Bodenseewerk Geratetechnik Gmbh

Roland Gauggel

A rotary element (10) such as a robot arm is to be positioned by an actuating drive to a position determined by a desired value signal. An angle pick-off (20) provides an actual value signal. A first controller (36) provides a first controller output signal through an adaptive transfer element with limitation. The first controller output signal is applied to a first torque motor (18) the rotor of which is directly connected with the rotary element (10). A second controller (38) provides a second controller output signal, which is applied to a second torque motor (22). The second torque motor (22) is connected with the rotary element (10) through a step down system (26) and a resilient coupling member (30). A coupling path (40) with an integrator applies a trimming signal dependent on the input of the first torque motor (18) to the input of the second torque motor (22). The second torque motor (22) through the step down system (26) provides a coarse positioning under load, while the first torque motor (18) provides a fine positioning independent of friction and play of the step down system.

Actuating drive for positioning a rotary element

In a seeker head for a target seeking missile, which comprises a seeker 28 adapted to be directed to a target, two distance sensors 32 and 34 in the form of laser transceiver units are adapted to be directed to the target together with the seeker 28. The arrangement of the distance sensors 32 and 34 on opposite sides of the pitch axis 26 ensures that, with large squint angles, at most one of the distance sensors 32 and 34 is covered.

Seeker head for a target seeking missile

A target seeker on the missile looks at the hot spot behind the jet engine of the airplane to be intercepted and continuously produces signals representing, respectively, the rate of change of the distance between the two and the angular distance between the longitudinal axis of the missile and the optical axis of the target seeker. An approach sensor on the missile produces a signal representing the distance between the two. Initially, the rate of change signal is used to guide the missile, in a conventional manner by the laws of proportional navigation. Depending upon the embodiment, after angular distance signal exceeds predetermined thresholds, or after the distance between the two is below predetermined thresholds, the angular distance signal is used in conjunction with other signals, or alone, in the guidance of the missile.

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Waldstrabe, Germany

Roland Gauggel