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| | platform = | | platform = | ||
| | service = | | service = | ||
| | dimensions = (inches) : 13" x 9.75" x 7"<br />(mm) : 330 x 247.6 x 177.8<ref name=proj_hermes>{{cite web|title=Final Report, Project Hermes V-2 Missile Program|website=Internet Archive|url=http://archive.org/details/finalreportproje00whit|publisher=General Electric Defense Product Group|date=1952-09-01|location=Schenectady, NY, US|pages= |
| dimensions = (inches) : 13" x 9.75" x 7"<br />(mm) : 330 x 247.6 x 177.8<ref name=proj_hermes>{{cite web|title=Final Report, Project Hermes V-2 Missile Program|website=Internet Archive|url=http://archive.org/details/finalreportproje00whit|publisher=General Electric Defense Product Group|date=1952-09-01|location=Schenectady, NY, US|pages=126–128|access-date=2025-01-05}}</ref> | ||
| | weight = {{convert|32|lb|kg|abbr=on}}<ref name=" |
| weight = {{convert|32|lb|kg|abbr=on}}<ref name="proj_hermes"></ref> | ||
| | successor = Redstone LEV-3 | | successor = Redstone LEV-3 | ||
| | related = | | related = | ||
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| It differentiated the voltages from the ''Vertikant'' (yaw and roll) and ''Horizont'' (pitch) gyroscopes to sense the gyro platform's divergence from its original orientation in pitch, yaw and roll, and output amplified correcting voltages to the steering servos for the exhaust vanes and external rudders. | It differentiated the voltages from the ''Vertikant'' (yaw and roll) and ''Horizont'' (pitch) gyroscopes to sense the gyro platform's divergence from its original orientation in pitch, yaw and roll, and output amplified correcting voltages to the steering servos for the exhaust vanes and external rudders. | ||
| Technical concepts tested with the smaller ] research rocket included use of the Siemens Vertikant stability control system with rate gyros. |
Technical concepts tested with the smaller ] research rocket included use of the Siemens Vertikant stability control system with rate gyros. This approach didn't scale well for the larger and higher performance V-2. | ||
| From his previous glider ground speed indicator concept in the mid-1930s, Hölzer realized he could implement an electrical approximation of a stability control equation by processing the signals of lower cost position gyros using a network of resistors, capacitors, and tube amplifiers. The resulting device offered better performance, lower weight, and 1/280 the cost compared to competing approaches. | From his previous glider ground speed indicator concept in the mid-1930s, Hölzer realized he could implement an electrical approximation of a stability control equation by processing the signals of lower cost position gyros using a network of resistors, capacitors, and tube amplifiers. The resulting device offered better performance, lower weight, and 1/280 the cost compared to competing approaches. | ||
| Line 42: | Line 42: | ||
| In 1935 while student of the Technical University at Darmstadt, Germany, Helmut Hölzer was also a novice glider pilot, and wanted a way to measure his ground speed. He theorized that using electronic circuits, mathematical operations like ] or ] could be implemented. The system input would come via measuring voltage from a capacitor attached to a three axis ]. He wanted to build it as an undergraduate project, but professors at the University talked him out of it.<ref name="jahre50">{{cite web |last=Hoelzer |first=Helmut |date=1990 |title=50 Jahre Analog Computer |url=https://www.cdvandt.org/Hoelzer%20V4.pdf |website=Foundation for German communication and related technologies |location=NL |publisher= |access-date=2025-01-05}}</ref><ref name="Analog Computer">{{cite web |last=Tomayko|first=James|date=1985-09-01 |title=Helmut Hoelzer's Fully Electronic Analog Computer |url=https://www.nonstopsystems.com/radio/pdf-hell/article-hell-DM12-400.pdf |website=Nonstop Systems |location=USA |publisher=IEEE |access-date=2025-01-05}}</ref> | In 1935 while student of the Technical University at Darmstadt, Germany, Helmut Hölzer was also a novice glider pilot, and wanted a way to measure his ground speed. He theorized that using electronic circuits, mathematical operations like ] or ] could be implemented. The system input would come via measuring voltage from a capacitor attached to a three axis ]. He wanted to build it as an undergraduate project, but professors at the University talked him out of it.<ref name="jahre50">{{cite web |last=Hoelzer |first=Helmut |date=1990 |title=50 Jahre Analog Computer |url=https://www.cdvandt.org/Hoelzer%20V4.pdf |website=Foundation for German communication and related technologies |location=NL |publisher= |access-date=2025-01-05}}</ref><ref name="Analog Computer">{{cite web |last=Tomayko|first=James|date=1985-09-01 |title=Helmut Hoelzer's Fully Electronic Analog Computer |url=https://www.nonstopsystems.com/radio/pdf-hell/article-hell-DM12-400.pdf |website=Nonstop Systems |location=USA |publisher=IEEE |access-date=2025-01-05}}</ref> | ||
| He wasn't able to revisit this work until 1939 when a civilian draft pulled him from a position at Telefunken in Berlin to work at the German army rocket R&D site at ] under the technical direction of ].<ref name="jahre50" /> | He wasn't able to revisit this work until 1939 when a civilian draft pulled him from a position at Telefunken in Berlin to work at the German army rocket R&D site at ] under the technical direction of ].<ref name="jahre50" /> | ||
| A ] was intended to stabilize the planned |
A ] was intended to stabilize the planned A4 (V-2) SRBM. Gyros couldn't account for crosswinds, and so a radio remote control was planned to address this. Hölzer was assigned to work on this task. Soon after, Dr. von Braun told the remote control lab staff that all four companies contracted to develop the gyroscopic control system said that their calculations showed that it would be unstable in flight.<ref name="jahre50" /> | ||
| ⚫ | The companies were using parts intended for aircraft and that some, particularly the servo motors that would move the rocket thrusters, were too slow. Unlike aircraft, the rocket had only 60 seconds of powered flight to correct course deviations. A solution would involve either faster servos or the addition of rate gyros. These changes required time and money not available to the A4 project.<ref name="jahre50" /> | ||
| Soon after, Dr. von Braun told the remote control lab staff that all four companies contracted to develop the gyroscopic control system said that their calculations showed that it would be unstable in flight.<ref name="jahre50" /> | |||
| ⚫ | Hölzer, Otto Mueller, and others in their lab told Von Braun that they could have a solution the next day. They expanded upon the design of the electronic simulators they developed to test the remote control system into a prototype automatic stabilization computer. Hölzer estimated that the cost would be only a few Reichsmarks per copy, rather than several thousand for added rate gyros. Subsequent bench testing validated this electronic control approach.<ref name="jahre50" /> | ||
| ⚫ | The companies were using parts intended for aircraft and that some, particularly the servo motors that would move the rocket thrusters, were too slow. Unlike aircraft, the rocket had only 60 seconds of powered flight to correct course deviations. A solution would involve either faster servos or the addition of rate gyros. These changes required time and money not available to the |
||
| ⚫ | Hölzer, Otto Mueller, and others in their lab told Von Braun that they could have a solution the next day. They expanded upon the design of the electronic simulators they developed to |
||
| ⚫ | ] | ||
| == Technical details == | == Technical details == | ||
| ⚫ | ] | ||
| ⚫ | == Production == | ||
| ⚫ | The Mischgerät was produced at the ] company’s Berlin-Tempelhof factory, and shipped to Peenemünde and later ] for integration with the V-2 missile. | ||
| ⚫ | During the ] testing of captured V- |
||
| The Scientific-Research Institute No.885<ref name="NII-885" /> built an unknown number of units using local components to equip the first Soviet SRBM, the ], itself a local recreation of the V-2. | |||
| == Operation == | == Operation == | ||
| The purpose of the Mischgerät was to provide stability control for the A4/V-2 missile that was superior to a gyroscope-only approach. | |||
| === Missile Control Theory === | |||
| ⚫ | Unlike a projectile, the |
||
| ⚫ | Unlike a projectile, missiles in the ] series were held aerodynamically stable during their flight by fixed fins. Since the device could be forced off of its intended trajectory, it had to also be directed by additional active control elements. | ||
| ⚫ | On the A5 research missile, that was carried out by a three-axis gyroscopic control system installed internally on rigid mount. |
||
| ⚫ | On the A5 research missile, that was carried out by a three-axis gyroscopic control system installed internally on rigid mount. A radio receiver could be added to improve accuracy with a signal from a radio guidance beam on the azimuth of the target mixed with the gyroscopic yaw signal. | ||
| ⚫ | The task of the |
||
| ⚫ | The task of the missile control system was to force the device to follow its intended trajectory during powered flight and to avoid oscillation and roll. After motor burnout, the control system was switched off and the device followed a ballistic path. | ||
| ⚫ | Every steering action on |
||
| ⚫ | Every steering action on a missile caused rotation around the center of gravity. All possible rotations occurred around three mutually perpendicular axes. On the A4 these were named as follows: | ||
| * A - axis or roll axis is the longitudinal axis of the device. | * A - axis or roll axis is the longitudinal axis of the device. | ||
| Line 76: | Line 68: | ||
| * D - axis or pitch axis is the straight line running parallel to the rudder axis II and IV through the center of gravity. It is also perpendicular to A and E. | * D - axis or pitch axis is the straight line running parallel to the rudder axis II and IV through the center of gravity. It is also perpendicular to A and E. | ||
| The task of the control system |
The task of the A4's control system was to prevent any unwanted rotation around the A (roll), E (yaw) and D (pitch) axes.<ref name=“das_gerat1”>{{cite web | ||
| |author=<!— not stated —> | |||
| |date=1945-02-01 | |||
| |title=Das Gerät A4 Baureihe B Gerätbeschreibung | |||
| |trans-title=The A4 Device Series B Device Description | |||
| |url=https://archive.org/download/technicaldescriptionA4/Gerätebeschreibung_A4_text.pdf | |||
| |website=Internet Archive | |||
| |pages=173 | |||
| |language=German | |||
| |translator-last1=Holmberg | |||
| |translator-first1=Carl | |||
| |location=Berlin, Germany | |||
| |publisher=Oberkommando des Heeres, Heereswaffenamt, Amtsgruppe für Entwicklung und Prüfung (Army High Command, Army Weapons Office, Office Group for Development and Testing) | |||
| |access-date=2022-03-22}} | |||
| </ref> | |||
| ] | |||
| ⚫ | == Production == | ||
| ⚫ | The Mischgerät was produced at the ] company’s Berlin-Tempelhof factory, and shipped to Peenemünde and later ] for integration with the V-2 missile. | ||
| ⚫ | During the ] testing of captured V-2s in the US, prime contractor General Electric built 80 additional units using local components at their Schenectady, NY facility when the project ran out of German-made examples to equip otherwise completed missiles.<ref name="proj_hermes"></ref> | ||
| The Scientific-Research Institute No.885<ref name="NII-885" /> built at least 300 units using local components to equip the first Soviet SRBM, the ], itself a local recreation of the V-2.<ref name=v2_zaloga>{{cite book|last=Zaloga|first=Steven|date=2003-08-20|title=V-2 Ballistic Missile 1942–52|location=Bloomsbury, USA|publisher=Osprey|page=41|isbn=9781841765419|access-date=2025-01-07|quote="R-1 and R-2 missile production: 51: 76, 52: 237, 53: 544"|url=https://books.google.com/books?id=-a83vgAACAAJ&q=V-2+Ballistic+Missile+1942–52+Steven+Zaloga}}</ref> | |||
| <ref name=zaloga_2025>{{Cite tweet |last=Zaloga |first=Steven |user=ZalogaSteven |number=1876379767265730868 |date= |title=The figures in my book come from: N. Ya. Lysukhin, 'RVSN v sisteme natsionalnoy bezopastnosti Rossii: Istoriko-politologicheskiy analiz', (Moscow: 1997). More recent accounts give no production figures. R-2 production began in June 1953, but I don't have an end date for R-1. |language=English |access-date=2025-01-06 |link=https://x.com/ZalogaSteven/status/1876379767265730868}}</ref> | |||
| == Postwar use == | == Postwar use == | ||
Revision as of 15:46, 8 January 2025
Electronic analog stability computer used in the V-2 SRBM A photo of the "Mischgerät" V-2 stability control computer, drawn from "Report on Operation BACKFIRE", Volume II, p141, Figure 107. | |
| Also known as | Autopilot servo amplifier |
|---|---|
| Developer | Helmut Hölzer |
| Manufacturer | C. Lorenz AG, General Electric, Scientific-Research Institute No.885 |
| Type | Electronic analog computer |
| Release date | 1941 (1941) |
| Introductory price | 6 ℛℳ |
| Units shipped | ~6000 |
| Power | 40VAC @ 500Hz |
| Dimensions | (inches) : 13" x 9.75" x 7" (mm) : 330 x 247.6 x 177.8 |
| Weight | 32 lb (15 kg) |
| Successor | Redstone LEV-3 |
Designed in 1941 by Helmut Hölzer, the Mischgerät (mixer device) was the first fully electronic computing device, used to implement Hölzer’s V-2 rocket stability control logic during powered flight.
It differentiated the voltages from the Vertikant (yaw and roll) and Horizont (pitch) gyroscopes to sense the gyro platform's divergence from its original orientation in pitch, yaw and roll, and output amplified correcting voltages to the steering servos for the exhaust vanes and external rudders.
Technical concepts tested with the smaller A5 research rocket included use of the Siemens Vertikant stability control system with rate gyros. This approach didn't scale well for the larger and higher performance V-2.
From his previous glider ground speed indicator concept in the mid-1930s, Hölzer realized he could implement an electrical approximation of a stability control equation by processing the signals of lower cost position gyros using a network of resistors, capacitors, and tube amplifiers. The resulting device offered better performance, lower weight, and 1/280 the cost compared to competing approaches.
Hölzer expanded upon the Mischgerät design to develop the first general purpose electronic analog computer, which he used to perform 2 DOF flight simulations with examples of the Mischgerät.
The name "Mischgerät" suggested a simple signal mixer, a cover for the true capability of the device.
The Mischgerät analog electronic computing approach became the base from which American and Soviet engineers built much more sophisticated and accurate rocket flight control systems into the 1960s.
Development history
In 1935 while student of the Technical University at Darmstadt, Germany, Helmut Hölzer was also a novice glider pilot, and wanted a way to measure his ground speed. He theorized that using electronic circuits, mathematical operations like integration or differentiation could be implemented. The system input would come via measuring voltage from a capacitor attached to a three axis mass-spring damping system. He wanted to build it as an undergraduate project, but professors at the University talked him out of it.
He wasn't able to revisit this work until 1939 when a civilian draft pulled him from a position at Telefunken in Berlin to work at the German army rocket R&D site at Peenemünde under the technical direction of Wernher von Braun.
A gyroscopic course control was intended to stabilize the planned A4 (V-2) SRBM. Gyros couldn't account for crosswinds, and so a radio remote control was planned to address this. Hölzer was assigned to work on this task. Soon after, Dr. von Braun told the remote control lab staff that all four companies contracted to develop the gyroscopic control system said that their calculations showed that it would be unstable in flight.
The companies were using parts intended for aircraft and that some, particularly the servo motors that would move the rocket thrusters, were too slow. Unlike aircraft, the rocket had only 60 seconds of powered flight to correct course deviations. A solution would involve either faster servos or the addition of rate gyros. These changes required time and money not available to the A4 project.
Hölzer, Otto Mueller, and others in their lab told Von Braun that they could have a solution the next day. They expanded upon the design of the electronic simulators they developed to test the remote control system into a prototype automatic stabilization computer. Hölzer estimated that the cost would be only a few Reichsmarks per copy, rather than several thousand for added rate gyros. Subsequent bench testing validated this electronic control approach.
Technical details
Operation
The purpose of the Mischgerät was to provide stability control for the A4/V-2 missile that was superior to a gyroscope-only approach.
Unlike a projectile, missiles in the Aggregat series were held aerodynamically stable during their flight by fixed fins. Since the device could be forced off of its intended trajectory, it had to also be directed by additional active control elements.
On the A5 research missile, that was carried out by a three-axis gyroscopic control system installed internally on rigid mount. A radio receiver could be added to improve accuracy with a signal from a radio guidance beam on the azimuth of the target mixed with the gyroscopic yaw signal.
The task of the missile control system was to force the device to follow its intended trajectory during powered flight and to avoid oscillation and roll. After motor burnout, the control system was switched off and the device followed a ballistic path.
Every steering action on a missile caused rotation around the center of gravity. All possible rotations occurred around three mutually perpendicular axes. On the A4 these were named as follows:
- A - axis or roll axis is the longitudinal axis of the device.
- E - axis or yaw axis is the straight line running parallel to the axis of rudders I and III through the center of gravity.
- D - axis or pitch axis is the straight line running parallel to the rudder axis II and IV through the center of gravity. It is also perpendicular to A and E.
The task of the A4's control system was to prevent any unwanted rotation around the A (roll), E (yaw) and D (pitch) axes.
Production
The Mischgerät was produced at the C. Lorenz AG company’s Berlin-Tempelhof factory, and shipped to Peenemünde and later Mittelbau-Dora for integration with the V-2 missile.
During the Hermes program testing of captured V-2s in the US, prime contractor General Electric built 80 additional units using local components at their Schenectady, NY facility when the project ran out of German-made examples to equip otherwise completed missiles.
The Scientific-Research Institute No.885 built at least 300 units using local components to equip the first Soviet SRBM, the R-1, itself a local recreation of the V-2.
Postwar use
Surviving examples
- Australian War Memorial
- Deutsches Technikmuseum Berlin
- White Sands Missile Range Museum, V-2 Building
See also
Notes
References
- ^ Gerovitch, Slava. "Glossary of Institutions of the Soviet Space Program" (PDF). MIT. Retrieved 2025-01-05.
see 'Scientific-Research Institute of Space Instrument Building (NII KP)'
- ^ "Final Report, Project Hermes V-2 Missile Program". Internet Archive. Schenectady, NY, US: General Electric Defense Product Group. 1952-09-01. pp. 126–128. Retrieved 2025-01-05.
- ^ Hoelzer, Helmut (1990). "50 Jahre Analog Computer" (PDF). Foundation for German communication and related technologies. NL. Retrieved 2025-01-05.
- Tomayko, James (1985-09-01). "Helmut Hoelzer's Fully Electronic Analog Computer" (PDF). Nonstop Systems. USA: IEEE. Retrieved 2025-01-05.
- <!— not stated —> (1945-02-01). "Das Gerät A4 Baureihe B Gerätbeschreibung" [The A4 Device Series B Device Description] (PDF). Internet Archive (in German). Translated by Holmberg, Carl. Berlin, Germany: Oberkommando des Heeres, Heereswaffenamt, Amtsgruppe für Entwicklung und Prüfung (Army High Command, Army Weapons Office, Office Group for Development and Testing). p. 173. Retrieved 2022-03-22.
- Zaloga, Steven (2003-08-20). V-2 Ballistic Missile 1942–52. Bloomsbury, USA: Osprey. p. 41. ISBN 9781841765419. Retrieved 2025-01-07.
R-1 and R-2 missile production: 51: 76, 52: 237, 53: 544
- Zaloga, Steven (January 6, 2025). "The figures in my book come from: N. Ya. Lysukhin, 'RVSN v sisteme natsionalnoy bezopastnosti Rossii: Istoriko-politologicheskiy analiz', (Moscow: 1997). More recent accounts give no production figures. R-2 production began in June 1953, but I don't have an end date for R-1" (Tweet). Retrieved 2025-01-06 – via Twitter.
External links
Color photos of surviving Mischgerät, External: https://www.cdvandt.org/1999001.pdf Internal: https://www.cdvandt.org/archive_3_displays_5.htm
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