U.S. patent number 3,884,170 [Application Number 04/011,384] was granted by the patent office on 1975-05-20 for control system for torpedoes.
This patent grant is currently assigned to The United States of America as represented by the Secretary of the Navy. Invention is credited to Harvey M. Jensen.
United States Patent |
3,884,170 |
Jensen |
May 20, 1975 |
Control system for torpedoes
Abstract
1. In a detection system, the combination comprising:
transmitter means cble of driving a projector with a
continuous-acoustic signal; receiver means adapted to receive said
signal transmitted by said transmitter; phase detection means
capable of detecting the phase difference between said continuous
transmitted signal and said received signal, and trigger means
adapted to respond to phase differences produced by the
characteristics of medium between said transmitter means and said
receiver means.
Inventors: |
Jensen; Harvey M. (State
College, PA) |
Assignee: |
The United States of America as
represented by the Secretary of the Navy (Washington,
DC)
|
Family
ID: |
21750144 |
Appl.
No.: |
04/011,384 |
Filed: |
February 26, 1960 |
Current U.S.
Class: |
114/20.1; 367/96;
367/901 |
Current CPC
Class: |
F41G
7/228 (20130101); Y10S 367/901 (20130101) |
Current International
Class: |
F41G
7/22 (20060101); F41G 7/20 (20060101); F42b
019/10 (); F42b 019/01 (); F42b 019/06 () |
Field of
Search: |
;114/20,21.1,21.2,23,25,24 ;340/1,2,3,5,6 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Borchelt; Benjamin A.
Assistant Examiner: Webb; Thomas H.
Attorney, Agent or Firm: Sciascia; R. S. Hansen; Henry
Claims
Having now disclosed our invention, what we claim as new and desire
to secure by Letters Patent of the United States is:
1. In a detection system, the combination comprising: transmitter
means capable of driving a projector with a continuous-acoustic
signal, receiver means adapted to receive said signal transmitted
by said transmitter; phase detection means capable of detecting the
phase difference between said continuous transmitted signal and
said received signal, and trigger means adapted to respond to phase
differences produced by the characteristics of medium between said
transmitter means and said receiver means.
2. In a wake-detection system for torpedoes, the combination
comprising: a projector adapted to transmit acoustic signals; a
transmitter for driving said projector; a hydrophone disposed
adjacent to said projector for receiving said projector's acoustic
signals; first amplifying means connected to said hydrophone
adapted to amplify the output signal of said hydrophone;
phase-detector means capable of receiving the output signal of said
amplifier means and the output signal from said transmitter,
whereby said signals are combined and rectified to produce a
phase-detector output signal proportional to the phase difference
between said transmitter and amplifier means output signals;
blocking means for receiving said phase-detector output signal
adapted to block variations of said signal below a predetermined
level; second amplifier means capable of amplifying the output
signal of said blocking means above a predetermined level; a
trigger circuit adapted for receiving and being actuated by said
output signal of said blocking means; and rudder-control means
actuated by said trigger circuit adapted to control the direction
of travel of said torpedo.
3. The combination as claimed in claim 2 in which said second
amplifier means is comprised of a detector means and an integrator
means.
4. The combination as claimed in claim 2 in which said projector
means and said hydrophone is each comprised of a piezoelectric
transducer.
5. The combination as claimed in claim 4 in which said transmitting
means is comprised of a Colpitts type oscillator having a parallel
load.
6. The combination as claimed in claim 5 in which said trigger
means is comprised of a Schmitt trigger-type circuit adapted to
operate when its input voltage exceeds a preset level.
Description
This invention relates to a control system for self-propelled
torpedoes, and more particularly to a system adapted to guide the
torpedo down the wake of a target vessel until it collides with the
vessel.
Numerous systems are in existence for guiding self-propelled
torpedoes to a target vessel. Some of these are acoustical in
nature, depending upon the detection of the sound from the target
vessel to actuate steering mechanisms. Other systems project
acoustical vibrations to the target vessel and detect the
reflective waves coming therefrom to actuate steering means
designed to direct the torpedo to the target. The devices of the
type described depend upon the clear detection of acoustical waves
over long distances in the water, and the rejection of unwanted
waves. The present invention depends upon the detection of the wake
emanating from the target vessel and the actuation of a control
mechanism to steer the self-propelled torpedo along the wake
towards the target until it collides with it. This invention is
designed to detect the wake by providing a device that will respond
to a phase variation between a transmitted acoustical signal and a
received signal caused by the effect of bubbles in the wake.
It is the object of this invention, therefore, to provide a wake
detecting-guiding means for a self-propelled torpedo that will
automatically guide the torpedo down the wake in the direction of
the target vessel causing the torpedo to collide with it.
Another object of this invention is to provide a means whereby the
wake of a vessel may be positively and surely detected.
Still another object of this invention is to provide an electronic
phase-detecting device capable of detecting phase variation caused
by minute bubbles in water.
Referring to the drawings:
FIG. 1 represents a block diagram of the system.
FIG. 2 indicates a schematic diagram of the blocks shown in FIG. 1,
showing the electrical components and wiring.
Referring now to FIG. 1, transmitter 10 drives the projector 12 to
emit acoustical vibrations to the water and at the same time,
furnishes a comparison voltage to the phase detector 14 for a later
comparison with the received signal. The hydrophone 16 receives,
through the water, the transmitted signal which is amplified by
receiver amplifier 18 and applied to the phase detector 14 for
comparison with the transmitted signal. Phase detector 14 is of the
conventional type such that the output is substantially a direct
voltage, proportional to the phase angle between the transmitted
and received signal. The output of phase detector 14 is introduced
to background eliminator 20, also of the conventional type,
designed to remove or suppress the phase angle fluctuation or phase
modulation produced as a torpedo moves through the water outside of
the wake. The phase modulation above a predetermined level is
passed by the background eliminator 20 and amplified by
conventional modulation-frequency amplifier 22; the output of which
is applied to the second detector 24, which detects peak values of
the phase modulation. The direct voltage of the second detector,
proportional to the positive peaks appearing at its input, is
passed into integrator 26, consisting of a conventional
resistance-capacitance network having a time delay to prevent
triggering upon a disturbance of very short duration. The
integrator 26 is designed to operate so that when a predetermined
level of modulation in its input persists for a given duration, the
trigger circuit 28 will be actuated. By this means, the circuit
will not operate upon false signals, but is sensitive enough to
respond to the wake signals received. The modified Schmitt trigger
circuit 28, in turn, puts into operation steering control device 30
which programs the torpedo's rudder (not shown) to steer the
torpedo down the wake until it collides with the target vessel.
In the present embodiment of this invention, the transducer head
(not shown) is comprised of the projector 12 and the hydrophone 16
which consists of two barium titanate piezoelectric transducers
(not shown) mounted in the forward portion of the torpedo. Although
other transducers may be used, with appropriate modification, they
must be sufficiently omnidirectional to permit direct transmission
from the projector to the hydrophone. The electrical impedance of
the transducer used is approximately represented by its capacitive
reactance which is inversely proportional to the frequency. The
equivalent capacitance of the transducer is about 1,200
micro-microfarads; hence, the reactance at a frequency of 27
kilocycles is 4,910 ohms. To achieve a sufficient signal-to-noise
ratio, a projector current of about 50 milliamperes is necessary;
thus, requiring a projector voltage of about 245 volts obtained by
parallel tuning of the projector 12.
Referring now to FIG. 2, the primary function of transmitter 10 is
to drive the projector 12 at the required frequency and voltage.
This is accomplished by a modified Colpitts type oscillator
operating in a parallel-tuned load. The load for the transmitter
tube V.sub.2 is comprised of a center-tapped toroid inductor 32, a
fixed capacitor 34, a trimmer capacitor 36, and the projector 12
connected in parallel so that resonance is obtained at a frequency
of 27 kilocycles.
Although the output of the projector is a fraction of a watt of
acoustic power, it is sufficient for operation of the system. A
reference voltage is taken from the transmitter through capacitor
38 and resistor 40 and is connected to the grid 42 of tube V.sub.3
in phase detector 14. This tube presents a high impedance load and,
hence, does not effect the resonance circuit appreciably.
The hydrophone 16 is connected through capacitor 44 to the receiver
amplifier 18 comprised of vacuum tubes V.sub.4 and V.sub.5. The
receiver amplifier is a two-stage tuned amplifier of conventional
design for obtaining a voltage suitable for the operation of the
phase detector. Sufficient gain of, for example, 50 to 80 decibels
is provided to maintain an adequate phase-detector input for a
low-hydrophone output signal. With such an arrangement, phase
detection is relatively unaffected by variations of signal
amplitude. The bandwidth of the amplifier at the 3-decibel-down
points is preferably 300 cycles per second, which is sufficiently
narrow to provide an adequate signal-to-noise ratio, but wide
enough to pass the carrier side band required for detection of the
phase modulation. The phase detector 14, comprised of vacuum tubes
V.sub.6, V.sub.7, V.sub.3, and V.sub.8, produces a direct voltage
which varies in proportion to the phase angle between the receiver
amplifier output voltage and the transmitter voltage input to the
phase detector. The output signal of the receiver amplifier 18 is
connected to the grid 46 of vacuum tube V.sub.6 and the reference
signal from the transmitter is connected to grid 42 of vacuum tube
V.sub.3. The transmitter signal is subsequently constant in
amplitude and phase, and provides a reference by which phase
variation of the signal from the receiver amplifier may be
detected. For example, when a phase modulation at a rate of 100
cycles per second occurs, the detector output from the cathode
follower of tube V.sub.8 will be a direct voltage with a 100 cycle
per second alternating voltage superimposed upon it.
Vacuum tubes V.sub.6 and V.sub.3 are cathode-coupled clippers which
produce square-wave output signals of nearly constant amplitude
with inputs in a range of about 2 to 100 volts. Addition to the two
square-wave output signals of tubes V.sub.6 and V.sub.3,
rectification of the combined signals by tubes V.sub.7, and
integration thereof by the resistance-capacitance circuit, 50 and
52, provide a direct voltage that is proportional to the phase
angle between the two input voltages. The direct voltage is applied
to the cathode-follower tube V.sub.8 which gives the proper
impedance match for supplying the output signal of the phase
detector 14 to the background eliminator 20.
The background eliminator 20 is of a conventional type comprised of
resistors 54 and 56, capacitor 57, a voltage divider network
consisting of resistors 58 and 60, and two diodes, V.sub.9 and
V.sub.10. The direct voltage component of the phase detector output
is blocked by capacitor 57, allowing only the alternating voltage
component to pass. Outside of the wake, this alternating component
has a small amplitude and is known as background noise. When a wake
is encountered, the amplitude of the component is substantially
increased. To obtain a greater signal-to-background ratio at the
trigger input, a background eliminator 20 is provided to eliminate
the background noise. Variable resistor 58 provides a variable and
adjustable cutoff level. Resistor 58 may be adjusted to provide 0
to 5.5 volts wherein an increase in the voltage will raise the
level of modulation to be eliminated.
Signal variations above the previously mentioned background noise
which are passed by the background eliminator 20, are amplified by
the conventional modulation frequency amplifier 22 comprised of
vacuum tube V.sub.11. The modulation frequency amplifier should
have a frequency response which eliminates low and high frequency
components. Capacitor 62 eliminates any of the carrier voltage (27
kilocycles) which may still be present at the output of the
modulation-frequency amplifier 22. The bandwidth of the
modulation-frequency amplifier is approximately 2 kilocycles with
the 3-decibel-down points at approximately 40 cycles per second and
2,000 cycles per second.
The second detector 24, comprised of vacuum tube V.sub.12 and the
conventional integrator 26, consisting of resistor 64 and capacitor
66, produces a direct voltage output proportional to the positive
peaks occurring at the grid of tube V.sub.12. The integrator is a
resistance-capacitance network with a time constant of about 0.1
seconds and is so designed to prevent triggering on a disturbance
of very short duration. The output signal of the integrator is
applied to the grid 68 of the tube V.sub.13. The trigger circuit 28
is a modified Schmitt trigger comprised of tubes V.sub.13,
V.sub.14, and relay 70 and adapted to provide positive operation of
relay 70, when the input voltage to the trigger circuit 28 exceeds
a predetermined level. The triggering level of the trigger circuit
is rendered adjustable by the means of a potentiometer 72. Relay 70
is used to initiate steering of the torpedo.
A steering control system 30, actuated by relay 70, automatically
guides the torpedo down the wake in the direction of the target
until it collides with it. Although various well known means
employing servomechanism techniques could be devised to cause the
torpedo to proceed along the wake towards the target, the present
embodiment of this invention, a simple steering control system, is
used to demonstrate the wake detection and guidance capability of
this system. At the first encounter of the wake, relay 70 initiates
full rudder deflection in a preset direction to cause the torpedo
to turn in the direction of the target vessel until it again
encounters the wake. A turn in the opposite direction is then
initiated, and in this fashion, the torpedo proceeds along the wake
in a weaving course.
A steering control system (not shown) of a type well known in the
art is comprised of two auxiliary relays and a motor-driven timer
with four cam-operated switches. At each wake encounter, relay 70
is kept energized for a sufficient time to avoid more than one
steering operation while passing through the wake. The cam-operated
switches alternately connect port and starboard rudder solenoids at
successive wake encounters, causing the torpedo to steer a weaving
course down the wake until it strikes the target vessel.
While the present invention has been described in its preferred
embodiment, it is realized that modifications may be made, and it
is desired that it be understood that no limitations upon the
invention are intended other than may be imposed by the scope of
the appended claims.
* * * * *