CN112066821B - Universal integrated four-way servo rudder control device - Google Patents
Universal integrated four-way servo rudder control device Download PDFInfo
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- CN112066821B CN112066821B CN202010839299.5A CN202010839299A CN112066821B CN 112066821 B CN112066821 B CN 112066821B CN 202010839299 A CN202010839299 A CN 202010839299A CN 112066821 B CN112066821 B CN 112066821B
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B19/00—Marine torpedoes, e.g. launched by surface vessels or submarines; Sea mines having self-propulsion means
- F42B19/01—Steering control
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Abstract
The invention relates to a universal integrated four-way servo rudder control device, and belongs to the technical field of electric steering engine structures. The invention comprises a servo steering control device whole machine body, four groups of modularized small steering control devices, a whole machine drive control system and a plurality of connecting fasteners. The whole machine body of the servo steering control device comprises four general steering control device machine positions, four groups of modularized small steering control devices are respectively arranged on the four machine positions to control the upper steering control direction, the lower steering control direction, the left steering control direction and the right steering control direction, and the whole accurate direction control function of the steering control device is realized under the instruction of a whole machine driving control system. The invention has compact volume, light weight and strong universality and achieves higher rudder control precision; the whole device can be widely and universally used on various weapon equipment such as bullets, thunder bodies and the like, and is flexible, reliable and stable in disassembly and assembly.
Description
Technical Field
The invention relates to a universal integrated four-way servo steering control device, belonging to the technical field of electric steering engine structures
Background
In the precise guided weapon such as a projectile body/a thunder body and the like, a servo steering control device is an important operating device for navigation attitude and motion trail. The device is used as a position or angle driver, can receive a rudder deflection angle command sent by an onboard computer for accurately guiding weapons, overcomes the hinge moment of a rudder sheet, quickly tracks the angular position, and is suitable for a control system which needs constantly changing and can keep the angle. Meanwhile, the servo steering control device of the projectile/thunder body requires to independently and accurately control the upper steering control direction, the lower steering control direction, the left steering control direction and the right steering control direction simultaneously, four independent transmission systems are accurately distributed, and the integral accurate direction control function of the steering control device is realized.
However, the existing servo steering control device is usually installed and fixed in a dispersed manner in four directions in a conical shell of an accurate guided weapon, so that the installation position is random, the situation is complex and changeable, the space volume is large, the installation needs to be carried out one by one, the dismounting steps are complex, and the stability is poor. Especially, under the use environment of a navigation projectile body/a mine body, the servo steering engine has higher requirements on the performances of space volume, weight, independent output deflection angle of a four-direction steering shaft, moment, precision and the like. Because of the limitation of the space layout and volume and weight of the accurate guided weapon such as the projectile body/the thunder body, etc. which are distributed in four directions, the servo steering control device with the matching rudder piece torque, angle, speed and precision is difficult to develop.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, a universal integrated four-way servo steering control device is provided to realize the navigation motion control of accurately guided weapons such as conical-barrel-shaped projectiles/thunder bodies and the like under the requirements of small space and high performance. The device structural style has the advantages of strong universality, integration and the like, and the four-way servo rudder control device is simple and convenient to disassemble and assemble, stable to install, flexible and light.
The technical solution of the invention is as follows:
a universal integrated four-way servo rudder control device comprises a servo rudder control device whole machine body, a modular small-sized rudder control device, a whole machine drive control system, fastening screws and a rudder shaft;
the servo steering control device is characterized in that a complete machine driving control system is arranged in a complete machine body inner side cylinder, four universal steering control device mounting machine positions are circumferentially and uniformly distributed on the outer side and used for mounting four groups of modular small steering control devices, namely an upper group of modular small steering control devices, a lower group of modular small steering control devices, a left group of modular small steering control devices and a right group of modular small steering control devices, and the four groups of modular small steering control devices are accurately positioned in four steering control directions, namely an upper steering control direction, a lower steering control direction, a left steering control direction and a right steering control direction, through a plurality of fastening screws; each modularized small-sized rudder control device is inserted with a rudder shaft, and the upper, lower, left and right four-way rudder shafts realize the integral direction control of the rudder control device under the control of a complete machine drive control system through four groups of modularized small-sized rudder control devices.
Furthermore, the whole machine body of the servo steering control device is of a conical barrel-shaped structure, four installation machine position grooves of the modular small steering control device are uniformly distributed on the outer side barrel wall of the small diameter end of the conical barrel, and a plurality of screw fixing holes for fastening screws are distributed on the periphery of the grooves; the inner part of the large-diameter end of the conical cylinder is provided with an installation base surface and an installation strut of the complete machine drive control system; four electrical wiring holes are arranged at the corresponding mounting position groove positions on the mounting base surface and are used for electrically connecting the whole machine driving control system and four modularized small steering control devices and transmitting control communication instructions; the central axial direction is provided with a central through hole.
Furthermore, the modularized small-sized rudder control device comprises a driving motor, a gear transmission system, an output rudder shaft clamping groove and a connecting through hole for fixing a screw;
the output rudder shaft clamping groove is used for installing a rudder shaft, and the driving motor drives the gear transmission system to work according to the received control instruction so as to drive the rudder shaft installed in the output rudder shaft clamping groove to rotate.
Furthermore, the whole machine driving control system is realized in a PCB (printed Circuit Board) form and is fixedly connected with a mounting pillar of the whole machine body of the servo steering control device through a fastening screw; the whole machine driving control system respectively sends actuation instructions to the four modularized small-sized rudder control devices and respectively drives the four rudder shafts to rotate according to the directions and angles indicated by the instructions.
Furthermore, the rudder shaft comprises a shaft end I-shaped flat plate and a rudder blade mounting shaft, the rudder shaft is inserted into the output rudder shaft clamping groove through the shaft end I-shaped flat plate, the rudder blade mounting shaft is driven to rotate according to the direction and the angle shown by the instruction, and the rudder blade mounting shaft is used for mounting an external rudder blade.
Furthermore, the four modularized small-sized rudder control devices respectively control the corresponding rudder shafts independently.
Furthermore, the modular small-sized steering control device (2) provides torque for the steering shaft (5) to be 0.1 nm-1 nm.
Furthermore, the deflection angle range of each rudder shaft (5) is-25 degrees to +25 degrees.
Furthermore, the angular deviation precision of the rudder shaft (5) is less than or equal to 5 percent.
Furthermore, the maximum outer diameter of the whole machine body of the servo steering control device is not more than 70mm, the length of the whole machine body of the servo steering control device is not more than 72mm, and the weight of the whole four-direction servo steering control device is less than 200g.
The invention has the beneficial effects that:
(1) The servo steering control device is arranged on the machine body of the whole machine, four modularized small steering control devices and a whole machine driving control system are well integrated, the machine body can be matched with the limited conical barrel-shaped structures of accurate guided weapons such as a projectile body, a thunder body and the like, the space utilization rate is greatly improved, four-way rudder pieces can be respectively and independently controlled, and sufficient rudder piece output torque, deflection angle and accuracy are provided. The maximum outer diameter of the whole device is not more than 70mm and 72mm, the weight is less than 200g, the device is integrally mounted and dismounted, the maintenance is convenient, the structure is light, and the requirements of high space and performance of accurate guided weapons such as a projectile body/a thunder body and the like are well met.
(2) The invention has strong structural universality, when the device is installed in a portable missile, the rudder shaft is externally connected with the empennage rudder piece, and simultaneously the angles of the four rudder pieces are independently controlled, thus the control of the flying attitude of the missile body can be realized; when the device is installed in a light torpedo, the rudder shaft is externally connected with the lightning fin rudder piece, and simultaneously, the angles of the four rudder pieces are independently controlled, so that the control of the navigation attitude of the torpedo body can be realized; in addition, the center of the device is axially provided with a central through hole, and other corresponding devices such as a propeller and an engine can be inserted in the device when necessary so as to adapt to different use requirements.
(3) According to the invention, the four modularized small-sized steering control devices are driven independently through the quick response motor control system and the high-precision gear set transmission system, so that sufficient torque is provided for each steering shaft in the upper direction, the lower direction, the left direction and the right direction, the deflection angle range of each steering shaft is larger, the angle deviation precision is higher, and the integral accurate direction control function of the steering control device is realized.
(4) The invention can meet the requirements of various complex working condition environments, has stable and reliable structure, can bear larger impact, has relatively longer service life, and has good environmental adaptability and quality reliability.
Drawings
FIG. 1 is a schematic perspective view of the apparatus of the present invention;
FIG. 2 is a schematic structural diagram of the whole body of the servo steering control device of the present invention, wherein a) in FIG. 2 and b) in FIG. 2 are schematic structural diagrams of a front side and a rear side angle, respectively;
FIG. 3 is a schematic structural diagram of the modular miniature rudder control device of the present invention;
FIG. 4 is a schematic structural diagram of the complete machine drive control system according to the present invention;
FIG. 5 is a schematic structural diagram of a rudder shaft according to the present invention;
FIG. 6 is a schematic diagram of an example of the present invention; fig. 6 a) is a schematic diagram of an example of an integrated four-way servo steering control device adopted by a certain light torpedo; in fig. 6 b) is an integrated four-way servo steering control device adopted by a certain portable missile.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides a universal integrated four-way servo rudder control device, and the system composition is shown in figures 1-5. The integrated four-way servo steering control device comprises a servo steering control device whole machine body 1, a modular small steering control device 2, a whole machine driving control system 3, a fastening screw 4 and a steering shaft 5;
the servo steering control device is characterized in that a complete machine driving control system 3 is arranged in an inner side cylinder of a complete machine body 1, four universal steering control device mounting machine positions are circumferentially and uniformly distributed on the outer side and are used for mounting four groups of modularized small steering control devices 2, namely an upper group, a lower group, a left group and a right group, and the four groups of modularized small steering control devices 2 are accurately positioned in four steering control directions, namely an upper steering control direction, a lower steering control direction, a left steering control direction and a right steering control direction through a plurality of fastening screws 4; each modularized small-sized rudder control device 2 is inserted with a rudder shaft 5, and the upper, lower, left and right four-way rudder shafts 5 realize the integral direction control of the rudder control device under the control of the whole machine drive control system 3 through four groups of modularized small-sized rudder control devices 2.
As shown in fig. 2, the whole machine body 1 of the servo steering control device is a cone-shaped structure, four installation machine position grooves 11 of the modular small steering control device 2 are uniformly distributed on the outer side cylinder wall of the small diameter end of the cone, and a plurality of screw fixing holes 12 for fastening screws 4 are distributed on the periphery of the grooves 11; the inner part of the large-diameter end of the cone cylinder is provided with an installation base 13 and an installation pillar 14 of the complete machine drive control system 3; four electrical wiring holes 15 are formed in the corresponding positions of the installing machine position grooves 11 on the installing base surface 13 and used for electrically connecting the whole machine driving control system 3 and the four modularized small-sized rudder control devices 2 and transmitting control communication instructions; the central through hole 16 is axially arranged at the center, so that the weight is reduced, and a space can be provided for inserting other devices.
As shown in fig. 3, the modular miniatured rudder control device 2 includes a driving motor 21, a gear transmission system 22, an output rudder shaft slot 23 and a screw connection through hole 24 for fixing; the modularized small-sized rudder control device 2 can adjust and select different driving motors 21 and gear transmission systems 22 according to different use requirement parameters; the whole of the modular minitiller control device 2 can still be mounted in the recess 11 and fixed by means of the fastening screw 4.
The output rudder shaft clamping groove 23 is used for installing the rudder shaft 5, and the driving motor 21 drives the gear transmission system 22 to work according to the received control instruction, so as to drive the rudder shaft 5 installed in the output rudder shaft clamping groove 23 to rotate.
As shown in fig. 4, the complete machine drive control system 3 includes a PCB circuit board and various electrical control components, and is fixedly connected with the mounting pillar 14 of the complete machine body 1 of the servo steering control device through a fastening screw top 31; the whole machine driving control system 3 sends actuation instructions to the four modularized small-sized rudder control devices 2 respectively according to a rudder control algorithm, and drives the rudder shaft 5 to rotate according to the direction and the angle shown by the instructions. The four modularized small-sized rudder control devices 2 all independently control the corresponding rudder shafts 5.
As shown in fig. 5, the rudder shaft 5 includes a shaft end linear flat 51 and a rudder blade mounting shaft 52, the rudder shaft 5 is inserted into the output rudder shaft clamping groove 23 through the shaft end linear flat 51 to drive the rudder blade mounting shaft 52 to rotate according to the direction and angle indicated by the instruction, and the rudder blade mounting shaft 52 is used for mounting an external rudder blade.
The whole machine body 1 of the servo steering control device is a conical step cylinder, four modularized small steering control devices 2 are uniformly distributed and fixed on the outer side of the whole machine body 1 of the servo steering control device through fastening screws 4, and a whole machine driving control system 3 is fixed in the whole machine body 1 of the servo steering control device, so that the whole device is in a conical cylinder structure finally.
In this embodiment, the maximum outer diameter of the whole machine body 1 of the servo steering control device is not more than 70mm, the length of the whole machine body 1 of the servo steering control device is not more than 72mm, and the weight of the whole device is less than 200g. The four modularized small-sized rudder control devices 2 respectively provide enough torque for each rudder shaft 5, the deflection angle range of each rudder shaft 5 is large, and the angle deviation precision is high.
In the embodiment, the torque provided by the modularized small-sized rudder control device 2 to the rudder shaft 5 is 0.1 nm-1 nm. The deflection angle range of each rudder shaft 5 is-25 degrees to +25 degrees; the angular deviation precision of the rudder shaft 5 is less than or equal to 5 percent.
In this embodiment, the overall body 1 of the servo steering control device can locally adjust the outer diameter and the length dimension of the overall body 1 of the servo steering control device according to the requirement of the shape limitation, the modular small-sized steering control device 2 can locally adjust the parameters of the driving motor 21 and the gear transmission system 22 according to the requirement of the overall function of the device, and the general integrated form of the overall structure of the device is kept unchanged. The four modularized small-sized rudder control devices 2 can independently control the corresponding rudder shafts 5, and then independently control the corresponding rudder pieces to work.
The working process is as follows: the four modularized small-sized rudder control devices are assembled and debugged, so that the four modularized small-sized rudder control devices can work normally according to the use requirements, and the rudder shaft can stably and quickly respond to the driving action sent by the motor; the surfaces of four uniformly distributed grooves, screw fixing holes, electric wiring holes and central through holes of the whole machine body of the servo steering control device are clean and free of impurities, and the positioning precision and the using effect of matching with other devices are not influenced; the four modularized small-sized steering control devices are respectively placed in four grooves of the whole machine body of the servo steering control device, and a positioning tool is used for ensuring the position precision; the four modularized small-sized steering control devices are fixed in a groove of the whole machine body through fastening screws, and corresponding wires penetrate into the electric wiring holes and extend out of an installation reference surface of the whole machine drive control system; the whole machine driving control system is fixed on a mounting pillar of the whole machine body of the servo steering control device through a fastening screw, and electric welding work of each electric lead and the whole machine driving control system is well done; performing joint debugging and joint testing of the whole device, sending a control instruction to a whole machine drive control system through computer software according to a rudder control algorithm, enabling the four modularized small rudder control devices to work normally, and enabling the four rudder shafts to finish actions according to the instruction respectively; finally, the whole machine device is installed at a corresponding installation position on a projectile body/a detonator body and other accurately guided weapons for service so as to control the navigation motion of the projectile body/the detonator body.
The invention provides an example, and navigation motion control of accurate guided weapons such as cone-shaped projectiles/mines and the like under the requirements of small space and high performance is completed by utilizing a universal integrated four-way servo steering control device.
As shown in a) in fig. 6, an integrated four-way servo steering control device is adopted by a certain light torpedo. The four modularized small-sized rudder control devices are assembled and debugged, so that the four modularized small-sized rudder control devices can work normally according to the use requirement, and the rudder shaft can stably and quickly respond to the driving action sent by the motor; the four modularized small-sized steering control devices are respectively placed in four grooves of the whole machine body of the servo steering control device, a special positioning tool is used for ensuring the position precision, and the four modularized small-sized steering control devices are fixed in the grooves of the whole machine body through fastening screws; the whole machine driving control system is fixed on an installation support column of the whole machine body of the servo steering control device through a fastening screw, and sends a control instruction to the whole machine driving control system according to a steering control algorithm; the four modularized small-sized rudder control devices all work normally, and the four rudder shafts can complete actions according to instructions respectively so as to control underwater navigation movement of the light torpedo. By adopting the integrated four-way servo rudder control device, a certain light torpedo has stable navigation in the service stage, flexibility, no failure phenomenon, suitability for different underwater working conditions and good service effect.
Similarly, as shown in b) of fig. 6, the integrated four-way servo steering control device adopted by a certain portable missile finally realizes control of flight motion of the portable missile, and the portable missile flies stably, correspondingly and rapidly in the service stage, has high reliability, can adapt to space flight in different areas and at different heights, and has a good service effect.
The embodiment result shows that the device can effectively realize the navigation motion control of the accurate guided weapons such as the conical barrel-shaped projectile body/the thunder body and the like under the requirements of small space and high performance.
The invention is not described in detail and is within the knowledge of a person skilled in the art.
Claims (6)
1. A universal integrated four-way servo rudder control device is characterized by comprising a servo rudder control device whole machine body (1), a modularized small rudder control device (2), a whole machine driving control system (3), a fastening screw (4) and a rudder shaft (5);
the servo steering control device is characterized in that a complete machine driving control system (3) is arranged in an inner side cylinder of a complete machine body (1), four universal steering control device mounting positions are circumferentially and uniformly distributed on the outer side and used for mounting four groups of modular small steering control devices (2) including an upper group, a lower group, a left group and a right group, and the four groups of modular small steering control devices (2) are accurately positioned in four steering control directions including an upper group, a lower group, a left group and a right group through a plurality of fastening screws (4); a rudder shaft (5) is inserted into each modular small rudder control device (2), and the upper, lower, left and right four-way rudder shafts (5) realize the integral direction control of the rudder control devices under the control of the whole machine drive control system (3) through four groups of modular small rudder control devices (2);
the whole machine body (1) of the servo steering control device is of a cone-shaped structure, installing machine position grooves (11) of four modular small steering control devices (2) are uniformly distributed on the outer side wall of the small diameter end of the cone, and a plurality of screw fixing holes (12) of fastening screws (4) are distributed on the periphery of the grooves (11); the inner part of the large-diameter end of the conical cylinder is provided with an installation base surface (13) and an installation pillar (14) of the complete machine drive control system (3); four electric wiring holes (15) are arranged at the corresponding positions of the installing machine position grooves (11) on the installing base surface (13) and are used for electrically connecting the complete machine driving control system (3) and the four modularized small-sized rudder control devices (2) and transmitting control communication instructions; a central through hole (16) is axially arranged at the center;
the modularized small-sized rudder control device (2) comprises a driving motor (21), a gear transmission system (22), an output rudder shaft clamping groove (23) and a connecting through hole (24) for fixing a screw;
the output rudder shaft clamping groove (23) is used for installing a rudder shaft (5), and the driving motor (21) drives the gear transmission system (22) to work according to a received control instruction so as to drive the rudder shaft (5) installed in the output rudder shaft clamping groove (23) to rotate;
the whole machine driving control system (3) is realized in a PCB circuit board mode and is fixedly connected with a mounting pillar (14) of the whole machine body (1) of the servo steering control device through a fastening screw (31); the whole machine driving control system (3) respectively sends actuating instructions to the four modularized small-sized rudder control devices (2) and respectively drives the four rudder shafts (5) to rotate according to the directions and angles shown by the instructions;
the rudder shaft (5) comprises a shaft end straight-line flat (51) and a rudder sheet mounting shaft (52), the rudder shaft (5) is inserted into the output rudder shaft clamping groove (23) through the shaft end straight-line flat (51) to drive the rudder sheet mounting shaft (52) to rotate according to the direction and the angle indicated by the instruction, and the rudder sheet mounting shaft (52) is used for mounting an external rudder sheet.
2. The universal integrated four-way servo rudder control device according to claim 1, wherein: the four modularized small-sized rudder control devices (2) respectively and independently control the corresponding rudder shafts (5).
3. The universal integrated four-way servo rudder control device according to claim 1, wherein: the modularized small-sized rudder control device (2) provides a torque of 0.1 nm-1 nm for the rudder shaft (5).
4. The universal integrated four-way servo rudder control device according to claim 1, wherein: the deflection angle range of each rudder shaft (5) is-25 degrees to +25 degrees.
5. The universal integrated four-way servo rudder control device according to claim 1, wherein: the angular deviation precision of the rudder shaft (5) is less than or equal to 5 percent.
6. The universal integrated four-way servo rudder control device according to claim 1, wherein: the maximum outer diameter of the whole machine body (1) of the servo steering control device is not more than 70mm, the length of the whole machine body (1) of the servo steering control device is not more than 72mm, and the weight of the whole four-direction servo steering control device is less than 200g.
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| CN202010839299.5A CN112066821B (en) | 2020-08-19 | 2020-08-19 | Universal integrated four-way servo rudder control device |
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| CN202010839299.5A CN112066821B (en) | 2020-08-19 | 2020-08-19 | Universal integrated four-way servo rudder control device |
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| CN113639595A (en) * | 2021-09-09 | 2021-11-12 | 陕西航天时代导航设备有限公司 | Steering engine system |
| CN114111463A (en) * | 2021-11-01 | 2022-03-01 | 西安航天精密机电研究所 | Three-channel digital electric steering engine system with diameter of 40mm bullet |
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| CN208736259U (en) * | 2018-07-20 | 2019-04-12 | 湖北三江航天红峰控制有限公司 | A kind of miniature rudder system |
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|---|---|---|---|---|
| CN106323101A (en) * | 2016-09-08 | 2017-01-11 | 北京精密机电控制设备研究所 | Missile-borne rudder wing spreading locking mechanism based on pin pusher actuation |
| CN106813537A (en) * | 2016-12-13 | 2017-06-09 | 中国航天空气动力技术研究院 | A kind of four axle combines the helm gear of precision actuation |
| CN108286918A (en) * | 2017-12-29 | 2018-07-17 | 中国航天空气动力技术研究院 | A kind of how shaft-driven annular rudder control unit |
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