to generate thrust.

[0049] The flap 28 generates the aerodynamic force 29 on the flap 28 by controlling the deployment angle of the flap 28 based on the deployment angle command, generates the airframe moment 30 on the airframe 40 of the flying body 1 by the aerodynamic force 29 of the flap 28, and changes the attitude angle of the airframe 40 by the airframe moment 30, thereby generating the aerodynamic force 31 on the airframe 40 of the flying body 1. By continuously performing the above operations, the flying body 1 flies toward the predicted meeting point with the target.

[0050] Here, the aircraft motion of the skip body 1 in Embodiment 3 will be described. In FIG. 16, when the thrust command and thrust deflection angle command of the rotary detonation engine 5, the nozzle thrust command of the pulse detonation engine 7, and the deployment angle command of the flap 28 are input to the rotary detonation engine 5, the pulse detonation engine 7, and the flap 28, the skip body 1 is excited with an acceleration in the translational direction, and the aircraft motion is performed so that the error to the predicted meeting point with the target is reduced. This can be expressed as in Equation (3).

[0051] [Number]

[0052] In Equation (3), the symbols used in Equation (1) are as described above. F X is the aerodynamic force in the axis direction generated by the control of the flap 28, and F Y is the aerodynamic force in the lateral direction perpendicular to the axis generated by the control of the flap 28, and F Z is the aerodynamic force in the longitudinal direction perpendicular to the axis generated by the control of the flap 28. M y is the pitching moment generated by the control of the flap 28, and M z is the yawing moment generated by the control of the flap 28.

[0053] According to Embodiment 3, at an altitude where the generation of the aerodynamic force 29 can be expected, since the flap 28 is driven, the acceleration in the translational direction of the skip body 1 can be increased, the motion performance of the airframe 40 of the skip body 1 is further improved, and the guidance accuracy to the target can be further improved. Further, in Embodiment 3, compared with Embodiment 2, a simple structure can achieve an improvement in the guidance accuracy to the target.

[0054] The configurations shown in the above embodiments are examples of the content of the present disclosure, and it is also possible to combine them with other known technologies, or the configurations of the respective embodiments may be appropriately combined, and it is also possible to omit or change a part of the configuration without departing from the gist of the present disclosure.

Explanation of Symbols

[0055] 1 Missile body, 2 Seeker, 3 Inertial device, 4 Autopilot, 4a Target tracking filter, 4b Acceleration command calculation unit, 4c Autopilot calculation unit, 5 Rotary detonation engine, 6 Thrust vectoring device, 7 Pulse detonation engine, 8 Nozzle, 9 Lateral offset nozzle, 10 Oxidizer storage unit, 11 Fuel storage unit, 12a, 12b, 12c, 13a, 13b, 13c On-off valve, 14, 15 Ignition device, 16 Center of gravity, 17 Thrust vectoring angle, 18 Thrust axis, 19, 22 Thrust, 20, 21 Component force, 23 Aircraft axis vertical force, 24 Steering device, 24a Rotating shaft drive unit, 24b Steering wing, 25, 27, 29, 31 Aerodynamic force, 26, 30 Aircraft moment, 28 Flap, 40 Aircraft body, 41 Oxidizer supply path, 42 Fuel supply path, Fu Fuel, O Aircraft axis, Ox Oxidizer.

Claims

1. In a projectile corresponding to surface-to-air, ship-to-air, or air-to-air, A rotary detonation engine having a thrust deflection device that controls the thrust deflection angle to change the thrust axis, A pulse detonation engine having a plurality of nozzles, A seeker that obtains target tracking information, An inertial device that obtains the inertial information of the projectile, Based on the tracking information and the inertial information, the thrust command and the thrust deflection angle command of the rotary detonation engine required to correct the error to the predicted meeting point with the target, and the nozzle thrust command of the pulse detonation engine are calculated and output to the rotary detonation engine and the pulse detonation engine, and an autopilot, A projectile characterized by the above.

2. The projectile according to claim 1, characterized in that the position and angle of the thrust deflection device are controlled so that the thrust axis overlaps the center of gravity of the projectile.

3. Equipped with a steering device having a plurality of steering wings whose steering angles can be changed, The autopilot according to claim 1, characterized in that when the altitude is less than the first threshold value, the steering angles of the plurality of steering wings are controlled.

4. Equipped with a plurality of flaps whose deployment angles can be changed, The autopilot according to claim 1, characterized in that when the altitude is less than the second threshold value, the deployment angles of the plurality of flaps are controlled.

Images