CN114754637B - Generalized attitude control ground test system - Google Patents
Generalized attitude control ground test system Download PDFInfo
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- CN114754637B CN114754637B CN202210339737.0A CN202210339737A CN114754637B CN 114754637 B CN114754637 B CN 114754637B CN 202210339737 A CN202210339737 A CN 202210339737A CN 114754637 B CN114754637 B CN 114754637B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B35/00—Testing or checking of ammunition
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B35/00—Testing or checking of ammunition
- F42B35/02—Gauging, sorting, trimming or shortening cartridges or missiles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The application provides a generalized attitude control ground test system, which relates to the technical field of missile totality, and comprises the following steps: the device comprises a test bullet, a test stand, measurement and control equipment, shooting equipment and telemetering equipment; the test bullet is arranged on the test bed, the test bullet is connected with the measurement and control equipment, and the measurement and control equipment is used for providing a working power supply for the test bullet and driving the test bullet to run a test program so as to complete a test action; the video camera is connected with the measurement and control equipment through a cable, after the experiment is started, the measurement and control equipment sends a time system signal to the video camera, the high-speed camera starts to record the experiment process, and the remote measuring equipment also records the experiment remote measuring information. The application can be applied to missiles with different spring paths, and can obviously reduce the development period and the cost.
Description
Technical Field
The application relates to the technical field of missile totality, in particular to a generalized attitude control ground test system.
Background
In order to meet the requirements of rapid turning of all-dimensional gestures and rapid response of high maneuvering, missiles often adopt a direct force gesture control mode. To verify this control scheme, it is often necessary to test it at the surface. The traditional ground attitude control test system has poor universality, and a new ground test system needs to be researched while a new model is developed.
The application patent with publication number of CN107861386B discloses an anti-interference attitude control ground verification system based on an angular velocity observer and a control method thereof, wherein the ground verification system comprises an under-platform main control module, an on-platform control computer, an attitude determination module, an actuating mechanism module and a triaxial air bearing table; the ground verification system is a general verification system, the gesture determination module selects various working conditions such as failure of different sensor combinations verification sensors in the module, and the gesture control algorithm in the on-board control computer is selected by the under-board main control module to finish comparison analysis of different gesture control algorithms. The anti-interference attitude control method based on the angular velocity observer operates on a station-borne control computer, and can solve the problems of poor reliability and weak anti-interference capability of an attitude control system under the condition of angular velocity information loss and load disturbance.
Disclosure of Invention
Aiming at the defects in the prior art, the application provides a generalized attitude control ground test system.
According to the universal attitude control ground test system provided by the application, the scheme is as follows:
a generalized attitude control ground test system, the system comprising: the system comprises a test bed, measurement and control equipment, shooting equipment and telemetering equipment;
the test bench is used for installing test bullets, the test bullets are electrically connected with the measurement and control equipment, the measurement and control equipment is used for providing a working power supply for the test bullets and driving the test bullets to run test programs, and the gesture control device works according to the program requirements;
the video recording equipment is connected with the measurement and control equipment through a cable, after the experiment is started, the measurement and control equipment sends a time system signal to the video recording equipment, the video recording equipment starts to record test image information after receiving the signal, and the remote measuring equipment also records test remote measuring information at the same time;
the working condition of the gesture control device is obtained through playback of the test image information; and obtaining relevant parameters including missile turning time, turning in-place precision, attitude control engine response time and missile response time through test telemetry information.
Preferably, the test projectile is composed of a front projectile body, a rotary joint and a rear projectile body, and missiles with different projectile diameters are adapted by replacing the rotary joint.
Preferably, the front bullet body is provided with a tested gesture control device, flight control equipment, an on-bullet cable and an external electrical interface; the test bullet is connected with the measurement and control equipment through an external electrical interface.
Preferably, the inside balancing weight that is provided with of back hull through adjusting the balancing weight, guarantees that the moment of inertia of experimental bullet and guided missile product is unanimous to the focus passes through the revolute joint axis of rotation.
Preferably, the rotary joint is mounted on a test bed, and a horizontal adjusting cushion block is arranged on the test bed and used for leveling the test bed and checking through a level meter.
Preferably, the rotary joint is connected with the front body and the rear body through an upper flange and a lower flange respectively, and the upper flange and the lower flange are connected with the rotary joint body through rolling bearings to realize the degree of freedom of the rolling direction.
Preferably, the rotary joint comprises a pitching bracket, and the pitching bracket is connected with the test bed through a pitching rolling bearing, so that the degree of freedom in the pitching direction is realized.
Preferably, the pitch direction movement range is-80 degrees to 80 degrees, and the rolling direction is not limited.
Preferably, each of the rotation axes in the direction of the rotation degrees is provided with an angle measuring device.
Preferably, the roll and pitch degrees of freedom are locked by the shear pins before the test begins.
Compared with the prior art, the application has the following beneficial effects:
1. the application can obtain various parameters such as missile turning time, turning in-place precision, attitude control engine response time, missile response time and the like, and provides test guarantee for the design of an attitude control device;
2. the same system can be applied to missiles with different spring paths, and the development period and the cost can be obviously reduced.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a generalized attitude control ground test system according to an embodiment of the present application;
fig. 2 is a schematic view of a revolute joint according to an embodiment of the present application.
Detailed Description
The present application will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present application.
The embodiment of the application provides a generalized attitude control ground test system, which is shown by referring to FIG. 1 and specifically comprises a test bed, measurement and control equipment, shooting equipment and telemetering equipment.
The test bench is used for installing test bullets, the test bullets are electrically connected with the measurement and control equipment, the measurement and control equipment is used for providing a working power supply for the test bullets and driving the test bullets to run test programs, and the gesture control device works according to the program requirements;
the shooting and recording equipment is connected with the measurement and control equipment through a cable, after the experiment is started, the measurement and control equipment sends a time system signal to the shooting and recording equipment, after the shooting and recording equipment receives the signal, the shooting and recording equipment starts to record the experiment image information, and the remote measuring equipment also records the experiment remote measuring information at the same time;
the working condition of the gesture control device is obtained through playback of the test image information; and obtaining relevant parameters including missile turning time, turning in-place precision, attitude control engine response time and missile response time through test telemetry information. The high-speed camera can be selected as the recording device in the embodiment.
Referring to fig. 1 and 2, the test projectile is composed of a front projectile body, a rotary joint and a rear projectile body, and can adapt to missiles with different projectile diameters by replacing the rotary joint, so that generalization is realized.
The front bullet body is provided with a tested gesture control device, flight control equipment, a bullet cable and an external electrical interface; the gesture control device provides the moment required by the gesture movement of the test bullet; the flight control equipment is used for processing information of the test bullets; the spring cable is connected with each device on the spring to form a whole; the test bullet is connected with the measurement and control equipment through an external electrical interface; the measurement and control equipment provides a working power supply for the test bullets, sends preassembly parameters to the test bullets and drives the test bullets to run test programs, and the gesture control device works according to the programs to drive the test bullets to finish rolling and turning actions.
The inside balancing weight that is provided with of back hull through adjusting the balancing weight, guarantees that the moment of inertia of experimental bullet and guided missile product is unanimous to the focus passes through the revolute joint axis of rotation.
The rotary joint is connected with the front body and the rear body through an upper flange and a lower flange respectively, and the upper flange and the lower flange are connected with the rotary joint body through a low-resistance rolling bearing to realize the degree of freedom of the rolling direction. The rotary joint comprises a pitching support, and the pitching support is connected with the test bed through a low-resistance pitching rolling bearing, so that the degree of freedom of the pitching direction is realized. The rotary joint has two degrees of freedom of a pitching direction and a rolling direction, can be used for verifying attitude control response of a pitching channel and also can be used for verifying initial guidance of a rolling turning, the movable range of the pitching direction is-80 degrees to 80 degrees, and the rolling direction is not limited.
The system can be used for verifying multiple types of attitude control devices, such as a pulse engine combined attitude control device or a gas valve adjusting type attitude control device, so that the same system can be applied to missiles with different attitude control modes.
The rotating joint is arranged on the test bed, and the test bed is provided with a horizontal adjusting cushion block for leveling the test bed and checking through a level meter. According to the test requirements, the posture of the test bullet is adjusted to be in an initial posture before turning by rolling, and the test bullet is positioned by the angle measuring device at the rotating shaft. Before the test starts, the rolling degree of freedom and the pitching degree of freedom are locked by the shearing pin, so that the stability of the test bullet posture is ensured. And the angle measuring device is arranged at the rotating shaft of each degree of freedom direction. Before the test starts, the rolling degree of freedom and the pitching degree of freedom are locked by the shearing pin, so that the stability of the test bullet posture is ensured.
Next, the present application will be described in more detail.
The implementation principle is as follows:
before the formal test, the fixing and leveling work of the test bed is completed; finishing the final assembly test of the test bullet; hoisting the test bullet to a test bed; laying and connecting a test cable; and according to the test requirements, the initial posture of the test bullet is adjusted.
After the formal test is started, the measurement and control equipment is powered on; powering up the test bullet through the measurement and control equipment and establishing communication with the test bullet; after the measurement and control equipment receives the test bullet preparation signal, the emission button is pressed down; the test bullet receives the emission signal and then transfers to a flight control program; the gesture control device ignites and drives the test bullet to finish rolling and turning actions; meanwhile, the working condition of the gesture control device and the rolling turning action of the test bullet are recorded by high-speed shooting, and the remote measuring equipment records various parameters such as the turning time of the test bullet, the turning in-place precision, the response time of the gesture control engine, the response time of the bullet body and the like.
After the test is finished, the test bounces back to be flat, the cable is pulled out, and the cable is lifted off the test bed. The single test ended.
The embodiment of the application provides a generalized attitude control ground test system which can be applied to multiple types of attitude control devices, such as pulse engine combination type and gas valve adjustment type; the method can also be applied to various gesture control scenes, such as initial guiding, rolling, turning and terminal guiding direct force gesture control. The system can acquire various parameters such as missile turning time, turning accuracy, attitude control engine response time, missile response time and the like, and provides test guarantee for the design of an attitude control device. Meanwhile, the same system can be applied to missiles with different spring paths, and the development period and the cost can be obviously reduced.
In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (6)
1. A generalized attitude control ground test system, comprising: the system comprises a test bed, measurement and control equipment, shooting equipment and telemetering equipment;
the test bench is used for installing test bullets, the test bullets are electrically connected with the measurement and control equipment, the measurement and control equipment is used for providing a working power supply for the test bullets and driving the test bullets to run test programs, and the gesture control device works according to the program requirements;
the video recording equipment is connected with the measurement and control equipment through a cable, after the experiment is started, the measurement and control equipment sends a time system signal to the video recording equipment, the video recording equipment starts to record test image information after receiving the signal, and the remote measuring equipment also records test remote measuring information at the same time;
the working condition of the gesture control device is obtained through playback of the test image information; obtaining relevant parameters including missile turning time, turning in-place precision, attitude control engine response time and missile response time through test telemetry information;
the test projectile consists of a front projectile body, a rotary joint and a rear projectile body, and is suitable for missiles with different projectile diameters by replacing the rotary joint;
the front bullet body is provided with a gesture control device, flight control equipment, an on-bullet cable and an external electrical interface; the test bomb is connected with the measurement and control equipment through an external electrical interface;
the balancing weight is arranged in the rear bullet body, the balancing weight is adjusted, the rotation inertia of the test bullet and the missile product is guaranteed to be consistent, and the gravity center passes through the rotation joint rotation shaft;
the rotary joint is connected with the front bullet body through an upper flange, and is connected with the rear bullet body through a lower flange, and the upper flange and the lower flange are connected with the rotary joint body through a rolling bearing, so that the degree of freedom of the rolling direction is realized.
2. The universal attitude control ground test system according to claim 1, wherein said revolute joint is mounted on a test stand provided with a leveling pad for leveling the test stand and for inspection by a level.
3. The universal attitude control ground test system according to claim 1, wherein said revolute joint comprises a pitch bracket connected to the test stand by a pitch rolling bearing for effecting freedom in the pitch direction.
4. A generalized attitude control floor test system according to claim 3, wherein the pitch direction range of motion is-80 degrees to 80 degrees, and the roll direction is not limited.
5. A generalized attitude control ground test system according to claim 3, characterized in that each of the yaw axes has an angle measuring device.
6. The universal attitude control ground test system according to claim 5, wherein both roll and pitch degrees of freedom are locked by the shear pins before the test begins.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210339737.0A CN114754637B (en) | 2022-04-01 | 2022-04-01 | Generalized attitude control ground test system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210339737.0A CN114754637B (en) | 2022-04-01 | 2022-04-01 | Generalized attitude control ground test system |
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| CN114754637A CN114754637A (en) | 2022-07-15 |
| CN114754637B true CN114754637B (en) | 2023-08-18 |
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| CN115903868B (en) * | 2022-11-10 | 2024-01-16 | 北京新风航天装备有限公司 | Device and method for testing turning gesture control system |
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| CN205352218U (en) * | 2015-12-31 | 2016-06-29 | 北京航天科颐技术有限公司 | Two -dimentional test turntable of guided missile |
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| CN111982153A (en) * | 2020-08-11 | 2020-11-24 | 中国人民解放军海军潜艇学院 | Method and system for testing collimation model of inertial navigation platform of submarine-launched missile |
| CN113267304A (en) * | 2021-04-25 | 2021-08-17 | 上海机电工程研究所 | Missile servo vibration subcritical test and stable boundary prediction system and method |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0350500A (en) * | 1989-07-17 | 1991-03-05 | Nissan Motor Co Ltd | Tester for missile |
| JPH0664598A (en) * | 1992-08-20 | 1994-03-08 | Tech Res & Dev Inst Of Japan Def Agency | Three-axis oscillating type rocket test stand |
| CN104048562A (en) * | 2013-09-30 | 2014-09-17 | 中国人民解放军国防科学技术大学 | Whole-missile vertical vibration test protection device |
| CN105939765A (en) * | 2013-11-27 | 2016-09-14 | 动态集团有限公司 | Motion simulation system controller and associated methods |
| CN205352218U (en) * | 2015-12-31 | 2016-06-29 | 北京航天科颐技术有限公司 | Two -dimentional test turntable of guided missile |
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| CN113267304A (en) * | 2021-04-25 | 2021-08-17 | 上海机电工程研究所 | Missile servo vibration subcritical test and stable boundary prediction system and method |
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