CN101782354A - Terminal guidance section simulation system - Google Patents
Terminal guidance section simulation system Download PDFInfo
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- CN101782354A CN101782354A CN200910066445A CN200910066445A CN101782354A CN 101782354 A CN101782354 A CN 101782354A CN 200910066445 A CN200910066445 A CN 200910066445A CN 200910066445 A CN200910066445 A CN 200910066445A CN 101782354 A CN101782354 A CN 101782354A
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Abstract
The invention relates to a terminal guidance section simulation system, which comprises a guidance head and a movement simulation platform, wherein the guidance head adopts a simulation guidance head and consists of a holder and a camera; the movement simulation platform is of a net-type supporting frame which is provided with a guide rail installation beam and a transmission belt, wherein a precise guide rail is installed on the bottom part of the guide rail installation beam, a large installation platform is installed between two guide rail installation beams, a small installation platform is installed on the side surface of the guide rail installation beam, a roll-over drag chain is installed at the left side of a stepper motor, and the simulation guidance head is installed below the large installation platform. By adopting the simulation guidance head, the terminal guidance section simulation system has the advantages of long service life, high cost performance and simple structure; and the movement simulation platform adopts a steel tube net rack as a supporting frame, adopts the precise guide rail as the movement restriction, adopts the large-power stepper motor, the high-strength transmission belt and the roll-over drag chain as the towing, and adopts the computer to carry out the movement control, so the simulation system has the advantages that the simulated range of the earth surface for missile to pass is large, the platform motion is stable and is free from jumping, and the computer can conveniently perform the precise control.
Description
Technical field
The present invention relates to a kind of terminal guidance stage analogue system,, satisfy television controlled missile terminal guidance stage precision strike process ground simulation, experiment, checking needs by the HWIL simulation means.
Background technology
At present, missile-borne optics television image track homing head is generally adopted in the simulation study of both at home and abroad terminal guidance stage target seeker captured object being searched for, discern, being followed the tracks of.Utilize target seeker pitching search speed, balance obtains a kind of search plan with one dimension visual effect because of the sight line that missile flight speed causes vertically moves speed, and the image on the monitor is only smoothly moved in the horizontal direction.Its shortcoming is that the focus adjustment scope of seeker optical system is little, can not satisfy with the ground simulation requirements.The Missile Motion emulation platform is main at present both at home and abroad to adopt gyro to come platform framework is stablized, and movable information is measured main rate gyroscope and the accelerometer of adopting.Shortcoming control is complicated, fault rate is high, the life-span is short, and the face of land planar range of simulated missile motion process is little.
Summary of the invention
Technical problem to be solved by this invention provides a kind of long service life, ratio of performance to price height, the face of land planar range of simulation target seeker simple in structure and simulated missile motion process is big, motion is steady, nothing beats, is convenient to adopt computer to carry out the emulation platform of meticulous control, thereby, explore the method and the approach that improve precision strike usefulness for television controlled missile terminal guidance stage dynamic movement process, target search, identification and locking, guiding guidance principle etc. provides an experiment, verification platform.
For solving the problems of the technologies described above, the invention provides a kind of terminal guidance stage analogue system, comprise target seeker and movement simulation platform, it is characterized in that: target seeker adopts the simulation target seeker, form by The Cloud Terrace and camera, camera adopts digital zoom CCD camera, changes with the method simulated range that changes focal length, and the adjustment of whole The Cloud Terrace motion and CCD camera is all adopted digital control; Movement simulation platform is made up of net formula bracing frame, precise guide rail, stepper motor, conveyer belt, big or small mounting platform, lift-over drag chain, net formula bracing frame is provided with guide rail mounting rail and conveyer belt, precise guide rail is installed in the bottom of guide rail mounting rail, big mounting platform is installed between two guide rail mounting rails, little mounting platform is installed in the side of a guide rail mounting rail, stepper motor and drive be installed in big mounting platform above, the lift-over drag chain is installed in stepper motor left side, the simulation target seeker be installed in big mounting platform below.
For making the stressed deformation that evenly, do not take place, and when target seeker moves, do not produce chatter, and net formula bracing frame is constituted by connection steel pipe, bolted node sphere, holder, and each bolted node sphere all is a positive tetrahedron summit, each steel pipe is a limit of positive tetrahedron, and a plurality of positive tetrahedrons join end to end.
The present invention adopts the simulation target seeker, has long service life, ratio of performance to price height, advantage of simple structure; Movement simulation platform is a bracing frame with the steel pipe rack, with the precise guide rail is kinematic constraint, with high-power stepper motor, high strength conveyer belt, lift-over drag chain is traction, carry out motion control with computer, face of land planar range with simulated missile motion process is big, platform motion is steady, nothing is beated, and is convenient to adopt computer to carry out the advantage of meticulous control.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the control wiring diagram of cradle head control ccd video camera;
Fig. 3 is a simulation target seeker structure chart.
The specific embodiment
With reference to Fig. 1, Fig. 3, the present invention includes simulation target seeker 10 and movement simulation platform, the simulation target seeker is made up of The Cloud Terrace 21 and camera 22, camera adopts digital zoom CCD camera, change with the method simulated range that changes focal length, the adjustment of whole The Cloud Terrace motion and CCD camera is all adopted digital control, the simulation target seeker adopts video camera to recommend to use the high-speed intelligent ball-shaped camera, at least should possess 22 Zoom Lens and 10 multiples piles up greatly, can 360 ° of conduct monitoring at all levels visual fields, and can rotate at a high speed, the speed of horizontally rotating is not less than 240 °/s, vertically is not less than 150 °/s.Manual velocity level is not less than 0.8 ° of-90 °/s, vertically is not less than 0.8 ° of-45 °/s, and the minimal illumination colour is 0.01LUX, and black and white is 0.003LUX, and picture detection of dynamic function is preferably arranged.This simulation target seeker has long service life, ratio of performance to price height, advantage of simple structure; Movement simulation platform is by net formula bracing frame, precise guide rail, stepper motor, conveyer belt, the size mounting platform, the lift-over drag chain is formed, net formula bracing frame is by connecting steel pipe 6, bolted node sphere 7, holder 8 constitutes, net formula bracing frame is provided with guide rail mounting rail 1 and conveyer belt 2, precise guide rail 5 is installed in the bottom of guide rail mounting rail, big mounting platform 9 is installed between two guide rail mounting rails, little mounting platform 11 is installed in the side of a guide rail mounting rail, stepper motor 4 and drive 12 be installed in big mounting platform above, lift-over drag chain 3 is installed in stepper motor left side, simulation target seeker 10 be installed in big mounting platform 9 below.
The later length of precise guide rail splicing should match with terminal guidance section emulation experiment scene, and each section guide rail smoothly splices, and adopts the calibration of high accuracy theodolite, can make about the splicing, left and right sides error is controlled at ± 1mm in.The precise guide rail mounting rail is that the installation of precise guide rail relies on, the girder steel of selecting for use on-deformable Q235 steel to be processed into, and length is consistent with precise guide rail.
Net formula bracing frame is that the installation of precise guide rail mounting rail relies on, net formula bracing frame adopts the steelpipe net shelf structure, by steel pipe (material is the Q235 steel), bolted node sphere (material is the 45# guiding principle) and holder (material is the 45# guiding principle) are formed, every steel pipe is with screw thread, screw-rod structure is connected with bolted node sphere, each node of rack all is a positive tetrahedron summit, each steel pipe is a limit of positive tetrahedron, a plurality of positive tetrahedrons join end to end and form steelpipe net shelf structure bracing frame, it is stressed evenly, thereby deformation can not take place, and it can not produce chatter yet when the motion of simulation target seeker.The Φ of bolted node sphere=100, bolt adopts M10 high-strength bolt (material 40Cr), can take in the assembling of ground burst burst lifting, the method for whole splicing during installation.
The SCC-643AP high-speed intelligent ball-shaped camera that the CCD gamma camera that the simulation target seeker is used selects for use Samsung to produce.
It is the stepper motor of 100 Ns of rice that stepper motor adopts peak torque, makes the motion of simulation target seeker installing rack vertical and horizontal through 1: 15 decelerator.The drive diameter is 350mm.The running belt width is 50mm, and the design maximum pulling force is not less than 300kg.Stepping motor control card adopts the 6020C stepping motor control card, it can produce the pulse train [pulse number (position) of control step motor according to the order of host computer, frequency (speed) and frequency change rate (acceleration) are by the motion conditions control of main frame according to guided missile], give servo drive unit, servo drive unit deducts location feedback value according to the position command value of control card and calculates the motor position error, the site error value produces the motor speed control signal through the digital filter (PID regulates algorithm) of over-drive unit, the links such as electric current loop of speed control signal in driver element produces drive current, and stepper motor is carried out speed governing.
With reference to Fig. 2, power supply input 13, RS-485 interface 14, power supply indication 15, the output 16 of reporting to the police, video output 17, the input 18 of reporting to the police, fan control 19, heating wire control 20.
Claims (2)
1. terminal guidance stage analogue system, comprise target seeker and movement simulation platform, it is characterized in that: target seeker adopts the simulation target seeker, form by The Cloud Terrace and camera, camera adopts digital zoom CCD camera, change with the method simulated range that changes focal length, the adjustment of whole The Cloud Terrace motion and CCD camera is all adopted digital control; Movement simulation platform is made up of net formula bracing frame, precise guide rail, stepper motor, conveyer belt, big or small mounting platform, lift-over drag chain, net formula bracing frame is provided with guide rail mounting rail and conveyer belt, precise guide rail is installed in the bottom of guide rail mounting rail, big mounting platform is installed between two guide rail mounting rails, little mounting platform is installed in the side of a guide rail mounting rail, stepper motor and drive be installed in big mounting platform above, the lift-over drag chain is installed in stepper motor left side, the simulation target seeker be installed in big mounting platform below.
2. a kind of terminal guidance stage analogue system according to claim 1, it is characterized in that: net formula bracing frame is constituted by connection steel pipe, bolted node sphere, holder, each bolted node sphere all is a positive tetrahedron summit, each steel pipe is a limit of positive tetrahedron, and a plurality of positive tetrahedrons join end to end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910066445 CN101782354B (en) | 2009-01-16 | 2009-01-16 | Terminal guidance section simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910066445 CN101782354B (en) | 2009-01-16 | 2009-01-16 | Terminal guidance section simulation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101782354A true CN101782354A (en) | 2010-07-21 |
| CN101782354B CN101782354B (en) | 2013-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910066445 Expired - Fee Related CN101782354B (en) | 2009-01-16 | 2009-01-16 | Terminal guidance section simulation system |
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| Country | Link |
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| CN (1) | CN101782354B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252568A (en) * | 2011-04-28 | 2011-11-23 | 北京航空航天大学 | Linear motor driven distance-variable rocker arm double-shaft guide head frame |
| CN102494566A (en) * | 2011-12-13 | 2012-06-13 | 林德福 | System for testing isolation of guide head of laser terminal guided projectile |
| CN103108164A (en) * | 2013-02-01 | 2013-05-15 | 南京迈得特光学有限公司 | Compound eye type panorama continuous tracking and monitoring system |
| CN106338222A (en) * | 2016-09-23 | 2017-01-18 | 哈尔滨工业大学 | Optical target motion simulation system with spherical motion trails |
| CN107607293A (en) * | 2017-08-28 | 2018-01-19 | 湖北三江航天万峰科技发展有限公司 | A kind of connection component for optical seeker dynamic performance and testing |
| CN109900157A (en) * | 2019-02-22 | 2019-06-18 | 中国人民解放军海军工程大学 | Guided munition Terminal Guidance Laws semi-physical emulation platform and method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100495261C (en) * | 2007-09-04 | 2009-06-03 | 北京控制工程研究所 | Half-physical emulation test system for controlling and guiding, navigating and controlling soft landing for moon |
| CN101281249A (en) * | 2008-05-20 | 2008-10-08 | 北京航空航天大学 | Method for modeling target dispersion characteristic of high resolution synthetic aperture radar |
-
2009
- 2009-01-16 CN CN 200910066445 patent/CN101782354B/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252568A (en) * | 2011-04-28 | 2011-11-23 | 北京航空航天大学 | Linear motor driven distance-variable rocker arm double-shaft guide head frame |
| CN102252568B (en) * | 2011-04-28 | 2013-06-19 | 北京航空航天大学 | Linear motor driven distance-variable rocker arm double-shaft guide head frame |
| CN102494566A (en) * | 2011-12-13 | 2012-06-13 | 林德福 | System for testing isolation of guide head of laser terminal guided projectile |
| CN102494566B (en) * | 2011-12-13 | 2014-04-02 | 北京理工大学 | System for testing isolation of guide head of laser terminal guided projectile |
| CN103108164A (en) * | 2013-02-01 | 2013-05-15 | 南京迈得特光学有限公司 | Compound eye type panorama continuous tracking and monitoring system |
| CN106338222A (en) * | 2016-09-23 | 2017-01-18 | 哈尔滨工业大学 | Optical target motion simulation system with spherical motion trails |
| CN106338222B (en) * | 2016-09-23 | 2017-10-24 | 哈尔滨工业大学 | A kind of optical target dynamic simulation system with spheric motion track |
| CN107607293A (en) * | 2017-08-28 | 2018-01-19 | 湖北三江航天万峰科技发展有限公司 | A kind of connection component for optical seeker dynamic performance and testing |
| CN109900157A (en) * | 2019-02-22 | 2019-06-18 | 中国人民解放军海军工程大学 | Guided munition Terminal Guidance Laws semi-physical emulation platform and method |
| CN109900157B (en) * | 2019-02-22 | 2021-04-02 | 中国人民解放军海军工程大学 | Semi-physical simulation platform and method for guidance ammunition terminal guidance law |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101782354B (en) | 2013-07-24 |
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