CN111076611A - Testing device of high-speed rotating missile guidance system - Google Patents
Testing device of high-speed rotating missile guidance system Download PDFInfo
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- CN111076611A CN111076611A CN201811211372.3A CN201811211372A CN111076611A CN 111076611 A CN111076611 A CN 111076611A CN 201811211372 A CN201811211372 A CN 201811211372A CN 111076611 A CN111076611 A CN 111076611A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/32—Devices for testing or checking
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Abstract
The invention provides a testing device of a high-speed rotating missile guidance system, which mainly comprises a mechanical table body subsystem and a servo control system, wherein the mechanical table body subsystem is of a single-shaft vertical table surface type structure and mainly comprises a table surface, a main shaft, an upper bearing group, a brushless motor, a lower bearing group, an angle encoder, a base, a conductive sliding ring, an electric connector and the like, and is a mounting and testing platform of a tested piece; the servo control system mainly comprises a motor servo driving module, a position ring control module, a high-speed angular position acquisition module, a man-machine interaction module and the like, and is a central hub for receiving user instructions in real time to control the mechanical table body to complete testing work. The device realizes high dynamic gyroscope test equipment which can simultaneously keep high angular position precision and high angular rate precision under the condition of high rotating speed, and solves the test bottleneck problem of a high-speed rotating missile guidance system.
Description
(I) technical field
The invention relates to a testing device of a high-speed rotating missile guidance system, in particular to a high-rotating-speed and high-precision testing device applied to testing and calibrating a high-dynamic gyroscope.
(II) background of the invention
In the aerospace field, the functions of navigation and guidance technology on ships, aircrafts and the like are the same as the functions of eyes on animals, and missiles, ships, aircrafts and the like can be accurately navigated and guided by a high-performance navigation and guidance system. In the development of navigation and guidance systems, inertial components such as gyroscopes and accelerometers need to be tested and calibrated, and high-performance inertial test equipment is inevitably used in the process.
The test device of the high-speed rotating missile guidance system is one of inertia test devices, is mainly used for experiments and tests of gyros and various flight angular rate sensors, measures the drift of an inertia device by simulating the high-speed motion of a carrier, thereby carrying out quantitative compensation, and has very important significance for improving the development precision of intelligent guided weapons. With the continuous progress of navigation and guidance technologies, the requirements on inertia test equipment of the navigation and guidance technologies are higher and higher, and especially for a high-speed rotating missile guidance system, the inertia test equipment is difficult to meet the characteristics of keeping high angular position precision, high angular rate precision and high dynamic characteristics under the condition of high rotating speed. The successful development of the device provides guarantee for the test and calibration of the high dynamic gyroscope, and solves the test bottleneck problem of the high-speed rotating missile guidance system.
Disclosure of the invention
The invention aims to provide a testing device of a high-speed rotating missile guidance system, which realizes high-speed and high-precision testing equipment applied to the calibration and the test of a high-dynamic gyroscope, solves the problems of simultaneously keeping high angular position precision, high angular rate precision and high dynamic characteristic under the condition of high speed, and firstly enables the maximum angular rate of the equipment to reach more than 20000 degrees/s, the angular position precision to be better than 3' and the angular rate precision to be better than 5 multiplied by 10‐5。
The technical scheme adopted for achieving the purpose mainly comprises a mechanical table body subsystem and a servo control system.
The mechanical table body subsystem is a single-shaft vertical table-board type structure, mainly comprises a table board, a main shaft, an upper bearing set, a brushless motor, a lower bearing set, an angle encoder, a base, a conductive sliding ring, an electric connector and the like, and is an installation and test platform of a tested piece. Wherein the main shaft is supported on the base through an upper bearing set and a lower bearing set; the middle part of the shaft system is provided with a brushless motor for driving the shaft; an angle encoder is arranged at the lower end of the main shaft and used for feeding back the position of the shaft angle; the upper end of the main shaft is fixedly connected with the table top by a screw; the table top is also provided with an electric connector which is used for butting with a signal or a power supply of a tested piece; the center of the main shaft is also provided with a slip ring, the upper end of the slip ring is butted with the table-board electric connector and is used for transmitting signals of a tested piece and a load power supply; the base is also provided with an electric connector which is butted with the lower end of the slip ring and is used for inputting or outputting a signal or a power supply of the test piece; six through holes are reserved on the base and used for mounting and fixing the table body; four lifting ring screws are further mounted on the base, and the turntable is convenient to machine, assemble and carry.
The servo control cabinet mainly comprises a motor servo driving module, a position ring control module, a high-speed angular position acquisition module, a man-machine interaction module and the like, and is a central hub for receiving user instructions in real time to control a mechanical platform body to complete test work. The motor servo driving module comprises a motor driver, a power filter and an output reactor, receives the instruction of the position loop control module, and drives the AC servo motor by increasing the power of the position loop control module; the position ring control module is a control panel taking a high-speed Digital Signal Processor (DSP) as a core, is fixed in an industrial personal computer through a PCI slot and is mainly responsible for motion trail planning, control algorithm calculation, D/A conversion, state monitoring, remote communication and the like of a control system of the device; the high-speed angular position measuring module comprises a high-speed counting module and a subdivision module, is mainly responsible for high-speed acquisition, subdivision and decoding of encoder signals, and sends the encoder signals to the position ring control module as a comparison reference of a control command and the motor servo driving module as a current reversing reference; the man-machine interaction module comprises an industrial personal computer, a display and the like, is communicated with the position ring control module in a bus mode, and provides a friendly man-machine interaction interface.
Compared with the prior art, the invention has the following advantages:
1. the maximum angular rate of the device is up to 20000 degrees/s or more for the first time,
2. the high angular position precision and the high angular rate precision are simultaneously maintained under the condition of high rotating speed;
3. the problem of the test bottleneck of a high-speed rotating missile guidance system is solved.
(IV) description of the drawings
FIG. 1 is a system block diagram of the present invention.
FIG. 2 is a schematic view of the mechanical stage component system of the present invention.
Fig. 3 is a schematic diagram of the motor servo driving module according to the present invention.
Fig. 4 is a schematic block diagram of the motor servo drive module of the present invention.
FIG. 5 is a functional block diagram of a position loop control module of the present invention.
(V) detailed description of the preferred embodiments
As shown in figure 1, the invention mainly comprises a mechanical table body subsystem (1) and a servo control system (2).
As shown in fig. 2, the mechanical table body subsystem (1) is a single-shaft vertical table structure, mainly includes a table top (15), a main shaft (17), an upper bearing set (14), a brushless motor (12), a lower bearing set (11), an angle encoder (10), a base (9), a conductive slip ring (13), an electrical connector (16), and the like, and is a platform for mounting and testing a tested piece. The table top (15) is fixed on the upper end surface of the main shaft (17) through a screw; the main shaft (17) is supported on the base (9) through an upper bearing group (14) and a lower bearing group (11); the upper bearing group (14) selects a pair of high-precision angle contact ball bearings and adopts a back-to-back installation mode; the lower bearing group (11) adopts a face-to-face installation form by selecting a pair of high-precision angle contact ball bearings; a brushless motor (12) is arranged in the middle of the main shaft (17) and used for driving the shaft; an angle encoder (10) is arranged at the lower end of the main shaft and used for feeding back the position of the shaft; the upper end of the main shaft (17) is fixedly connected with the table top (15) by a screw; the conductive slip ring (13) is arranged in the center of the main shaft (17), and the upper end of the conductive slip ring (13) is butted with the electric connector (16) of the table top (15) and is used for transmitting signals of a tested piece and a load power supply; the table top (15) is also provided with an electric connector (16) for butting with a signal or a power supply of a tested piece; the base (9) is also provided with an electric connector (16) which is butted with the lower end of the conductive slip ring (13) and is used for inputting or outputting a signal or a power supply of a test piece; six through holes are reserved on the base (9) and used for mounting and fixing the mechanical table body; four lifting ring screws are further mounted on the base (9), so that the whole mechanical table body is convenient to process, assemble and carry.
As shown in fig. 1, the servo control system (2) mainly comprises a motor servo drive module (3), a position ring control module (4), a high-speed angular position acquisition module (6), a human-computer interaction module (5) and the like, and is a central hub for receiving user instructions in real time to control the mechanical stage body to complete testing work. The human-computer interaction module (5) sends a motion instruction, the position ring control module (4) judges the working state of the motion instruction after receiving the motion instruction, corresponding trajectory planning is carried out, the generated motion trajectory is compared with the angular position value output by the high-speed angular position acquisition module (6), the generated difference value command is converted by a correction algorithm and D/A of the position ring control module (4) to obtain a control signal, the control signal drives the brushless motor (7) to operate after the power of the control signal is high through the motor servo driving module (3), and then the spindle (17) in the mechanical table body subsystem (1) is driven to operate, so that the test work of a tested piece is completed.
As shown in fig. 3, the motor servo drive module (3) comprises a power filter (18), an output reactor (20) and a motor driver (19), wherein the power filter (18) is a three-phase 380VAC power filter, which can effectively suppress electromagnetic disturbance from the mains supply and electromagnetic disturbance from the motor driver (19); the output reactor (20) can prevent the output brushless motor (7) from misoperation and prevent the output radiation of the motor driver (19) from interfering the peripheral sensitive sensing device; the motor driver (19) adopts an SVPWM control mode, a high-power IGBT power switch tube is used for driving, a speed ring and current ring double-ring control structure receives a control signal sent by the position ring control module (4), and the control signal is subjected to high power so as to drive the brushless motor (7), as shown in figure 4.
As shown in fig. 5, the position ring control module (4) adopts a developed digital control system of a high-speed Digital Signal Processor (DSP), is a single-board structure, is fixed in the industrial personal computer through a PCI slot, and mainly includes an instruction planning (23), a data processing (24), a correction algorithm (25), and a D/a conversion (26), the position ring control module (4) receives an instruction sent by a human-computer interface of the industrial personal computer, the instruction enters the corresponding data processing (24), the instruction planning (23) is performed according to a corresponding working state, a generated motion trajectory is compared with an angular position value output by the high-speed angular position acquisition module (6), and a generated difference command is transmitted to the motor servo drive module (3) through the corresponding correction algorithm (25) and the 16-bit D/a conversion (26) to control the operation of the motor.
As shown in fig. 5, the high-speed angular position measuring module (6) includes a subdivision module (22) and a high-speed counting module (21), wherein the subdivision module (22) mainly performs signal conversion, filtering and subdivision on the 1Vpp signal sent by the angle encoder (10) and outputs a TTL level orthogonal encoded signal; the high-speed counting module (21) takes an FPGA programmable logic chip as a core and also has a single-board structure, is fixed in an industrial personal computer through a PCI slot, adopts a common-frequency multi-phase clock oversampling technology and a low-voltage differential signal high-speed data transmission technology to finish high-speed acquisition and decoding of encoder signals, and sends the encoder signals to the position ring control module (4) as a comparison reference of a control command and the motor servo driving module (3) as a current reversing and speed reference;
the man-machine interaction module mainly comprises an industrial personal computer, a display and the like, mainly provides a PCI bus platform for the position ring control module and the high-speed counting module, and provides a friendly man-machine interaction interface.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (7)
1. The utility model provides a high-speed rotatory bullet guidance system's testing arrangement which characterized in that: the testing device of the high-speed rotating missile guidance system comprises a mechanical table body subsystem (1) and a servo control system (2). Wherein the mechanical table body subsystem (1) is an installation and test platform of a tested piece; the servo control system (2) is a central pivot for receiving user instructions in real time to control the mechanical table body to complete the test work.
2. The test device for the high-speed rotary missile guidance system according to claim 1, wherein the test device comprises: the mechanical table body subsystem (1) is of a single-shaft vertical table surface type structure and mainly comprises a table surface (15), a main shaft (17), an upper bearing group (14), a brushless motor (12), a lower bearing group (11), an angle encoder (10), a base (9), a conductive sliding ring (13), an electric connector (16) and the like, and is an installation and test platform of a tested piece. The table top (15) is fixed on the upper end surface of the main shaft (17) through a screw; the main shaft (17) is supported on the base (9) through an upper bearing group (14) and a lower bearing group (11); the upper bearing group (14) selects a pair of high-precision angle contact ball bearings and adopts a back-to-back installation mode; the lower bearing group (11) adopts a face-to-face installation form by selecting a pair of high-precision angle contact ball bearings; a brushless motor (12) is arranged in the middle of the main shaft (17) and used for driving the shaft; an angle encoder (10) is arranged at the lower end of the main shaft and used for feeding back the position of the shaft; the upper end of the main shaft (17) is fixedly connected with the table top (15) by a screw; the conductive slip ring (13) is arranged in the center of the main shaft (17), and the upper end of the conductive slip ring (13) is butted with the electric connector (16) of the table top (15) and is used for transmitting signals of a tested piece and a load power supply; the table top (15) is also provided with an electric connector (16) for butting with a signal or a power supply of a tested piece; the base (9) is also provided with an electric connector (16) which is butted with the lower end of the conductive slip ring (13) and is used for inputting or outputting a signal or a power supply of a test piece; six through holes are reserved on the base (9) and used for mounting and fixing the mechanical table body; four lifting ring screws are further mounted on the base (9), so that the whole mechanical table body is convenient to process, assemble and carry.
3. The test device for the high-speed rotary missile guidance system according to claim 1, wherein the test device comprises: the servo control system (2) mainly comprises a motor servo driving module (3), a position ring control module (4), a high-speed angular position acquisition module (6) and a man-machine interaction module (5). The human-computer interaction module (5) sends a motion instruction, the position ring control module (4) judges the working state of the motion instruction after receiving the motion instruction, corresponding trajectory planning is carried out, the generated motion trajectory is compared with the angular position value output by the high-speed angular position acquisition module (6), the generated difference value command is converted by a correction algorithm and D/A of the position ring control module (4) to obtain a control signal, the control signal drives the brushless motor (7) to operate after the power of the control signal is high through the motor servo driving module (3), and then the spindle (17) in the mechanical table body subsystem (1) is driven to operate, so that the test work of a tested piece is completed.
4. A test apparatus for a high speed rotary missile guidance system in accordance with claim 3, wherein: the motor servo driving module (3) comprises a power filter (18), an output reactor (20) and a motor driver (19), and has the main function of receiving a position loop control module instruction, and performing high power on the position loop control module instruction so as to drive the alternating current servo motor.
5. A test apparatus for a high speed rotary missile guidance system in accordance with claim 3, wherein: the position ring control module (4) adopts a digital control system developed by a high-speed Digital Signal Processor (DSP), is of a single-board structure, is fixed in an industrial personal computer through a PCI slot, and is mainly responsible for motion trail planning, control algorithm calculation, D/A conversion, state monitoring, remote communication and the like of the device control system.
6. A test apparatus for a high speed rotary missile guidance system in accordance with claim 3, wherein: the high-speed angular position measuring module (6) comprises a subdivision module (22) and a high-speed counting module (21), wherein the subdivision module (22) mainly performs signal conversion, filtering and subdivision on a 1Vpp signal sent by the angle encoder (10) and outputs a TTL level orthogonal coding signal; the high-speed counting module (21) takes an FPGA programmable logic chip as a core and is also of a single-board structure, is fixed in an industrial personal computer through a PCI slot, completes high-speed acquisition and decoding of encoder signals, and sends the encoder signals to the position ring control module (4) as comparison reference of control commands and the motor servo driving module (3) as current reversing and speed reference.
7. A test apparatus for a high speed rotary missile guidance system in accordance with claim 3, wherein: the human-computer interaction module mainly comprises an industrial personal computer, a display and the like, mainly provides a PCI bus platform for the position ring control module and the high-speed counting module, and provides a friendly human-computer interaction interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811211372.3A CN111076611A (en) | 2018-10-18 | 2018-10-18 | Testing device of high-speed rotating missile guidance system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811211372.3A CN111076611A (en) | 2018-10-18 | 2018-10-18 | Testing device of high-speed rotating missile guidance system |
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| CN111076611A true CN111076611A (en) | 2020-04-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111664759A (en) * | 2020-05-13 | 2020-09-15 | 九江精密测试技术研究所 | Dexterous ammunition ultrahigh-speed simulation test rotary table based on water cooling |
-
2018
- 2018-10-18 CN CN201811211372.3A patent/CN111076611A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111664759A (en) * | 2020-05-13 | 2020-09-15 | 九江精密测试技术研究所 | Dexterous ammunition ultrahigh-speed simulation test rotary table based on water cooling |
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