epared by:

Dariie

The purpose of t h i s manual i s t o f i l l the need f o r a single source of descriptive information concerning the Eclipse-Pioneer ST-120 Stabilized Platform, The l e v e l of presentation i s t h a t of an introductory familiari-

zation leading t o a basic understanding of the operation of the platform,

i t s function a s the heart of the Pershing Guidance System, and i t s r e l a t i o n ship t o other p a r t s of the system. More detailed information i s available i n t h e Eclipse-Pioneer manuals and publications l i s t e d i n the bibliography* Many of them served a s technical references f o r t h i s work, I n addition, the authors a r e indebted t o Messrs* F, Hanusek,

L . Alperwitz,

Go

Jeffy, Fo W, Meyer, R. A, Taylor and numerous other Eclipse-

Pioneer personnel f o r t h e i r valuable contributions of information, cons t r u c t i v e criticism, and c l e r i c a l assistance during the preparation of t h i s text,

TABLE O F C O N T E N T S
Page I, Introduction
A,

Pershing Functfons of the ST-120 P l a t f o m Functions of Associated Component

I .
2

B,
C,

1 1 , Stable Platform
A,

Coordinate Systems

4 4 5
6
8
8
8
8

1, Missile Coordinates
2, Platf o m Coordinates Guidance Coordinates

3
B,

Main Assemblies

1, $haft
2,
Roll and Y a w Centerpiece Assembly

3, Inner Gimbal Assembly

4*
C,

Carrier Ring Assembly

9 9 9
12

Components

1 , AB-5 Stabilizing G y m

2,

A1UIAB-3 Accelerometer

3 , S e m Motors

3-4

4, 5,

Microsyns PenduLums

15
16
17 18

6, Azimuth Rck-up 7 , Pitch Control T ~ a n s f o m e r(C ,T, )

8,

Pitch Resolver

3.9

9 , Nulling Card
10, Caging Motor

1 1 , Porno Prism
12, Pneumatic System

13. Miscellaneous Componen$

a, Cover Assembly (Heater Encloswre) Temperature Sensors Elapsed T b e Indicator

b,
c,

111.

The ST-120 Servo Amplifier Box

A,

Introductian Pitch Cam P r o g r m e r and Relay Assembly Auto Transformer Amplifier Modules
,I

B,

C,
D ,

IV, ST420 Platform Operation

A,

Alignment Loops
le X Alignment Loop

2,

Z A l i m e n t Loop

3,

Y Alignment h o p a, Horizontal Alignme Azkuth ALipenPI

b,
B,

S t a b i l i z a t i s n Loops

1 , X Stabilfza
2,,

Y Stabi l f z a t f on Loop
Z Stabilizati

3,

C,

Accelerometer Loopa

D,

Attitude Loops

1 , Yaw A t t i t u d e Loop
2*

R o l l Attitude Loop

3.

Pitch A t t i t u d e Loop

Bibliography

LIST O F IUUSTRATIOKS Follows

Figure 1 Figure 2 figure 3 Figure Figurz

Missile S e e t i

MissiEe C s o r d k a t e System

Platform Coordilnates Guidmce C o o r ~ n a t e s Hain Shaft d t h Flanges ST-3.20 Yaw and R o l l AS Inner Gimbal Assembly i e r Ring t o I n n e r Gimbal Assembly
ST-120 I n t e m e d i a t e S h a f t Assembly

Figwe 6 Photo U2523 Photo u5795 Photo Us788 Photo U571f; Photo u5792r. Photo US712 Photo 7nJ2252 Figure 7 Figure 8 Figure 9 Photo Us713 Photo W222.3-1 figure 10 Figure II1 photo W2908

ST-120 I n t e m e d f a t e Assellib

s Relationship

kB-5 S t a b i l f x i n g
h AeceSe~meter

BPIAB-3 I n t e g r a t i n g Aceelea~ometerAssembly
AMAB-3 Aecelenoomete~C

l\tlierosvl. Assemb3.y and Rotor

F i sure Figure 12(a) (b 1 ( ~ 1 Photo I42907 Figure 13 Figure

Description IJIicrosyn a t Null Plicrosyn off Null P'iierosyn Loop A i r Bearing Pendulum
A i r Bearing Pendulm Cutaway

Follows Page

Pendulum a t N u l l

(b 1
( 4

Pendulum off Null Positioning of Pendulums on Carrier Ring Azimuth Pick-up Azimuth Rek-up Schematic Transformer-Resolver and Connector Assembly Pitch COT, a t M u l l Pitch COT, off N u l l Pitch C.T. i n t h e Loop

Figure lS(a)

(b1
Photo 61-3468 Figure l h ( a ) (b 1
(C

>

Figure 17 Figure 18(a)

Pitch Resolver Nulling Card Adjustments Nulling Card Schematic ST-120 Caging Hechanism Assembly Caging Mechanism Operatic. Pomo Prism ST-120 P n e w t i e System ST-120 Servo Amplifier Box Servo Amplifier Box Input & Output Voltages

(b
Photo U.5491 Figwe 19 Figure 20 Figure 2 1 Photo 61-176-1 Figwe 22

FolLows Page Figure 23 Figure 24 Figure Pitch C m Programm Relay Assembly Servo Amplifier Module Block Diagram Alignment Loops S t a b i l i z a t i o n Loops Accelerometer & At"tf"cude Loops Guidance System Block Diagram

25

Figure 26 Figure 27 Figure 28 Figure 29

range i s achieved by aiming %he ar%fZPery

elevation of

45,

By contra

and. i s propelled by rocket p

the missile a g r e a t l y fncke guiding Lhe m i s s %
%heb a l l i s t i c t r a j e c t o v ,

a 1 from an a z b u t h pickoff,

After lif'P;-of'f, three s t a b i l i z i n g gyros Bsked attitude.

provide signals t o hold the platform i n e r t i a l l y in the

2,

The p l a t f o m provides signals f o r missile a t t Signals f o r missile a t t i t u d e contro

control,

in yaw and r o l l , and by a control t r m s f o m e r

guidance in cross range, s l a n t range m d s l a n t a l t i t u d e
amp

three integrating accelerometers mounted on the platform,

C,

F u n c t i o n s o f A sociated Components Four major cmporients w e assoe%a%ed Pla%Pom, A pre-

f l i g h t component,located in the F P o v m e r Ground Support Equfpmernt, The other three

is pap% of the
%her with the

ST-120 P l a t f o m comprise the Guidance Sys Guidance and Control section o f t h e missilec
1 , Alf gnment AmpPif i e r (manufactwed by Eclipse

during pre-flight al%gnment of the ST420 PZatf receives signals frorn the ST-120 A i r Bearing Pendue Pick-of% and amplifies them sufficientP$ t o ope the s t a b il i z i n g m o s o The

l i m e n t Amp1ifi.e~ d the AzSmuth

r r s f o r positioning

os in turn control the p o s f t i Station and does

The Alignment Amplifier i s in the

not become a i ~ b o m ,
2,

Semo Amplifier Box (mnUfactwed by Eclipse

signals from pickoffs on the ST-120 Stabilizing Gy~os

t o drive servomotors which position the platform and which servo the
i n t e g r a t f i g acceleroraeters, The h p l i f i e r Box a l s o can

s a Pitch Cam

Programer and a Refay Assembly, which w i l l be discusae

longitudinal, with the yaw vector pointing outward i n the same direction a s vane number I, Pitch displacement ($ P) i s r o t a t i o n about a t h i r d

mutually perpendicular a x i s with the pitch vector pointing outward from the side of the missile between vanes 1 and 111, 1%-ssile rotation about these three axes i s .sensed by the control transformer By definition, vane number I point;s t n the missile
d vmes 1 1 and III a r e sequen-

and r o l l microsyns and the p i t c h

i s aligned i n azimu
t i a l l y clockwise a s v i e

d from t h e r e a r of the missile,

For r o l l control,

a l l three vanes d e f l e c t the same %mom% and in the same direction, clockwise o r counter c l o e M s e on t h e i r s h a f t s , For yaw control, vane I de-

f l e e t s i n the appropriate direction, while vanes I1 and I 1 1 d e f l e c t half a s

far i n the opposite direc$ion on %heir shafts,

For p i t c h control, vanes

I1 and I 1 1 d e f l e c t equal amounts but in opposite d i r e c t i o n s on t h e i r

shafts while vane I remains s t a t i When the missile i s i n a v e r t i c a l a t t i t u d e a t l i f t - o f f , azimuth correct i o n s are made about the missile ro Figure
!A),

A s the missile pitches

i n t o the b a l l i s t i c trajecLory, corrective actfon t o maintain t a r g e t azinuth changes progressively from missi e r o l l control t o yaw control,

2,

Platform Coordinates The ST-120 Platform coordinate system consists of t h e e mutually

perpendicular axes passing %hrough the center of gimbal f~eedomabout which the platform c a r r i e r r i n g is Sgned and s t a b i l i z e d (Figure

5),

The Z, axis i s p a r a l l e l t o t h e bottom surface of the c a r r i e r r i n g and concentric with the c a r r i e r s i n g opening, with the Ze vector pointing

FIN I

TCH

A TFOR

ES

f an inductive pickup assembly made

up sf t w o l m c i r c u i t ; and between the? p

ndings connected in a bridge

ed, ZateraIZy and vertically,

ndings is baPanc d so %he bridge o.u'tput i s at

s p~mide an output

r0

al pingo Thus, t h e

TRANSFORMER-RESOLVER AND CONNECTOR ASSEMBLY

a t s r of the p i t c

con"r;ol t r m s f o m r i s fixed to the c a r r i e r

A s the missile

ring and the r o t o r i s geared $0 the inner gimbal ring, r o t a t e s about the p i t

h g roLates wfth

it, ro-

The s t a t o r leads sf %h the s t a t o r leads of a sFebop i t c h cam progra

s f o m e r are connected t o
eaf which

is par

t h e i r r o t o r s are posi The ro"t;oaso of the program the deskred missi

guided portion of t h e f l i g h t ,

i t t e r i s moved by t

p i t c h cam .to

f t u d e f o r any i n s t a n t dwing the

Pf Ghe pitch a t t i t u d e of the mfssiX@a l s o

changes s o a s 4 x 1keep the r o c t r s f the p$deh control t-ansfsmer synchronized with t h a t of the p teh transmitter, no duced, mror si a 1 output i s pro-

If, hDdeqrsr, the p i t c h a t t i t u d e of t h e missile deviates from $hat

e p i t c h e m programmer, an eyror s i

called f o by ~

al i s produced sf a

and the rotor is d i r e c X y coupled to %he r o t o r of t h e pi%eh control transe r (photo 61=-3LcjR), Thus, bte resolver r o t o r moves: with changes missile p i t c h a t
c z w
La

Pl TCH TRAMSM l T TER

CON TROL 7RANSFORMER

a. P/TCH C.T. A T NULL klr. PITCH C.T OFF NULL c.PITCH C.7 T H E LOOP

r r i n g are boQh v e r t i c a l , the three the carrier ring,

A s the missile

roll and yaw axes r o t a t e with

rs move witk the

ROLL SERVO
MOTOR

SERVO
\

M o m

NCj. I7 PITCH RESOLVER

N/C@SYNS
7 1 -

NULL. ASSEMBLY

ROLL MICROSYN
h

<
YA W I
MICROS YN r+-+

makes it d i f f i c u l t t o achieve

by mechaniaa

fonfng t h e i r rotors on the

ing the resistance

eratea a caging a c t u a t o ~

ST-120 CAGING MECHANISM ASSEMBLY

outward from the i n f i r i n g posi of t h e missile, The Y ,

W ~ P

ide,

fnR.len the p l a t f o m and the missile a r e

is of t h e platform p a r a l l e l s the p i b h a x i s

axis is per

~&% to r %hebottom surface of t h e c a r r i e r

ward from the r o l l gyro side of t h e

ring, with the vector p c a r r i e r ring, the Y , When the

o m and the missile are fn f i r i n g position, a r a l l e l s the r o l l a x i s of the missile,

axis of %he?pP

The Xc

axfa is p a r a l l e l t o She bo tom surface of %he c a r r i e r r i n g and 2, axes, with the vector When the

and mutually perpendicular pointing outward from %he pi%eh

side of the c a r r i e r rings

p l a t f o m and the missi e are i n the v e r t i c a l f i r i n g position, the Xc axis of the p l a t f o m paraPlieis %he pointing toward the axis of the missile with both axes

o m c a r r i e r r i n g a r e three i n t e g r a t b g
%ion of t h e missile along h a t e s designated z e t a ( For cross ~ a n g e , a (

Y\

f o r slant

%nee c o o r d h a t e system is
ordinate system, but disdirection about the c a r r i e r ) -is parallels the c a r r i e ~

n ( s l a n t a l t i t u d e ) axes l i e i

Ye axes, wiLh x i rotated

e%a perpendiculm t o x i i n the

The relationship be

a t f o m and guidance coordinates i s such

t h a t when the platform csordfnates are aligned i n horizontal and a z b u t h , the guidance cosrdfn movements of e s define an i n e r t i a l frame of reference f o r sensing red phase of i t s f l i g h t ,

The xi axis extends from %he l a m c h s i t e a t rn angle of elevation of 42,s0 i n the direction of t h get, This angle was chosen t o correspond e a t t h e point where the warhead range accelerometer

sl t o the ~ 2 . 5 ~
should begin i%sf r e e b a l l i a

senses accelerations a l m g $he x i a x i s a s the basis f o r integrating s l a n t range velocity and s lacement, %en the guidance computer

sees t h a t the missile has achieved the r i g h t combination of v e l o c i t y and displacement a l signal. The e t a a s ax t o the slope of %he a positive accelera the b a l P i s t i c t r a j e e t computer develops a p t h e Sauneh point upward a% an angle normal
C

g the x i axfa, 5%i n i t i a t e s the second stage cutoff

axis; and the s l a n t a l t i t u d e acceleromete~senses e t a axis a s the missile r i s e s toward

am generator located i n t h e guidance

e m of signals which must be matched by the s l a n t A s the

altitude acc~lermeter t o e s t a b l i s h %he correct f l i g h t path,

missile pitches over h % o %he k2,5O fntercept lines, t h e s l a n t a l t i t u d e Ian% a l t i t u d e v e l o c i t y s i g n a l

m u s t reach a

ond stage cutoff t o oecurc launch point i n a h o r i m n t a l missile f l i g h % traJectorya Sensing

posftive t o %he r i g h t , looking downaBs a r e used t o keep

the missile on t r a c

and the cross range velocity signal must be a t n u l l

i n order f o r second stage cutoff t o occur,

11, B,

Hain AssembPfe

1 , Shaft

The shaft, (Photo Up524 Stable Platfom,

i s the assembly foundation of the ST-120

O n e i t h e r end s f the shaft, a b e l l flange i s assembled,

gs ( 2 per flange), t h a t serve as positioning able platform t o t h e missile, missile, and therefore w i l l follow any e body, The s h a f t i s mounted p a r a l l e l The

These flanges eonta and fastening devices f o r m0 s h a f t i s r i g i d l y Past changes i n position s t o t h e p i t c h axis of $he missiPe, 2,

d the r o l l and yaw centerpiece assembly (Photo U5795),, The r o l l centerpiece i s r i g i d l y secured t o the turn i s supported within the s h a f t on bearings

yaw centerpiece, which

approximately plus t o provide the rol and yaw centerpiece assembly ~ 5 t h and minus

15 degrees

rotati

a l f r e e d m i n yaw,

The yaw microsyn s t a t o r

assembly i s secured

o the s h a f t ,

The yaw microsyn r o t o r i s mounted on The roll

the yaw centerpiece, which a servo motor, r o l l micros on the r o l l cente

s c o n t a h s the yaw servo motor,

org and azimuth induetfve pickoff a r e mounted

3.
The inner gimbal. assembly (Photo US7881 is assembled over t h e r o l l centerpiece, being suppor ed on the r o l l centerpiece by bearings t o provide approximately p

us

3.5 degrees

freedom i n r o l l ,

This, together

7 BRPORIITIBH rillesl P i l * i i i
ClWlllON

iiiissoD0

NEW 1 E 0 W

"Inner G i m b a l Assembly".

F T ASSEMBLY

of t h e gyro whesP t o cause precession of t h e gyro about i t s output a x i s ,

Relative t o the

AB-5

S t a b i l i z i n g 2yx-o, t h e output a x i s (x) is The

concentric t o t h e housing and t h e inner cylinder assembly ( ~ i ~ u 8), re i n p u t a x i s ( 2 ) i s normal t o t h e output a x i s and passes through t h e a i r f i l t e r ( i n l e t ) adapter, above axes,

The gyro s p i n axis ( y ) i s normal t o both of the

The d i r e c t i o n of r o t a t i o n of t h e g p o wheel i s such t h a t i t s

p e r i p h e r a l movement i s from t h e a i r f i l t e r adapter toward t h e pickoff and t o r q u e r which a r e d i r e c t l y under t h e crown of the cover and f i l t e r assembly,
d,

Application
A s applied t o the ST-120 S t a b i l i z e d Pf-atform, each of t h e

t h r e e AS-5 S t a b i l i z i n g i;yros i s mounted on the c a r r i e r r i n g with i t s i n p u t a x i s p a r a l l e l i n g t h a t platform coordinate a x i s about which it c o n t r o l s s t a b i l i z a t i o n (Figure 91, i n p u t a x i s ZZw
The P i t c h S t a b i l i z i n g Gyro Unit (ZGU) has i t s

i n the same d i r e c t i o n a s the p l a t f o ~ m2, a x i s ,

The Roll

S t a b i l i z i n g Gyro Unit (YGU)has i t s input a x i s ZyCU in t h e same d i r e c t i o n

Y , a x i s * And t h e Yaw S t a b i l i z i n g

Gyro Unit (XGU) has

its

a x i s ZXGU i n t h e same d i r e c t f o n a s t h e platform Xc a x i s ,

A disturbhg

torque? exerted on the platform about any of i t s axes appears a s an i n p u t t o t h e corresponding gyro, causing t h a t g y ~ o t o precess, pickoff s i g n a l fs ampli f i e The resulLfPlg

by t h e servo a m p l i f i e r s u f f i c i e n t l y t o d r i

t h e corresponding s e r v o motor, which ap equal and opposit to the original d i s t

es t o the platform a torque

In t h i s way
ivaQent t o the s t i f f n e s s of t h e

platform is s t a b i l i z e d with a r i g i d i t y s t a b i l i z i n g servo loop,

To e s t a b l i s h l i f t o f f , torquing si

i t i a l orientation of the platform p r i o r t o l i f i e d by t h e A l i m e n t W l i S e r and Application of voltage e gyro spin axis

applied t o the torquers i n the s t a b i l i z i n g gylros, t o a gy.0 torquer forces r e s u l t i n g i n a pickoff s i the platforms uaP re-srienta

which drives the servo motor f o r repositioning

So Pang a s the torquer receives voltage, the semo motor a t f o m t o preven t h e r displacement

applies counter-torque

r drives the platform a t a r a t e proportional t o the torqu 2,

BPIIAB-3 Acceleromtes
a, The APllGB-3 i s a two degree of freed integrating gyro-

accelerometer, used t o pro-rl.de response t o aece

ctP-jica%v e l o c i t y output s i g n a l in s i t i v e axis, Three AMAB-3 accel-

ed on t h e c a r r i e r ring of t h e ST-120 Stabilized Platform (Photo ~573.3) with i t s s e n s i t i v e axes p a r a l l Zing t h e guidance

( f ) S l a n t Range and e t a ( r()

r o m e t e ~(Photo W2223-1) i s t h e
12,000 Rf3M ( ~ i g m e lo),

The r o t o r

irnder assembly, which a c t s a s e inner cylinder assembly i s leave and f o i assembly, This

ch i s s e t om b a l l bearings within sf fiaedsm, Tho housing i s mounted

ASSEMBLY WITH ACCELEROMETERS

AMAB-3 INTEGRATING ACCELEROMETER ASSEMBLY

on the p l a t Y m n c a r r i e r r i n g , s o i t w i l l be torque pcsi-Lion aC

"ci;?

The inner cylinder asso~fiblyi s m d a pendulous

by T i n e a ~ acceQerations.

A I-i.ck-up f o sensing ~ the

inner c y l i n d e ~ asserci%ly wi%? rcs-x:ct t o t h e intermediate

assembly i s nzol~nted on t h e h t e m e d i s i e ase;emby~y,54th t h e shorted t u r n a-ttached t o t h e inner cylindep assembljr,

t

~rea~mplifie bru i l t i n t o t h e

accelerometer u n i t r a i s e s t h e pickoff s i g n a l t o a l e v e l s u i t a b l e f o r transmission t o t h e Scmo A m p rfier,

The s t a t o r of t h e controB (servo) motor

a s well as t h e seyne o %ransn:E?;ter a r e secured t o ?;he h o u s h g while t h e i r r o t o r s zrc pcsitioned by a l a r g c Eear fastened t o t h e intermediate assemblye
c,

P r i n c i p l e of Operation
lrshen?, t h e

w i t i s a c m l e r a t e d along i t s s e n s i t i v e a x i s , t'ne

f o r c e of a c c e l e r a t i o n a c t i n g or, t h e pendulous m i q h t produces a torque about t h e a i r b a x i s causes t h e g axis, This torquine: of t h e ~ y r o about t h e a i r bearing

t o precess, r e s u l t i n g i n r o t a t i o n of t h e intermediate I f t h e intermediate assembly i s r e t a r d e d by

This

assembly a t h i n tho housfng,

bearing and gear f r i e t f o n , t h e r e will be a s i g n a l from t h e pick-up,

s i g n a l i s a m ~ l i f i e dby "r;e preamplifier and t h e servo a m p l i f i e r t o d r i v e o Hotor Lo overcome t h a t f r i c t i o n , assembly i s continous a s long a s t h Rotation of t h e intermediate Through s u i t -

acceleration exists,

a b l e gearing, t h e i n t e m e d i a t e assembly p o s i t i o n s the r o t o r of t h e synchro t r a n s m i t t e r , producing a n angular velocidy s i g n a l outpuk from i t s s t a t o r , d, AppLicati
A s applied t o t h e ST--120 S+,;?bilized Platform, nach cf the t k r e e

AGiB-3 Accelerometers i s mount d on the c a r r i e r r i n g with i t s s e n s i t i v e

a x i s p a r a l l e l i n g one of Vne kidance acceleration,

Coordinates, along which it senses

- l3 -

cePerometer ha

i t s sensitive axis along the

i t y s i g n a l proportfonaP t o the e r t o be used f o r

s sensitive axf

mgular velocity

ge Accelerometer has

i t s sensitive

b a % e , + 14;n angular veloeity sent t o the Guidance

Comlptuter w h e ~ cut-off,

e second stiag

PHASE

SERVO MOTOR OPERATION

Each of the three ae@elerometerson the platform c a r r i e r ring contains a servo motor9 the fune ion of which i s t o torque the accelerometer intermediate assembly and s p c h r o transmitter, The r a t e of r o t a t i o n of

the servo motor i s proportiona91 t o the pick-off s i g n a l r e s u l t i n g from displacement of the pendulous a i r beaping gimbal due t o acceleration sensed along the input axis.

4.
The mierosyn i s an angrrar position. transducer (Pho

W2908).

T w o

i d e n t i c a l mierosyns are i r ~ c o ~ o ~ a it n ed the ST-120 Stabilized Platform gimballing system, designated $@Yaw MicrospH and itRoll Microsynn, These

microsyns sense a t t i t u d e deviations of the missile frame r e l a t i v e t o the platform, acting a s e r r o r detectors i n t h e yaw and r o l l servo loops. block diagram representing a se When the missil duces an e r r o r s i loop is shown in (Figure 1 2 ) a
A

turns about t h e yaw axis, the yaw microsyn pro-

a9 voltage having an amplitude proportional t o t h e This

amount of yaw, and a phase correspornding t o the d i r e c t i o n of yaw,

e r r o r s i g n a l i s fed i n t o t h e c o n t r o l computer which commands missile steering t o correct the missile a t t i t u d e thus reduce the e r r o r s i g n a l voltage t o n u l l , The r o E m%crssyn?servo loop operates Sn a manner

s i m i l a r t o the y a w servo l o ~ ~The e s e n s i t i v i t y of both microsyns i s

300 mv/degree

,
i s affixed t o t h e yaw centerliahen the m i s s i l e r o t a t e s

The r o t o r of t h e yaw micros piece, and the s t a t o r i s on the about i t s yaw

main shaft,

s, the main s h a f t r o t a t e s with the missile frame, while

the yaw centerpiece r e t a i n s the reference of the p l a t f o m ,

Thus, missile

"Microsyn Assembly and Rotor".

INPUT

a.MICROSYN

OFF NULL

"Air Bearing Pe?ndulmw.

EXCITATION VOLTAGE

SLUG

AIR BEARING

FIG. 1 3 A I R BEARING PENDULUM CUTAWAY

ROLL

FIG. 1 5 a. AZIMUTH PICK- UP AZIMUTH P I C K - U P SCHEMATIC

o reflecting surfaces

disposed a t right

It is used during
of the ST-128 PlaL-

h g s o t h a t jita dihedral

o the f i r i n g az&nutho

$e assembly beemes
bough $he main

s of the h d i v i

BRACKET SICET

INPU T5

OUTPUTS

d,26<400--

Gym 4

ACCEL. WHEEL EXCI TATION

O U T COMM. f 2 8 V - D.C.

PITCH CT(

+
28 V-D.C.

PRE -AMP SUPFL Y

u5q 400- GIMP4L

,115&400-

SERt'J &lv^T>fl

OUTPUT

YAW SEFVO M O T O P

ROLL SERVO MOTOR

PITCH SEPVO MGTJt?

C/R ACCEL P/O OUTPUT

4 CCEL.SEK I/O M O TOI:

ACCEL. SERVO MOT2R

CONTRQL

I STATOR \

/ '

CONTROL. TRANSFORMER

TO CONTROL COMPUTER

F/C;. 23 Pl TCH CAM PROGRAMMING

L.R. l6PCjM LIMIT

pendulum e r r o r signal i s Sntegrated and used potentiometer, The potentiometer supplies t o

signal suffieien

Carpier ring dispfaceme

z ) ,

i s corrected in the s

pitch alignmen

OOPS

for proeess

circuitso

P be sensed by the

msmf t tad by the

against extraneous disturb in flight, Any roll diap f o m causes the P

summing networks

the roll error 81

4,

Pit&

Attitud

e pfteh attitud

gram, and of stabflixhg t h e

transient pitchin
pfteh progrm is genera PifPer Box,
s the rotor of
8

ov

from tha

cause

Security Classification
None

None

None None
Mone

None

Mone
Non None Mone, None

Con fidsntial

Code Number

Description

Secuxi t y Classification

2 -51~-261

Missile Borne Guidance Computer Type No. Confidential 10586500-19 Gear and E l e c t r i c a l Schematic Drawing and Description of the Slant Altitude Channel Missile Borne Guidance Computer Type No, 10586500-19 Gear and E l e c t r i c a l Schematic Drawing and Description of the Cross Range Channel Missile Borne Guidance Computer Type Noe 10586500-19 Electromechanical Schematic hawing and Description of the Cutoff and Arming Circuit Confidential

2-SIC-261

2 -5D-Es6X

Confidential