CN111220033A - Ballistic correction implementation method for double-rotation cannonball - Google Patents

Ballistic correction implementation method for double-rotation cannonball Download PDF

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Publication number
CN111220033A
CN111220033A CN201811418636.2A CN201811418636A CN111220033A CN 111220033 A CN111220033 A CN 111220033A CN 201811418636 A CN201811418636 A CN 201811418636A CN 111220033 A CN111220033 A CN 111220033A
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operational amplifier
resistor
capacitor
optical coupling
power supply
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安涛
苗诚昊
赵栓
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Xian University of Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
    • F42B15/01—Arrangements thereon for guidance or control

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  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a trajectory correction execution method for a double-rotation cannonball, which comprises a duck rudder and a permanent magnet generator, wherein three-phase voltage output by the permanent magnet generator is electrically connected with a rectifying circuit, a constant current control circuit, a current detection circuit and a microprocessor in sequence; the duck rudder is formed by four rudder pieces which are fixedly connected with each other in a cross shape and fixed on the outer shell, the permanent magnet generator is fixed inside the outer shell of the duck rudder, and the outer shell of the duck rudder is also fixed with a space motion sensor and a space motion sensor microprocessor; the microprocessor is electrically connected with the optical coupling isolation circuit, the linear amplification circuit and the constant current control circuit in sequence; the linear amplification circuit and the optical coupling isolation circuit are respectively connected with a 5V power supply; the constant current control circuit is connected with a 12V power supply; the invention controls the rotating speed of the duck rudder by using the permanent magnet generator as a correcting device, can provide larger stable torque and realize the correction of a two-dimensional space, and simultaneously has the characteristics of small occupied space and quick response time.

Description

Ballistic correction implementation method for double-rotation cannonball
Technical Field
The invention belongs to the technical field of projectile guidance execution devices, and particularly relates to a trajectory correction execution method for a double-rotation projectile.
Background
With the rapid development of modern war concepts, information-based combat has become an increasingly important part of modern war, which requires that combat weapons have the ability to accurately strike targets to reduce damage to non-striking targets. Obviously, missiles are the most suitable for meeting this requirement, but because of their high cost, they are only suitable for hitting important targets, so that missiles cannot be put into war on a large scale. The traditional cannonball has low cost, but has low striking precision and can not adapt to the requirements of modern wars. Therefore, the existing traditional cannonball is modified into a guided cannonball with trajectory modification capability at lower cost, so that the guided cannonball has accurate hitting capability, and becomes an increasingly important part in modern war. The double-rotation cannonball with small caliber and closer range is favored because of the simple and easy-to-control, low-cost and more flexible target hitting capability.
The correction execution device is an important component for the guided projectile to perform ballistic correction, when the guided projectile guidance system generates a guidance instruction, the instruction is transmitted to the execution device controller, the execution command is output to act on the execution device after signal processing, and the execution device changes the aerodynamic force of the projectile in the flying process according to the execution command, so that the normal moment of the projectile is changed, and the flying direction of the projectile is changed to realize ballistic correction of the projectile. Currently, the correction executing devices used on the cannonball mainly comprise a resistance device, a pulse engine and a motor. The resistance type correction method can only realize correction in the range, and the correction capability is limited. The pulse engine type correction method can only realize correction for limited times, is influenced by high-speed rotation of the projectile, and enables the average thrust generated by the pulse engine to be small and the correction effect to be low. The motor type correction method has a complex structure and is not easy to control, and the motor type correction method can occupy a lot of space when being used on a small-caliber shell, and influences the loading capacity of the shell, thereby influencing the striking force of the shell.
Therefore, the conventional trajectory correction executing device has the problems of large volume, high cost, complex structure, poor correction effect and the like, and the trajectory correction executing device which is simple in structure, low in cost, quick and sensitive and has good practicability when used for small-caliber double-spin cannonballs is found.
Disclosure of Invention
The invention aims to provide a trajectory correction execution method for a double-rotation cannonball, which solves the problems of complex structure, large volume and low control sensitivity of the conventional trajectory execution device and effectively improves the striking precision of the small-caliber double-rotation cannonball.
The invention adopts the technical scheme that the trajectory correction execution method for the double-rotation cannonball comprises a duck rudder and a permanent magnet generator inside the duck rudder, wherein three-phase voltage output by the permanent magnet generator is electrically connected with a rectifying circuit, the rectifying circuit is electrically connected with a constant current control circuit, the constant current control circuit is electrically connected with a current detection circuit, and the current detection circuit is electrically connected with a microprocessor; the duck rudder consists of four rudder pieces which are fixedly connected in a cross shape and fixed on an outer shell, the permanent magnet generator is fixed inside the outer shell of the duck rudder, a space motion sensor is also fixed on the outer shell of the duck rudder, and the space motion sensor is electrically connected with the microprocessor; the microprocessor is electrically connected with the optical coupling isolation circuit, the optical coupling isolation circuit is electrically connected with the linear amplification circuit, and the linear amplification circuit is electrically connected with the constant current control circuit; the linear amplification circuit and the optical coupling isolation circuit are respectively connected with a 5V power supply; the constant current control circuit is connected with a 12V power supply; the optical coupling isolation circuit comprises an optical coupling chip.
The present invention is also characterized in that,
the microprocessor is an STM32F4 singlechip.
The space motion sensor is an MPU6050 three-dimensional angle sensor
The linear amplification circuit comprises an operational amplifier N1, the input end of the reverse end of the operational amplifier N1 is connected with a resistor R4, a capacitor C6 and an optical coupling chip port 3, the other end of the resistor R4 is connected with a PWM port, the other end of the capacitor C6 is connected with the output end of an operational amplifier N1, the same-direction input end of the operational amplifier N1 is connected with a digital ground, the positive end of a power supply of the operational amplifier N1 is connected with a +5V power supply and a capacitor C5 respectively, the other end of the capacitor C5 is connected with a digital ground, the output end of the operational amplifier N1 is also connected with a resistor R5, the other end of the resistor R5 is connected with an optical coupling chip port 1, an optical coupling chip port 2 is connected with a +5V power supply, an optical coupling chip port 4 is connected with a digital ground, an optical coupling chip port 5 is connected with the same-direction input end of the operational amplifier N2 and a power supply end is connected with a negative analog ground respectively, the capacitors C7 are respectively connected with the output end of the operational amplifier N2, the positive ends of the power supply of the operational amplifier N2 are respectively connected with a +5V power supply and the capacitor C6, and the other end of the capacitor C6 is connected with the analog ground.
The constant current control circuit comprises an operational amplifier N3, wherein the equidirectional input end of an operational amplifier N3 is respectively connected with the output end of an operational amplifier N2 and a capacitor C4, the other end of a capacitor C4 is connected with an analog ground, the positive end of a power supply of the operational amplifier N3 is connected with a 12V power supply, the negative end of the power supply is connected with the analog ground, the reverse input end of the operational amplifier N3 is respectively connected with a resistor Rf and the s pole of an nmos tube, the other end of the resistor Rf is connected with the analog ground, the output end of an operational amplifier N3 is respectively connected with a resistor R2 and a capacitor C3, the other end of the capacitor C3 is connected with the analog ground, the other end of a resistor R2 is respectively connected with the g pole of the nmos tube and a resistor R3, the other end of a resistor R3 is connected with the analog ground, the D pole of the nmos tube is respectively connected with a transient suppression diode D7 and a resistor R1, the other end of the resistor R737.
The rectifying circuit comprises diodes VD1 and VD4, VD2 and VD5, VD3 and VD6 which are connected in pairs, cathodes of the diodes VD1, VD2 and VD3 are respectively connected with a capacitor C1 and a transient suppression diode D7, anodes of the diodes VD4, VD5 and VD6 are respectively connected with the other end of the capacitor C1 and the other end of the transient suppression diode D7 and connected with an analog ground; the three-phase output port A, B, C of the permanent magnet motor is respectively connected between VD1 and VD4, VD2 and VD5, and VD3 and VD 6.
The execution method for trajectory correction on the double-rotation cannonball has the advantages that the permanent magnet generator is used as the correction device to control the rotating speed of the duck rudder, so that the larger stable torque can be provided, the advantage of correction in a two-dimensional space is realized, and meanwhile, the correction device can obviously improve the accurate striking capability of the cannonball; meanwhile, the device has the characteristics of small occupied space, quick response time and low cost.
Drawings
Figure 1 is a block diagram of a system configuration for a method of performing ballistic modification on a disrotatory projectile in accordance with the present invention;
figure 2 is a control circuit diagram of a method of performing ballistic modification on a disrotatory projectile in accordance with the present invention;
figure 3 is a diagram of a duck rudder configuration for a ballistic modification implementation on a bifilar projectile in accordance with the present invention;
figure 4 is a duck rudder diagram of the method of the invention for ballistic correction implementation on a bifilar projectile;
figure 5 is a diagram of an electromagnetic torque control process for a ballistic modification implementation on a disrotatory projectile in accordance with the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a missile parameter detection device based on a pressure-sensitive sensor, which has a structure shown in figure 1,
the device comprises a permanent magnet generator, a duck rudder, a rectifying circuit, a constant current control circuit, a linear amplifying circuit, an optical coupling isolation circuit, a current detection circuit, a power module, a space motion sensor and a microprocessor, wherein the power module comprises a 5V power module and a 12V power module. The three-phase voltage output by the permanent magnet generator is electrically connected with the rectifying circuit, the rectifying circuit is electrically connected with the constant current control circuit, the constant current control circuit is electrically connected with the current detection circuit, and the current detection circuit is electrically connected with the microprocessor; the duck rudder consists of four rudder pieces which are fixedly connected in a cross shape and fixed on an outer shell, the permanent magnet generator is fixed inside the outer shell of the duck rudder, a space motion sensor is also fixed on the outer shell of the duck rudder, and the space motion sensor is electrically connected with the microprocessor; the microprocessor is electrically connected with the optical coupling isolation circuit, the optical coupling isolation circuit is electrically connected with the linear amplification circuit, and the linear amplification circuit is electrically connected with the constant current control circuit; the linear amplification circuit and the optical coupling isolation circuit are respectively connected with a 5V power supply; the constant current control circuit is connected with a 12V power supply; the optical coupling isolation circuit comprises an optical coupling chip.
The microprocessor is an STM32F4 singlechip.
The space motion sensor is an MPU6050 three-dimensional angle sensor
As shown in fig. 2, the linear amplifying circuit includes an operational amplifier N1, an inverting terminal input terminal of the operational amplifier N1 is connected to a resistor R4, a capacitor C6 and a photo-coupler chip port 3, the other terminal of the resistor R4 is connected to the PWM port, the other terminal of the capacitor C6 is connected to an output terminal of the operational amplifier N1, a unidirectional input terminal of the operational amplifier N1 is connected to a digital ground, a positive terminal of a power supply of the operational amplifier N1 is connected to a +5V power supply and a capacitor C5, the other terminal of the capacitor C5 is connected to a digital ground, an output terminal of the operational amplifier N1 is further connected to a resistor R5, the other terminal of the resistor R5 is connected to the photo-coupler chip port 1, the photo-coupler chip port 2 is connected to a +5V power supply, the photo-coupler chip port 4 is connected to a digital ground, the photo-coupler chip port 5 is connected to a unidirectional input terminal and a negative terminal of the operational amplifier N2 are connected to an analog, the resistor R6 and the capacitor C7 are respectively connected with the output end of the operational amplifier N2, the positive end of the power supply of the operational amplifier N2 is respectively connected with a +5V power supply and the capacitor C6, and the other end of the capacitor C6 is connected with the analog ground.
The constant current control circuit comprises an operational amplifier N3, wherein the equidirectional input end of an operational amplifier N3 is respectively connected with the output end of an operational amplifier N2 and a capacitor C4, the other end of a capacitor C4 is connected with an analog ground, the positive end of a power supply of the operational amplifier N3 is connected with a 12V power supply, the negative end of the power supply is connected with the analog ground, the reverse input end of the operational amplifier N3 is respectively connected with a resistor Rf and the s pole of an nmos tube, the other end of the resistor Rf is connected with the analog ground, the output end of an operational amplifier N3 is respectively connected with a resistor R2 and a capacitor C3, the other end of the capacitor C3 is connected with the analog ground, the other end of a resistor R2 is respectively connected with the g pole of the nmos tube and a resistor R3, the other end of a resistor R3 is connected with the analog ground, the D pole of the nmos tube is respectively connected with a transient suppression diode D7 and a resistor R1, the other end of the resistor R737.
The rectifying circuit comprises diodes VD1 and VD4, VD2 and VD5, VD3 and VD6 which are connected in pairs, cathodes of the diodes VD1, VD2 and VD3 are respectively connected with a capacitor C1 and a transient suppression diode D7, anodes of the diodes VD4, VD5 and VD6 are respectively connected with the other end of the capacitor C1 and the other end of the transient suppression diode D7 and connected with an analog ground; the three-phase output port A, B, C of the permanent magnet motor is respectively connected between VD1 and VD4, VD2 and VD5, and VD3 and VD 6.
The three-phase output port A of the permanent magnet motor is respectively connected with the anode of a diode VD1 and the cathode of a diode VD4, the port B is respectively connected with the anode of a diode VD2 and the cathode of a diode VD5, and the port C is respectively connected with the anode of a diode VD3 and the cathode of a diode VD 6.
The invention relates to a trajectory correction execution method for a double-rotation shell, which comprises a duck rudder and a permanent magnet generator, wherein the duck rudder is fixed on the outer shell of a shell and rotates relative to the inner shaft of the shell, a group of permanent magnets are embedded in the outer shell of the duck rudder, a group of coil windings are embedded in corresponding positions of the inner shaft, when the duck rudder and the inner shaft of the shell rotate relative to each other, the coil windings can generate induced electromotive force, the working principle of the induced electromotive force is the same as that of the permanent magnet generator, and therefore the duck rudder and the inner shaft of the shell form an.
The invention relates to a trajectory correction execution method for a double-rotation cannonball, which has the specific working principle that:
the outer shell of the duck rudder is provided with four rudder pieces fixedly connected in a cross shape, and the duck rudder is fixed on the outer shell of the projectile body, as shown in fig. 3, wherein the No. 1 rudder piece and the No. 3 rudder piece are called as same-direction rudders, and when the trajectory needs to be corrected, corresponding correction force is provided for the projectile; the No. 2 rudder sheet and the No. 4 rudder sheet are called differential rudders and are used for providing the pneumatic rolling moment for the rotation of the duck rudder. After the projectile is launched, the projectile body rotates at a high speed, and the duck rudder rotates in the reverse direction of the projectile body under the action of the differential rudder. When the duck rudder rotates stably, the average action of the operating force generated by the equidirectional rudder on the projectile body is zero, and the trajectory is not changed. When the relatively ground rotating speed of the duck rudder is zero, the equidirectional rudder generates a correction acting force on the projectile body, and the trajectory is changed, so that trajectory correction is realized.
As shown in figure 4, the cannonball is subjected to the steering moment M formed by the rotation of the rudder wing in the flying processxFriction torque M with bearingfActing together, is subjected to an electromagnetic torque M during the correctioneThe function of (1). Since the correction mechanism has a rotational angular velocity, it will receive a very damped moment MxdIts direction is opposite to the angular speed of the correcting mechanism, and its magnitude is proportional to the rotating speed.
After the cannonball is shot out of the cannon chamber, the bomb body rotates at a high speed, and due to the action of the rotation guiding torque, the duck rudder rotates in a reverse direction with the bomb body at a certain rotating speed. In order to improve the correction responsiveness, the rotation reduction of the steering engine is completed before the correction stage. The process is required to satisfy the condition of formula (1).
Mx+Mxd＞Me+Mf(1)
This process electromagnetic torque is from the continuous increase of less value, until keeping steering wheel to rotate with minimum rotational speed is stable. At this time:
Mx+Mxd＝Me+Mf(2)
in the ballistic trajectory correction stage, the rotating speed of the duck rudder is low, the extremely small damping force can be ignored, and the duck rudder is mainly subjected to a steering moment, a bearing friction moment and an electromagnetic moment. When the correction bullet needs to be corrected, the electromagnetic moment M is controlledeThe magnitude of the correction rudder sheet is controlled to be fixedly stopped at a specific correction angle, and the process needs to meet the condition of the formula (3).
Me＞Mx-Mf(3)
In the process, the electromagnetic torque is continuously reduced from a large value until the steering engine is kept static relative to the ground. At this time:
Me＝Mx-Mf(4)
the invention relates to a trajectory correction execution method for a double-rotation cannonball, which comprises the following working processes:
step 1, in the flying process of the cannonball, a controller obtains a position angle theta of a corrected rudder piece needing hovering given by a guidance system1。
Step 2, measuring the actual rolling speed omega of the duck rudder by utilizing a space motion sensor inside the duck rudder2And correcting the rudder blade position angle theta2Obtaining an angle deviation value theta, and according to the kinetic energy theorem of the rotating system:
Figure BDA0001880063970000081
obtaining a resultant moment M:
Figure BDA0001880063970000082
where θ is θ2-θ1J: and correcting the rotational inertia of the system.
When the resultant torque is known, the electromagnetic torque M can be obtained according to the formula (4) because the rotation guiding torque and the friction force of the bearing can be calculatedeSince, as a result of the above-mentioned,
Me＝CTΦIa(7)
wherein C isTPhi is the torque constant of the pm machine and is the flux per stage (Wb). When the motor parameters are known, CTPhi is unchanged, so MeAnd IaIs a linear relationship.
Step 3, the micro-processing controller obtains the armature current IaThe control voltage is output, and the current required by the permanent magnet motor is controlled by controlling the electronic load in the constant current control circuit.
And step 4, continuously updating the motion information of the feedback duck rudder through a sensor, and continuously updating the control voltage through a controller until the duck rudder stops relatively greatly so as to realize trajectory correction, wherein the control process is shown in fig. 5.
The trajectory correction execution method for the double-rotation cannonball controls the rotating speed of the steering engine by fixing the duck rudder correction assembly, can provide larger stable torque, and realizes the advantage of correction in a two-dimensional space, and meanwhile, the correction device can obviously improve the accurate striking capability of the cannonball; meanwhile, the device has the advantages of small occupied space, high response speed and low cost, and can meet the performance requirements of the execution device.

Claims (6)

1. The trajectory correction execution method for the double-rotation cannonball is characterized by comprising a duck rudder and a permanent magnet generator inside the duck rudder, wherein three-phase voltage output by the permanent magnet generator is electrically connected with a rectifying circuit, the rectifying circuit is electrically connected with a constant current control circuit, the constant current control circuit is electrically connected with a current detection circuit, and the current detection circuit is electrically connected with a microprocessor; the duck rudder is composed of four rudder pieces which are fixedly connected in a cross shape and fixed on an outer shell, the permanent magnet generator is fixed inside the outer shell of the duck rudder, a space motion sensor is further fixed on the outer shell of the duck rudder, and the space motion sensor is electrically connected with the microprocessor; the microprocessor is electrically connected with an optical coupling isolation circuit, the optical coupling isolation circuit is electrically connected with a linear amplification circuit, and the linear amplification circuit is electrically connected with a constant current control circuit; the linear amplification circuit and the optical coupling isolation circuit are respectively connected with a 5V power supply; the constant current control circuit is connected with a 12V power supply; the optical coupling isolation circuit comprises an optical coupling chip.
2. The method of claim 1, wherein the microprocessor is an STM32F4 single chip microcomputer.
3. The method of claim 1, wherein the spatial motion sensor is an MPU6050 three-dimensional angle sensor.
4. The method as claimed in claim 1, wherein the linear amplifying circuit comprises an operational amplifier N1, the inverting input terminal of the operational amplifier N1 is connected with a resistor R4, a capacitor C6 and an optical coupling chip port 3, the other terminal of the resistor R4 is connected with the PWM port, the other terminal of the capacitor C6 is connected with the output terminal of an operational amplifier N1, the unidirectional input terminal of the operational amplifier N1 is connected with digital ground, the positive terminal of the power supply of the operational amplifier N1 is connected with a +5V power supply and a capacitor C5 respectively, the other terminal of the capacitor C5 is connected with digital ground, the output terminal of the operational amplifier N1 is further connected with the resistor R5, the other terminal of the resistor R5 is connected with the optical coupling chip port 1, the optical coupling chip port 2 is connected with a +5V power supply, the optical coupling chip port 4 is connected with digital ground, the optical coupling chip port 5 is connected with the unidirectional input terminal of the operational amplifier N2 and the negative terminal of, the optical coupling chip port 6 is respectively connected with the reverse input end of the operational amplifier N2, the resistor R6 and the capacitor C7, the resistor R6 and the capacitor C7 are respectively connected with the output end of the operational amplifier N2, the positive end of a power supply of the operational amplifier N2 is respectively connected with a +5V power supply and the capacitor C6, and the other end of the capacitor C6 is connected with the analog ground.
5. The method as claimed in claim 4, wherein the constant current control circuit comprises an operational amplifier N3, the equidirectional input end of the operational amplifier N3 is respectively connected with the output end of the operational amplifier N2 and the capacitor C4, the other end of the capacitor C4 is connected with an analog ground, the positive end of the power supply of the operational amplifier N3 is connected with a 12V power supply, the negative end of the power supply is connected with an analog ground, the reverse input end of the operational amplifier N3 is respectively connected with the s pole of a resistor Rf and an nmos tube, the other end of the resistor Rf is connected with an analog ground, the output end of the operational amplifier N3 is respectively connected with a resistor R2 and a capacitor C3, the other end of the capacitor C3 is connected with an analog ground, the other end of the resistor R2 is respectively connected with the g pole of an nmos tube and a resistor R3, the other end of the resistor R3 is connected with an analog ground, the D pole of an nmos tube is respectively connected with a transient suppression diode D7 and a transient resistor R1, the other end of the resistor R63, the other end of the transient suppression diode D7 terminates at analog ground.
6. The method of claim 5, wherein the rectifying circuit comprises diodes VD1 and VD4, VD2 and VD5, VD3 and VD6 which are connected in pairs, the cathodes of the diodes VD1, VD2 and VD3 are respectively connected with a capacitor C1 and a transient suppression diode D7, and the anodes of the diodes VD4, VD5 and VD6 are respectively connected with the other end of the capacitor C1 and the other end of the transient suppression diode D7 and are connected with an analog ground; the three-phase output port A, B, C of the permanent magnet motor is respectively connected between VD1 and VD4, between VD2 and VD5, and between VD3 and VD 6.
CN201811418636.2A 2018-11-26 2018-11-26 Ballistic correction implementation method for double-rotation cannonball Pending CN111220033A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115388720A (en) * 2022-09-12 2022-11-25 四川航浩科技有限公司 High-rotation generator steering control device and method for guidance correcting assembly

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115388720A (en) * 2022-09-12 2022-11-25 四川航浩科技有限公司 High-rotation generator steering control device and method for guidance correcting assembly

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