USRE37331EExpiredUtilityPatentIndex 92
Dual-control scheme for improved missile maneuverability
Est. expiryFeb 3, 2015(expired)· nominal 20-yr term from priority
Inventors:SCHROEDER WAYNE K
G05D 1/107F41G 7/22
92
PatentIndex Score
28
Cited by
42
References
140
Claims
Abstract
A comparative dual-control strategy actuates forward and aft control devices simultaneously to significantly improve a missile's maneuverability/dynamic capability. A substantial, and measurable, operational effect of the inventive control strategy is a dramatic improvement in a missile's divert capability. To effect a maneuver in accordance with the inventive strategy, a missile's aft fins are initially deflected to generate a force OPPOSITE that conventionally used (pushing the missile's tail in the direction of the commanded maneuver) which simultaneously actuating forward thrusters to also push the missile's nose in the direction of the commanded maneuver but at a faster rate than the tail section. This causes the missile body to simultaneously rotate and translate in the direction of the commanded maneuver. Once a sufficient amount of aerodynamic force develops due to body rotation, the aft fins are deflected to generate a force that opposes the commanded maneuver to maintain a moment on the missile body and complete the commanded maneuver. An important benefit of cooperative dual-control strategy is that the missile begins to translate in the direction of the commanded maneuver immediately (conventional isolated aft control schemes do not accomplish this) and at a faster rate than is possible with either isolated forward control devices or an intuitive dual-control approach.
Claims
exact text as granted — not AI-modifiedWhat is claimed is:
1. A method for rapidly changing the direction of travel of a missile moving in a fluid medium to a desired new direction, said new direction being measured in the missile's inertial frame of reference, said missile having (i) a forward portion and a forward thruster control device and (ii) an aft portion and an aft fin control device, said method comprising:
(a) actuating (i) said forward thruster control device to generate a forward control force, acting on said forward portion, substantially in the desired new direction and (ii) said aft fin control device to generate an aft fin force, acting on said aft portion, substantially in the desired new direction;
(b) subsequently actuating said aft fin control device to generate an aft control fin force acting on said aft portion in a direction substantially opposite the direction of the aft control force in step (a).
2. A method for rapidly changing the direction of travel of a vehicle moving in a fluid medium to a desired new direction, said new direction being measured in the vehicle's inertial frame of reference, said vehicle having (i) a forward portion and a forward control device and (ii) an aft portion and an aft control device, said method comprising:
(a) actuating (i) said forward control device to generate a forward control force, acting on said forward portion, substantially in the desired new direction and (ii) said aft control device to generate an aft control force, acting on said aft portion, substantially in the desired new direction;
(b) subsequently actuating said aft control device to generate an aft control force acting on said aft portion in a direction substantially opposite the direction of the aft control force in step (a).
3. The method of claim 2 , wherein said vehicle is a missile.
4. The method of claim 2 , wherein said vehicle is a torpedo.
5. The method of claim 2 , wherein said forward control device are thrusters.
6. The method of claim 2 , wherein said forward control device are canards.
7. The method of claim 2 , wherein said aft control device are fins.
8. The method of claim 2 , wherein said aft control device are thrusters.
9. The method of claim 2 , wherein said aft control device uses thrust vector control.
10. A control system for a vehicle having a forward portion referred to as a nose and an aft portion referred to as a tail, said system comprising:
(a) a controller configured to generate control signals;
(b) a nose-steering device controllable by the control signals;
(c) a tail-steering device controllable by the control signals;
(d) said controller being configured to cause the missile to change direction of travel by controlling the nose-steering device and the tail-steering device so that (1) both the nose and the tail are initially pushed substantially toward a new direction of travel, after which (2) the tail is pushed substantially away from the new direction of travel.
11. The control system of claim 10 , wherein the vehicle is a missile.
12. The control system of claim 10 , wherein the nose-steering device comprises at least one thruster.
13. The control system of claim 10 , wherein the tail-steering device comprises at least one fin.
14. A control system for a missile having a nose and a tail, said system comprising:
(a) an autopilot controller configured to generate control signals referred to as nose-control signals and tail-control signals respectively;
(b) a nose-steering device actuatable in response to said nose control signals;
(c) one or more fins, referred to as tail fins, actuatable in response to said tail control signals;
(d) said autopilot controller being configured:
(1) to generate one or more of said nose-control signals causing the nose-steering device to generate a force pushing the nose toward a new direction of travel; and
(2) to generate one or more of said tail-control signals that cause said one or more tail fins to generate forces that initially push the tail substantially toward the new direction of travel, then push the tail substantially away from the new direction of travel.
15. A method of maneuvering a vehicle, moving in a fluid medium, toward a direction of a commanded maneuver, said vehicle having:
( i ) a forward portion and a forward control device, and
( ii ) an aft portion and an aft control device, said method comprising:
actuating said forward control device to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
actuating said aft control device to generate a first aft control force, acting upon said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein said forward control force is generated for a first period of time, wherein said first aft control force is generated for a second period of time, and wherein a major portion of said second period of time overlaps a major portion of said first period of time.
16. A method in accordance with claim 15 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
17. A method in accordance with claim 15 , further comprising:
subsequent to the generation of the first aft control force, actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
18. A method in accordance with claim 15 , further comprising:
actuating, prior to the generation of the first aft control force, said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
19. A method in accordance with claim 18 , further comprising:
subsequent to the generation of the first aft control force, actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
20. A method in accordance with claim 15 , further comprising:
attenuating usage of the forward control device when the frequency of the commanded maneuver is low; and
attenuating usage of the aft control device when the frequency of the commanded maneuver is high.
21. A method in accordance with claim 15 , wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
22. A method in accordance with claim 21 , wherein a time of initiation of said first aft control force is simultaneous with a time of initiation of said forward control force.
23. A method in accordance with claim 15 , wherein substantially all of said second period of time overlaps a portion of said first period of time.
24. A method for maneuvering a vehicle, moving in a fluid medium, toward a direction of a commanded maneuver, said vehicle having:
( i ) a forward portion and a forward control device and
( ii ) an aft portion and an aft control device, said method comprising:
actuating said forward control device to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
actuating said aft control device to generate a first aft control force, acting upon said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
25. A method in accordance with claim 24 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
26. A method in accordance with claim 24 , further comprising:
subsequent to the generation of the first aft control force, actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
27. A method in accordance with claim 24 , further comprising:
actuating, prior to the generation of the first aft control force, said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
28. A method in accordance with claim 27 , further comprising:
subsequent to the generation of the first aft control force, actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
29. A method in accordance with claim 24 , further comprising:
attenuating usage of the forward control device when the frequency of the commanded maneuver is low; and
attenuating usage of the aft control device when the frequency of the commanded maneuver is high.
30. A control system for maneuvering a vehicle having a forward portion and an aft portion toward a direction of a commanded maneuver, said control system comprising:
( a ) a controller configured to generate control signals corresponding to the commanded maneuver;
( b ) a forward control device controllable by the control signals; and
( c ) an aft control device controllable by the control signals;
( d ) said controller configured to:
actuate said forward control device so as to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
actuate said aft control device so as to generate a first aft control force, acting on said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein said forward control force is generated for a first period of time, wherein said first aft control force is generated for a second period of time, and wherein a major portion of said second period of time overlaps a major portion of said first period of time.
31. A control system in accordance with claim 30 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
32. A control system in accordance with claim 30 , wherein the controller is further configured to:
subsequent to the generation of the first aft control force, actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
33. A control system in accordance with claim 30 , wherein the controller is further configured to:
actuate, prior to the generation of the first aft control force, said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
34. A control system in accordance with claim 33 , wherein the controller is further configured to:
subsequent to the generation of the first aft control force, actuate said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
35. A control system in accordance with claim 30 , wherein the controller is further configured to:
attenuate usage of the forward control device when the frequency of the commanded maneuver is low; and
attenuate usage of the aft control device when the frequency of the commanded maneuver is high.
36. A control system in accordance with claim 30 , wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
37. A control system in accordance with claim 36 , wherein a time of initiation of said first aft control force is simultaneous with a time of initiation of said forward control force.
38. A control system in accordance with claim 30 , wherein substantially all of said second period of time overlaps a portion of said first period of time.
39. A control system for maneuvering a vehicle having a forward portion and an aft portion toward a direction of a commanded maneuver, said control system comprising:
( a ) a controller configured to generate control signals corresponding to the commanded maneuver;
( b ) a forward control device controllable by the control signals; and
( c ) an aft control device controllable by the control signals;
( d ) said controller configured to:
actuate said forward control device so as to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
actuate said aft control device so as to generate a first aft control force, acting on said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
40. A control system in accordance with claim 39 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
41. A control system in accordance with claim 39 , wherein the controller is further configured to:
subsequent to the generation of the first aft control force, actuate said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
42. A control system in accordance with claim 39 , wherein the controller is further configured to:
actuate, prior to the generation of the first aft control force, said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
43. A control system in accordance with claim 42 , wherein the controller is further configured to:
subsequent to the generation of the first aft control force, actuate said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
44. A control system in accordance with claim 39 , wherein the controller is further configured to:
attenuate usage of the forward control device when the frequency of the commanded maneuver is low; and
attenuate usage of the aft control device when the frequency of the commanded maneuver is high.
45. A memory device for use with an autopilot controller for maneuvering a vehicle toward a direction of a commanded maneuver, said vehicle having:
( i ) a forward portion,
( ii ) an aft portion,
( iii ) a forward steering device, and
( iv ) an aft steering device,
said memory device encoding instructions executable by the autopilot controller to:
actuate said forward steering device to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
actuate said aft steering device to generate a first aft control force, acting upon said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein said forward control force is generated for a first period of time, wherein said first aft control force is generated for a second period of time, and wherein a major portion of said second period of time overlaps a major portion of said first period of time.
46. A memory device in accordance with claim 45 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
47. A memory device in accordance with claim 45 , wherein the memory device further encodes instructions executable by the autopilot controller to:
actuate, subsequent to the actuation of said aft steering device to generate the first aft control force, said aft steering device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
48. A memory device in accordance with claim 45 , wherein the memory device further encodes instructions executable by the autopilot controller to:
actuate, prior to the actuation of said aft steering device to generate the first aft control force, said aft steering device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
49. A memory device in accordance with claim 48 , wherein the memory device further encodes instructions executable by the autopilot controller to:
actuate, subsequent to the actuation of said aft steering device to generate the first aft control force, said aft steering device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
50. A memory device in accordance with claim 45 , wherein the memory device further encodes instructions executable by the autopilot controller to:
attenuate usage of the forward steering device when the frequency of the commanded maneuver is low; and
attenuate usage of the aft steering device when the frequency of the commanded maneuver is high.
51. A memory device in accordance with claim 45 , wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
52. A memory device in accordance with claim 51 , wherein a time of initiation of said first aft control force is simultaneous with a time of initiation of said forward control force.
53. A memory device in accordance with claim 45 , wherein substantially all of said second period of time overlaps a portion of said first period of time.
54. A memory device for use with an autopilot controller for maneuvering a vehicle toward a direction of a commanded maneuver, said vehicle having:
( i ) a forward portion,
( ii ) an aft portion,
( iii ) a forward steering device, and
( iv ) an aft steering device,
said memory device encoding instructions executable by the autopilot controller to:
actuate said forward steering device to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
actuate said aft steering device to generate a first aft control force, acting upon said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
55. A memory device in accordance with claim 54 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
56. A memory device in accordance with claim 54 , wherein the memory device further encodes instructions executable by the autopilot controller to:
actuate, subsequent to the actuation of said aft steering device to generate the first aft control force, said aft steering device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
57. A memory device in accordance with claim 54 , wherein the memory device further encodes instructions executable by the autopilot controller to:
actuate, prior to the actuation of said aft steering device to generate the first aft control force, said aft steering device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
58. A memory device in accordance with claim 57 , wherein the memory device further encodes instructions executable by the autopilot controller to:
actuate, subsequent to the actuation of said aft steering device to generate the first aft control force, said aft steering device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
59. A memory device in accordance with claim 54 , wherein the memory device further encodes instructions executable by the autopilot controller to:
attenuate usage of the forward steering device when the frequency of the commanded maneuver is low; and
attenuate usage of the aft steering device when the frequency of the commanded maneuver is high.
60. A method for generating control signals suitable for maneuvering a vehicle toward a direction of a commanded maneuver, said vehicle having:
( i ) a forward portion and a forward control device controllable by forward control signals, and
( ii ) an aft portion and an aft control device controllable by aft control signals, said method comprising:
generating a forward control signal suitable for actuating said forward control device to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
generating an aft control signal suitable for actuating said aft control device to generate a first aft control force, acting upon said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein said forward control force is generated for a first period of time, wherein said first aft control force is generated for a second period of time, and wherein a major portion of said second period of time overlaps a major portion of said first period of time.
61. A method in accordance with claim 60 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
62. A method in accordance with claim 60 , further comprising:
subsequent to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, generating a second aft control signal suitable for actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
63. A method in accordance with claim 60 , further comprising:
generating, prior to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, a second aft control signal suitable for actuating said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
64. A method in accordance with claim 63 , further comprising:
subsequent to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, generating a second aft control signal suitable for actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
65. A method in accordance with claim 60 , further comprising:
attenuating usage of the forward control device when the frequency of the commanded maneuver is low; and
attenuating usage of the aft control device when the frequency of the commanded maneuver is high.
66. A method in accordance with claim 60 , wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
67. A method in accordance with claim 66 , wherein a time of initiation of said first aft control force is simultaneous with a time of initiation of said forward control force.
68. A method in accordance with claim 60 , wherein substantially all of said second period of time overlaps a portion of said first period of time.
69. A method for generating control signals suitable for maneuvering a vehicle toward a direction of a commanded maneuver, said vehicle having:
( i ) a forward portion and a forward control device controllable by forward control signals, and
( ii ) an aft portion and an aft control device controllable by aft control signals, said method comprising:
generating a forward control signal suitable for actuating said forward control device to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
generating an aft control signal suitable for actuating said aft control device to generate a first aft control force, acting upon said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
70. A method in accordance with claim 69 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
71. A method in accordance with claim 69 , further comprising:
subsequent to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, generating a second aft control signal suitable for actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
72. A method in accordance with claim 69 , further comprising:
generating, prior to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, a second aft control signal suitable for actuating said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
73. A method in accordance with claim 72 , further comprising:
subsequent to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, generating a second aft control signal suitable for actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
74. A method in accordance with claim 69 , further comprising:
attenuating usage of the forward control device when the frequency of the commanded maneuver is low; and
attenuating usage of the aft control device when the frequency of the commanded maneuver is high.
75. An autopilot controller for generating control signals suitable for maneuvering a vehicle toward a direction of a commanded maneuver, said vehicle having:
( i ) a forward portion,
( ii ) an aft portion,
( iii ) a forward steering device actuatable in response to forward control signals, and
( iv ) an aft steering device actuatable in response to aft control signals,
said autopilot controller comprising:
( a ) means for generating a forward control signal suitable for actuating said forward steering device to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
( b ) means for generating an aft control signal suitable for actuating said aft steering device to generate a first aft control force, acting on said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein said forward control force is generated for a first period of time, wherein said first aft control force is generated for a second period of time, and wherein a major portion of said second period of time overlaps a major portion of said first period of time.
76. An autopilot controller in accordance with claim 75 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
77. An autopilot controller in accordance with claim 75 , further comprising:
means for generating, subsequent to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, a second aft control signal suitable for actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
78. An autopilot controller in accordance with claim 75 , further comprising:
means for generating, prior to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, a second aft control signal suitable for actuating said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
79. An autopilot controller in accordance with claim 78 , further comprising:
means for generating, subsequent to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, a second aft control signal suitable for actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
80. An autopilot controller in accordance with claim 75 , further comprising:
means for attenuating usage of the forward control device when the frequency of the commanded maneuver is low; and
means for attenuating usage of the aft control device when the frequency of the commanded maneuver is high.
81. An autopilot controller in accordance with claim 75 , wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
82. An autopilot controller in accordance with claim 81 , wherein a time of initiation of said first aft control force is simultaneous with a time of initiation of said forward control force.
83. An autopilot controller in accordance with claim 75 , wherein substantially all of said second period of time overlaps a portion of said first period of time.
84. An autopilot controller for generating control signals suitable for maneuvering a vehicle toward a direction of a commanded maneuver, said vehicle having:
( i ) a forward portion,
( ii ) an aft portion,
( iii ) a forward steering device actuatable in response to forward control signals, and
( iv ) an aft steering device actuatable in response to aft control signals, said autopilot controller comprising:
( a ) means for generating a forward control signal suitable for actuating said forward steering device to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
( b ) means for generating an aft control signal suitable for actuating said aft steering device to generate a first aft control force, acting on said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
85. An autopilot controller in accordance with claim 84 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
86. An autopilot controller in accordance with claim 84 , further comprising:
means for generating, subsequent to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, a second aft control signal suitable for actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
87. An autopilot controller in accordance with claim 84 , further comprising:
means for generating, prior to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, a second aft control signal suitable for actuating said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
88. An autopilot controller in accordance with claim 87 , further comprising:
means for generating, subsequent to the generation of the aft control signal suitable for actuating said aft control device to generate said first aft control force, a second aft control signal suitable for actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
89. An autopilot controller in accordance with claim 84 , further comprising:
means for attenuating usage of the forward control device when the frequency of the commanded maneuver is low; and
means for attenuating usage of the aft control device when the frequency of the commanded maneuver is high.
90. A memory device for generating control signals suitable for use with an autopilot controller for maneuvering a vehicle toward a direction of a commanded maneuver, said vehicle having
( i ) a forward portion,
( ii ) an aft portion,
( iii ) a forward steering device actuatable in response to forward control signals, and
( iv ) an aft steering device actuatable in response to aft control signals,
said memory device encoding instructions executable by the autopilot controller to:
generate a forward control signal suitable for actuating said forward steering device so as to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
generate an aft control signal suitable for actuating said aft control device so as to generate a first aft control force, acting upon said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein said forward control force is generated for a first period of time, wherein said first aft control force is generated for a second period of time, and wherein a major portion of said second period of time overlaps a major portion of said first period of time.
91. A memory device in accordance with claim 90 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
92. A memory device in accordance with claim 90 , wherein the memory device further encodes instructions executable by the autopilot controller to:
generate, subsequent to the generation of said aft control signal suitable for actuating said aft steering device so as to generate said first aft control force, an aft control signal suitable for actuating said aft steering device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
93. A memory device in accordance with claim 90 , wherein the memory device further encodes instructions executable by the autopilot controller to:
generate, prior to the generation of said aft control signal suitable for actuating said aft steering device so as to generate said first aft control force, an aft control signal suitable for actuating said aft steering device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
94. A memory device in accordance with claim 93 , wherein the memory device further encodes instructions executable by the autopilot controller to:
generate, subsequent to the generation of said aft control signal suitable for actuating said aft steering device so as to generate said first aft control force, an aft control signal suitable for actuating said aft steering device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
95. A memory device in accordance with claim 90 , wherein the memory device further encodes instructions executable by the autopilot controller to:
attenuate usage of the forward steering device when the frequency of the commanded maneuver is low; and
attenuate usage of the aft steering device when the frequency of the commanded maneuver is high.
96. A memory device in accordance with claim 90 , wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
97. A memory device in accordance with claim 96 , wherein a time of initiation of said first aft control force is simultaneous with a time of initiation of said forward control force.
98. A memory device in accordance with claim 90 , wherein substantially all of said second period of time overlaps a portion of said first period of time.
99. A memory device for generating control signals suitable for use with an autopilot controller for maneuvering a vehicle toward a direction of a commanded maneuver, said vehicle having
( i ) a forward portion,
( ii ) an aft portion,
( iii ) a forward steering device actuatable in response to forward control signals, and
( iv ) an aft steering device actuatable in response to aft control signals,
said memory device encoding instructions executable by the autopilot controller to:
generate a forward control signal suitable for actuating said forward steering device so as to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
generate an aft control signal suitable for actuating said aft control device so as to generate a first aft control force, acting upon said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
100. A memory device in accordance with claim 99 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
101. A memory device in accordance with claim 99 , wherein the memory device further encodes instructions executable by the autopilot controller to:
generate, subsequent to the generation of said aft control signal suitable for actuating said aft steering device so as to generate said first aft control force, an aft control signal suitable for actuating said aft steering device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
102. A memory device in accordance with claim 99 , wherein the memory device further encodes instructions executable by the autopilot controller to:
generate, prior to the generation of said aft control signal suitable for actuating said aft steering device so as to generate said first aft control force, an aft control signal suitable for actuating said aft steering device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
103. A memory device in accordance with claim 102 , wherein the memory device further encodes instructions executable by the autopilot controller to:
generate, subsequent to the generation of said aft control signal suitable for actuating said aft steering device so as to generate said first aft control force, an aft control signal suitable for actuating said aft steering device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
104. A memory device in accordance with claim 99 , wherein the memory device further encodes instructions executable by the autopilot controller to:
attenuate usage of the forward steering device when the frequency of the commanded maneuver is low; and
attenuate usage of the aft steering device when the frequency of the commanded maneuver is high.
105. A method for maneuvering a vehicle, moving in a fluid medium, toward a direction of a commanded maneuver, said vehicle having:
( i ) a forward portion and a forward control device, and
( ii ) an aft portion and an aft control device, said method comprising:
actuating said forward control device to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
actuating said aft control device to generate a first aft control force, acting upon said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein said first aft control force and said forward control force are generated in response to the commanded maneuver so as to obtain a divert capability for the vehicle that is greater than a divert capability for the vehicle which is obtainable for an identical commanded maneuver for the vehicle using ( a ) only a forward control force, ( b ) only an aft control force, or ( c ) a forward control force and an aft control force in an intuitive control scheme.
106. A method in accordance with claim 105 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
107. A method in accordance with claim 105 , further comprising:
subsequent to the generation of the first aft control force, actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
108. A method in accordance with claim 105 , further comprising:
actuating, prior to the generation of the first aft control force, said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
109. A method in accordance with claim 108 , further comprising:
subsequent to the generation of the first aft control force, actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
110. A method in accordance with claim 105 , further comprising:
attenuating usage of the forward control device when the frequency of the commanded maneuver is low; and
attenuating usage of the aft control device when the frequency of the commanded maneuver is high.
111. A method in accordance with claim 105 , wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
112. A method in accordance with claim 111 , wherein a time of initiation of said first aft control force is simultaneous with a time of initiation of said forward control force.
113. A method in accordance with claim 105 , wherein said first aft control force is generated for a first period of time, wherein said forward control force is generated for a second period of time, and wherein a major portion of said first period of time overlaps a major portion of said second period of time.
114. A control system for maneuvering a vehicle having a forward portion and an aft portion toward a direction of a commanded maneuver, said control system comprising:
( a ) a controller configured to generate control signals corresponding to the commanded maneuver;
( b ) a forward control device controllable by the control signals; and
( c ) an aft control device controllable by the control signals;
( d ) said controller configured to:
actuate said forward control device so as to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
actuate said aft control device so as to generate a first aft control force, acting on said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein said first aft control force and said forward control force are generated in response to the commanded maneuver so as to obtain a divert capability for the vehicle that is greater than a divert capability for the vehicle which is obtainable for an identical commanded maneuver for the vehicle using ( a ) only a forward control force, ( b ) only an aft control force, or ( c ) a forward control force and an aft control force in an intuitive control scheme.
115. A control system in accordance with claim 114 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
116. A control system in accordance with claim 114 , wherein the controller is further configured to:
subsequent to the generation of the first aft control force, actuate said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
117. A control system in accordance with claim 114 , wherein the controller is further configured to:
actuate, prior to the generation of the first aft control force, said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
118. A control system in accordance with claim 117 , wherein the controller is further configured to:
subsequent to the generation of the first aft control force, actuate said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
119. A control system in accordance with claim 114 , wherein the controller is further configured to:
attenuate usage of the forward control device when the frequency of the commanded maneuver is low; and
attenuate usage of the aft control device when the frequency of the commanded maneuver is high.
120. A control system in accordance with claim 114 , wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
121. A control system in accordance with claim 120 , wherein a time of initiation of said first aft control force is simultaneous with a time of initiation of said forward control force.
122. A control system in accordance with claim 114 , wherein said first aft control force is generated for a first period of time, wherein said forward control force is generated for a second period of time, and wherein a major portion of said first period of time overlaps a major portion of said second period of time.
123. A method for maneuvering a vehicle, moving in a fluid medium, toward a direction of a commanded maneuver, said vehicle having:
( i ) a forward portion and a forward control device, and
( ii ) an aft portion and an aft control device, said method comprising:
actuating said forward control device to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver; and
actuating said aft control device to generate a first aft control force, acting upon said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein, for a period of time of 0 . 1 second beginning with an initiation of said step of actuating said forward control device to generate a forward control force, a major portion of a cumulative effect of said first aft control force acts in a direction that, with respect to the aft portion, is substantially the same as the direction of the commanded maneuver.
124. A method in accordance with claim 123 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
125. A method in accordance with claim 123 , further comprising:
subsequent to the generation of the first aft control force, actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
126. A method in accordance with claim 123 , further comprising:
actuating, prior to the generation of the first aft control force, said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
127. A method in accordance with claim 126 , further comprising:
subsequent to the generation of the first aft control force, actuating said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
128. A method in accordance with claim 123 , further comprising:
attenuating usage of the forward control device when the frequency of the commanded maneuver is low; and
attenuating usage of the aft control device when the frequency of the commanded maneuver is high.
129. A method in accordance with claim 123 , wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
130. A method in accordance with claim 129 , wherein a time of initiation of said first aft control force is simultaneous with a time of initiation of said forward control force.
131. A method in accordance with claim 123 , wherein said first aft control force is generated for a first period of time, wherein said forward control force is generated for a second period of time, and wherein a major portion of said first period of time overlaps a major portion of said second portion of time.
132. A control system for maneuvering a vehicle having a forward portion and an aft portion toward a direction of a commanded maneuver, said control system comprising:
( a ) a controller configured to generate control signals corresponding to the commanded maneuver;
( b ) a forward control device controllable by the control signals; and
( c ) an aft control device controllable by the control signals;
( d ) said controller configured to:
actuate said forward control device so as to generate a forward control force, acting on said forward portion, said forward control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
actuate said aft control device so as to generate a first aft control force, acting on said aft portion, said first aft control force having a component acting in a direction that is substantially the same as the direction of the commanded maneuver;
wherein, for a period of time of 0 . 1 second beginning with an initiation of said actuation of said forward control device to generate a forward control force, a major portion of a cumulative effect of said first aft control force acts in a direction that, with respect to the aft portion, is substantially the same as the direction of the commanded maneuver.
133. A control system in accordance with claim 132 , wherein said commanded maneuver is a maneuver requiring a change in transverse acceleration of the vehicle.
134. A control system in accordance with claim 132 , wherein the controller is further configured to:
subsequent to the generation of the first aft control force, actuate said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
135. A control system in accordance with claim 132 , wherein the controller is further configured to:
actuate, prior to the generation of the first aft control force, said aft control device to briefly generate a preliminary aft control force acting on said aft portion, said preliminary aft control force having a component acting in a direction that is substantially opposite to the direction of the commanded maneuver.
136. A control system in accordance with claim 135 , wherein the controller is further configured to:
subsequent to the generation of the first aft control force, actuate said aft control device to generate a second aft control force acting on said aft portion, said second aft control force having a component acting in a direction that, relative to the aft portion, is substantially opposite to the direction of said component of said first aft force.
137. A control system in accordance with claim 132 , wherein the controller is further configured to:
attenuate usage of the forward control device when the frequency of the commanded maneuver is low; and
attenuate usage of the aft control device when the frequency of the commanded maneuver is high.
138. A control system in accordance with claim 132 , wherein a time of initiation of said first aft control force is substantially simultaneous with a time of initiation of said forward control force.
139. A control system in accordance with claim 138 , wherein a time of initiation of said first aft control force is simultaneous with a time of initiation of said forward control force.
140. A control system in accordance with claim 132 , wherein said first aft control force is generated for a first period of time, wherein said forward control force is generated for a second period of time, and wherein a major portion of said first period of time overlaps a major portion of said second period of time.Cited by (0)
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