CN101246651B - Dynamic objective radiation characteristic simulating system - Google Patents
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Abstract
The present invention provides a kinetic target simulator system, especially for a simulation system of radiation characteristic and the real-time changing condition in the course that missile threat simulation system imitates missile access. The kinetic target simulator system includes a radiation power, a radiation intensity adjusting and controlling module, an image system module, a moving and controlling module and a main control module, wherein, the radiation power adopts a laser radiation power. The invention adopts the laser radiation power as radiation power, having better directing property, far working distance, quick speed of intensity modulation and light system. The system has widely practical value, fit for all kinds of kinetic target simulator systems.
Description
Technical field
The present invention relates to a kind of dynamic objective radiation characteristic simulating system, relate in particular to the radiation characteristic in a kind of missile threat simulation system simulated missile approximate procedure and the simulation system of real-time situation of change.
Background technology
At present, in the face of ground sky, the air-to-air missile that is on the rise on the battlefield threatens, various guided missiles approach warning technology and develop very rapid, used the missile threat alarm equipment of various advanced technologies to be equipped on various military aircrafts in a large number, domestic present guided missile approaches warning technology and also is in Rapid development stage, but corresponding operational training mode rests on static form mostly, and famine satisfies the exercise equipment of actual operational training requirement, does not reach due combat training effect.
Radiation characteristic in the missile threat simulation system simulated missile approximate procedure and real-time situation of change, (airborne) simulation enemy attacks missile threat in ground or airflight process, the scene of height emulation is provided for combat training, estimate the ability of missile threat warning system and corresponding combatant's reaction, play the simulates real training effect of an environment under battle conditions.
The medium wave infrared band of ultraviolet band that ground is empty, the radiation wave band of air-to-air missile body, jet pipe and plumage flame in flight course is mainly the 230～300nm that is positioned at day blind area and 3～5 μ m of high temperature jet pipe and the radiation of plumage flame and the long wave infrared region of 8～14 μ m, therefore mostly be infrared, ultraviolet detector greatly at what the airborne missile warning system of this type of guided missile adopted, the missile threat warning technology of surveying at these wave bands commonly used was more and more coming into one's own in recent years, and speed of development is very fast.But approach the operational training of threat warning system and the method for testing of corresponding countermove validity rests on traditional ground mode mostly at corresponding airborne missile, adopt static radiation source to simulate and attack guided missile, can not satisfy at actual and do wartime, relatively under the high-speed condition, the fast-changing characteristic in the radiation intensity of guided missile and orientation does not reach due combat training effect.
Adopt the missile threat simulation system, can in flight course, the reply process of being taked the back occur, approach at guided missile and carry out record the pilot, thereby reach the purpose of simulation training, for further efficiency assessment provides important, real reference data, simultaneously can be to the operating distance of relevant airborne warning system, monitor that parameters such as visual field, reaction time, false alarm rate carry out actual combat check, raising systematic training effect.
Abroad, as a kind of effective training and evaluation measures, missile threat simulation system or similar scenario simulation system have obtained using widely in the military power abroad.The simulation laboratory adopts three types missile threat simulator as the assessment of USAF electronic warfare, fully the hot plumage flame characteristic of simulated missile.
1. static strength point source generation system is used for laboratory study;
2. one kind is resistance to vibration point source generation system, is mainly used in test guided missile warning system such as AN/AAR-47, AN/AAR-60 etc.;
3. scene maker, Amherst system house provides the Infrared Scene generation system that is used for the MWS test for the air force flight test center that is positioned at Edward air force season.
U.S. Amherst system house has developed that (200～400nm) ultraviolet (UV) scene generates the closed loop training system that simulator is used for guided missile simulation/warning system in the blind area at day, be used for the ultraviolet guided missile warning system of U.S. integrated campaign aviation electronics laboratory (IDAL) is tested and Performance Evaluation, obtain static and aloft test data.
U.S. Georgia technical institute has developed the UV simulator that is used for ultraviolet warning system (AN/AAR-47) test, its system adopts the special quartz-halogen lamp that has the ultraviolet transmission cover as analog radiation source, and ultraviolet light being coupled to emission coefficient with optical fiber, system adopts 230～300nm bandpass filter that output wavelength is selected.Also developed simultaneously the IR simulator that is used for infrared warning system (AN/AAR-44) test, the black matrix that adopts 3.6mm * 3.6mm, colour temperature 1100K utilizes control output radiations such as shutter, neutral density sheet, bandpass filter as radiation source.
U.S. DSWA (Defense Special Weapons Agency) and MRC (Mission ResearchCorporation) have developed the infrared plumage flame of multiband simulator, and the radiation of 8～12 μ m and two wave bands of 3～5 μ m is provided.Wherein utilizing 512 * 512 suspension radiation membrane array to produce maximum temperature is the LONG WAVE INFRARED radiation of 350K, the carry-on Foward Looking Infrared (FLIR) of simulated bomb explosion scrnario testing system; The laser analog that utilizes two semiconductor lasers to produce 4.6 μ m and 3.8 μ m is respectively tested the outer alarm device of dual-color red greater than the guided missile plumage flame of 1000K temperature.
Israel CI system house development and design medium wave infrared target simulator system (IRTS/JBR) be used for the test of medium wave infra-red missile alarm and countermeasure system.System is made up of infrared target simulator, CCD imaging system and infrared radiometer and pursuit movement platform.Infrared target simulator is positioned over as the power supply target on the focal plane of a reverberator by the filament of a special material, by controlling the shutter controlled target radiation intensity of a louvre type.Maximum radiant intensity was 350W/Sr when filament temperature was 1800 ℃ to the maximum, was used for simulated missile in the infrared radiation characteristic of medium wave; The CCD imaging system is used to aim at test target and writes down test process and is used for ex-post analysis; When infrared radiometer is used to measure antagonism by the radiation intensity of threat object.
Domestic had northeast electronic technology Research Institute and be used for the infrared target of guided missile warning system test, adopts infrared radiation ball and paraboloidal mirror and window optical filter to form point source radiation target, the highest blackbody radiation that can simulate 700K.But the complete missile threat simulation system of foregoing relatively external configuration is compared, and China's work in this respect is also very backward, and the system with actual application value is seriously deficient.
Summary of the invention
In order to change the at present domestic relatively deficient present situation of missile threat simulation system with actual application value, the purpose of this invention is to provide a kind of dynamic objective radiation characteristic simulating system, it has, and directionality is good, operating distance far away, the characteristics that speed is fast and system is light of modulation.
In order to realize above-mentioned purpose, the present invention has adopted following technical scheme:
Dynamic objective radiation characteristic simulating system comprises radiating light source, radiation intensity adjusting and control module, imaging system module, motion and control module and main control module, and wherein: radiating light source adopts lasing source; Radiating light source and radiation intensity are regulated with control module and are used to simulate the dynamic object feature; The imaging system module is used to obtain the information of the target that dynamic object follows the tracks of, control and adjustment motion and control module, motion and control module are handled by main control module according to the information of imaging system module, athletic posture to its workbench is controlled, the target that tracking lock is followed the tracks of; Main control module connects radiating light source, radiation intensity adjusting and control module, imaging system module, motion and control module respectively, and according to information they is controlled.As preferred scheme, above-mentioned radiating light source adopts the medium wave infrared laser, and wavelength is selected 3 μ m～5 μ m for use.Certainly, above-mentioned radiating light source adopts the LONG WAVE INFRARED laser instrument, and wavelength is selected 10 μ m～11 μ m for use.Perhaps, above-mentioned radiating light source adopts ultraviolet laser, and wavelength is selected 200nm～380nm for use.
As preferred scheme, above-mentioned imaging system module is obtained the image of the target of being followed the tracks of, and image is handled, obtain the kinematic parameter of the target of being followed the tracks of, handle by main control module again, obtain the kinematic parameter of workbench, the athletic posture of workbench is controlled.
As preferred scheme, above-mentioned imaging system module adopts visible light CCD or medium wave is infrared or the imaging system of LONG WAVE INFRARED.Most preferably, the imaging system module adopts visible light CCD imaging system.
As preferred scheme, above-mentioned radiation intensity is regulated with control module and is obtained the target distance parameter that will simulate by utility appliance, handles by main control module and adjusts radiation intensity, is used to simulate the dynamic object feature.As preferred scheme again, the adjustment of above-mentioned radiation intensity is adopted and is adjusted output power of laser and adjust a kind of in the laser beam diffusion angle or 2 kinds combination.
As preferred scheme, above-mentioned output power realizes the rapid adjustment of the average power of laser output by adjusting repetition or dutycycle; Method by the output current of the driving power of laser instrument or voltage or dutycycle are modulated reaches intensity modulation.
As other preferred scheme, the spread angle of above-mentioned adjustment laser beam is finished by adopting laser spread angle Adjustment System, and its motion control is undertaken by the control motor, and the control motor is connected with main control module.
Above-mentioned dynamic objective radiation characteristic simulating system relates generally to the work of three aspects: the dynamic similation of radiation source, radiation feature and the tracking of target.Main selection is according to as follows:
1, the selection of radiation source
It is the LONG WAVE INFRARED of 8～14 μ m that airborne missile commonly used at present approaches warning system wave band commonly used, the day blind area ultraviolet band of the middle-infrared band of 3～5 μ m and 230～300nm, in order to improve the directed radiation performance of dummy source, to reduce the power requirement to radiation source, adopt laser as radiation source: adopting wavelength is the LONG WAVE INFRARED radiation source of the CO laser of the metal frequency stabilized carbon dioxide laser of 10.3～10.7 μ m or wavelength 6～8 μ m as 8～14 μ m, adopting wavelength is the radiation source of the medium wave tunable IR solid state laser of 3.8～4.3 μ m as 3～5 mu m wavebands; Adopt the radiation source of the deep ultraviolet solid state laser of 266nm as 230～300nm alarm wave band, these several laser instruments all adopt air-cooled working method, compact conformation.
1.1, middle infrared solid laser technique
The technology path principle of laser instrument as shown in Figure 7.Whole Optical Maser System is actually the optical parametric oscillator system of a working and room temperature, specifically is made up of pumping source (prime) and parametric oscillation (back level) two parts.
Prime as pumping source in the laser instrument is high repetition, the quasi-continuous laser linear polarization, that transfer Q to work of diode-end-pumped, its operation wavelength is 1.94 microns, repetition frequency be 1kHz to 50kHz, the output power maximal value is near 18W, the laser crystal that is adopted is the Tm:YAP crystal.During the laser instrument operation, the working temperature of laser crystal and Q-switch is set at 15 ± 5 ℃.The semiconductor laser operation wavelength is 792nm, and the maximum laser power of its tail optical fiber output is 60W.
The main body of medium wave infrared laser is an optical parametric oscillator system, its pumping source is the quasi-continuous pulsed laser of linear polarization of 1.94 microns work of prime output, the laser nonlinear crystal that is adopted is the magnesium oxide doped lithium columbate crystal (PPMgLN) of cycle farmland polarization reversal of development voluntarily, the farmland polarization reversal cycle is the 27-30 micron, and length is 40mm.Optical parametric oscillator adopts the linear cavity configuration of two-way single resonance, and the output laser wavelength range is 3.7～4.3 microns.The optical parametric oscillator working temperature is room temperature (25 ± 5 oC), and the present maximum laser output power that obtains is 3W (comprising flashlight and unused light).By adjusting the design cycle of PPMgLN, in experiment, can adopt simple crystal translation mode to realize the tuning fast of laser output wavelength.
2, the dynamic similation of radiation feature
At present, the target source of warning system mostly is guided missile jet pipe and plumage flame, and the detecting band that is adopted is also corresponding to bigger infrared (3～5 μ m) wave band of medium wave of guided missile jet pipe and plumage flame radiation intensity and be positioned at a day blind area (200～300nm) ultraviolet band.
The medium wave infrared radiation of guided missile mainly is that the fuel combustion of and cruising phase afterburning by engine is produced, just water vapor, CO in the guided missile wake flame
2The radiation that molecule causes at 2.7～4.3 μ m.
Can meet the demands the switching time from the minimum to the maximum in 9s, in fact, also should consider that guided missile is with respect to the maximal rate of the carry platform of warning system in training process switching time.The carry platform of minor alarm system is helicopter or war craft, and its flying speed is about mach one, and therefore, switching time should be than short about one times of 9s.Utilize the high-speed electric expreess locomotive controls lens to control light source outgoing intensity in system, minimum can be controlled in the 1s to maximum switching time the soonest.
3, target following locking
The tracking lock of target mainly is the function of simulated missile target seeker, guarantees the process that radiation source can simulated missile in experimentation be followed the tracks of, approached aircraft, and by the high precision aiming to target, guarantees that laser beam can cover training objects accurately.The video guide mode is adopted in system planning, adopts CCD as tracking transducer, and the tracking aiming precision of system depends on the rotation control accuracy of CCD angular resolution and turntable.Ccd imaging sensor is made as 768 * 582, designs imaging system according to the situation in the hands-on according to zoom system, pancreatic system, and 10 ° at maximum field of view angle is used for monitoring imaging on a large scale, neglects 3 ° of rink corners, is used to find catch and follow the tracks of after the target.The imaging system smallest angular resolution is 0.004 °, so pointing accuracy depends on that turntable rotates control accuracy, is made as 0.06 ° (1mrad).Imaging system adopts the work of autozoom form, and course of work synoptic diagram is illustrated in fig. 8 shown below.
The present invention has adopted lasing source as radiating light source owing to adopted above-mentioned technical scheme, has that directionality is good, operating distance far away, the characteristics that speed is fast and system is light of modulation.Have actual application value widely, go for multiple dynamic objective radiation characteristic simulation.
Description of drawings
Fig. 1 is a system architecture diagram of the present invention.
Fig. 2 is the system architecture diagram of the dynamic similation of radiation feature of the present invention.
Fig. 3 is the system architecture diagram of target following locking of the present invention.
Fig. 4 is a system of the present invention pod propulsion model structure synoptic diagram.
Fig. 5 is a system of the present invention ground formula model structure synoptic diagram.
Fig. 6 is a use synoptic diagram of the present invention.
Fig. 7 is the technology path schematic diagram of all solid state laser.
Fig. 8 is a CCD imaging system course of work synoptic diagram.
Fig. 9, Figure 10 are the structure diagram of laser spread angle Adjustment System.
Figure 11 is the relation curve of radiant illumination and laser instrument spread angle.
Figure 12 is the relation curve of radiant illumination and lens L2 displacement.
Figure 13, Figure 14 use synoptic diagram at training ground-to-air and that air to air threaten, and wherein A is the missile threat simulation system, and B is the airbound target that the missile threat warning system is housed.
Embodiment
Below in conjunction with accompanying drawing, as an example the present invention is made a detailed explanation with simulated missile flight.
As shown in Figure 1, system is made up of following several sections: infrared/UV source 5, radiation intensity is regulated and control module 8, imaging system module 4, motion and control module 3 and main control module 1.In addition, according to testing requirement,,, can select the radiometer module 2 of adorning target seeker and being used to measure the radiation characteristic of tracked target (being training objects) by the mode of spare interface for the flight course of better simulated missile.System model structure of the present invention such as Fig. 4, shown in Figure 5, Fig. 6 are installation of the present invention, use synoptic diagram.
1, infrared/ultraviolet analog radiation source 5
Infrared/the ultraviolet target simulator: as to adopt medium wave infrared (3.8～4.3 μ m) tunable laser; Ultraviolet source adopts ultraviolet laser, laser output power scalable.
2, radiation intensity is regulated and control module 8
As shown in Figure 2,, by calling the corresponding data of main control module 1 database, the power density of the laser that arrives training objects (alarm equipment) position is regulated, as far as possible near the radiation characteristic of the guided missile of being simulated according to the feature of guided missile of simulation.
The adjustment of radiation intensity has two approach, and one is directly to adjust output power of laser; Another approach is to adjust the spread angle of laser beam.
2.1, directly adjust output power of laser
By the size of adjustment drive current and the repetition frequency of laser, can realize the rapid adjustment of the average power of laser output, suppose that the laser repetition adjusts between 30KHz and 3Khz, the going out photo threshold and can reach 1/10th of peak value usually of laser instrument, use this two kinds of methods simultaneously, can obtain the setting range more than 100 times.
2.2 regulate the spread angle of laser
Adopt laser spread angle Adjustment System, its motion control is carried out precision control, its basic structure such as Fig. 9, shown in Figure 10 by specific gear and 7 combinations of control motor:
By moving of an Electric Machine Control camera lens, change the outgoing spread angle of laser instrument.Laser output power is made as P, and spread angle is θ, and then the laser emission illumination at L rice distance laser instrument is:
E＝P/(S1+π(L×tan(θ/2)
2)
Wherein S1 is the area of outgoing camera lens.
The relational expression of the camera lens displacement and the angle of divergence is:
Wherein x be camera lens from confocal position to laser instrument displacement, r is the camera lens radius.
If laser output power is 1W, measuring distance 1km, lens focus are 50mm, aperture 25mm, the then relation of the camera lens displacement and the angle of divergence such as Fig. 9, shown in Figure 10.
If do not consider Atmospheric Absorption, the relation curve that arrives radiant illumination that training objects (warning system) locates and laser instrument spread angle as shown in figure 11, the relation of radiant illumination and lens L2 displacement is as shown in figure 12.
By the adjustment of spread angle, can realize the adjustment of signal intensity fast, on a large scale.
According to above-mentioned working method, with the variation range of 0.18 °～30 ° of laser spread angle respectively infrared the and required laser power of ultraviolet band of centering calculate.
3, imaging system module
As shown in Figure 3, visible light CCD imaging system module 3 is obtained the image of the target of being followed the tracks of, and image is handled, obtain the kinematic parameter of the target of being followed the tracks of, handle by main control module 1 again, obtain the kinematic parameter of workbench, the athletic posture of workbench is controlled.Visible light CCD imaging system is mainly used in the control turntable and follows the tracks of the warning system of being tested and allow the user operate intuitively.High-resolution ccd imaging sensor+burnt the telephoto lens of length; Its one-tenth picture frame is mainly used in the controlled motion platform motion system that makes and can locks laser warning equipment and allow the user operate intuitively.
The scA780-54g/gc type high-resolution black-white CCD that CCD of the present invention adopts German Basler company to produce, its specific targets are as follows:
1. service band: 380～1100nm;
2. resolution: 782*582;
3. frame frequency: 55fps;
4. sampling resolution: 12bit;
5. the image way of output: gigabit Ethernet.
6. the detection range of system is 0.2～10km, for in this distance range, observing measured target effectively, the field angle of camera lens be decided to be 3 °～10 ° adjustable, corresponding angle-resolved precision is 0.004 ° (65urad), can satisfy the demand of the pointing accuracy of 1mrad, even guarantee that simultaneously if the length of aircraft is 20m, the be imaged on length direction of aircraft on CCD is not less than 25 pixels under the situation of 10km distance.
When system carries out initial alignment, can adopt big visual field that the still uncertain training objective in position is carried out coarse localization, control zoom system, pancreatic system afterwards, reduce field angle to proper angle, realize high precision aiming and image recording.
CCD equipment can be used as video recording device simultaneously, is used for Training Situation Analysis afterwards.
4, motion and control module
Motion control platform: according to the image information tracking lock target of CCD imaging system module 3; Adopt pid algorithm that the athletic posture of platform is controlled, place simulation radiating light source 5, radiation intensity adjusting and control module 8 and CCD imaging system module 3 on the platform.
5, main control module
Software can be to being provided with the analog parameter of guided missile according to the hands-on environment, and with the output of this parameter control radiation source 5, calculate radiant illumination data and the demonstration that warning system receives in conjunction with atmospheric radiation transmission simultaneously, and can preserve current test data; Can carry out target emanation control according to the file of existing simulated database; Software can show and preserve the view data of CCD imaging system in real time, and according to the rotation of image control turntable so that can follow the tracks of to target, and can regulate the lens imaging sharpness according to the image quality of CCD; Software can be to the measured target of real-time demonstration radiometer or the radiation of interference.
The operation principle of missile threat simulation system of the present invention is the at present radiation characteristic of sky, air-to-air missile of basis, adopt laser as radiation source 5, by the Output of laser intensity of dynamic control radiation source and the size of angle of flare, the simulation real missile in emission and approximate procedure the radiation intensity feature and radiation intensity along with relative velocity, the angle of flying and the change procedure of time, come missile threat in the Reality simulation battlefield surroundings with this. The missile threat simulation system is in standby as a kind of effective training cartridge, the alarm performance that can the proof of genuineness guided missile approaches warning system is for the Competitive effects of the photoelectricity alarm in the present sophisticated electronic environment of accurate and effective evaluation and antagonism equipment provides accurate data. The missile threat simulation system of design has following characteristics:
1. missile threat simulation system missile threat signal simulator adopts the ultraviolet laser of all solid state medium-wave infrared (3.8～4.3 μ m) and 266nm wavelength as the radiomimesis source, all solid state laser has the characteristics such as volume is little, low in energy consumption, both namely can satisfy and use on ground, and also can satisfy airborne training and use.
Use schematic diagram for training ground-to-air and that air to air threaten, such as Figure 13 and shown in Figure 14.
2. missile threat simulation system is with real missile radiation data building database, database can be expanded, according to working depth, meteorological condition and atmospheric characteristic at that time, attenuation to different-waveband in the transmission course is revised, and can simulate accurately the variation of attacking radiation intensity in the process dissimilar, that type of missile is launched in different distance.
3. for better simulating actual combat, play the effect of combat training, missile threat simulation system platform is provided with the missile homer interface, under the condition of given data interface (or arranged voluntarily by target seeker producer), can install in system platform the target seeker module of setting signal guided missile additional, system further improves the authenticity of simulation process according to the target information real-time tracking target that target seeker obtains;
4. the optional dress radiometer of missile threat simulation system, the emittance of real-time testing target except can assessing the missile warning systematic function, can also be estimated the validity of the photoelectronic warfare means of taking.
Claims (10)
1. dynamic objective radiation characteristic simulating system, it is characterized in that comprising radiating light source (5), radiation intensity adjusting and control module (8), imaging system module (4), motion and control module (3) and main control module (1), wherein: radiating light source (5) adopts lasing source; Radiating light source (5) and radiation intensity are regulated with control module (8) and are used to simulate the dynamic object feature; Imaging system module (4) is used to obtain the information of the target that dynamic object follows the tracks of, control and adjust motion and control module (3); Place radiating light source (5), radiation intensity adjusting and control module (8) and imaging system module (4) on the workbench of motion and control module (3), motion and control module (3) are according to the information of imaging system module (4), handle by main control module (1), athletic posture to its workbench is controlled, the target that tracking lock is followed the tracks of; Main control module (1) connects radiating light source (5) respectively, radiation intensity is regulated and control module (8), imaging system module (4), motion and control module (3), and according to information they is controlled.
2. dynamic objective radiation characteristic simulating system according to claim 1 is characterized in that: radiating light source (5) adopts the medium wave infrared laser, and wavelength is selected 3 μ m～5 μ m for use.
3. dynamic objective radiation characteristic simulating system according to claim 1 is characterized in that: radiating light source (5) adopts the LONG WAVE INFRARED laser instrument, and wavelength is selected 10 μ m～11 μ m for use.
4. dynamic objective radiation characteristic simulating system according to claim 1 is characterized in that: radiating light source (5) adopts ultraviolet laser, and wavelength is selected 200nm～380nm for use.
5. according to any described dynamic objective radiation characteristic simulating system of claim of claim 1～4, it is characterized in that: imaging system module (4) is obtained the image of the target of being followed the tracks of, and image handled, obtain the kinematic parameter of the target of being followed the tracks of, handle by main control module (1) again, obtain the kinematic parameter of workbench, the athletic posture of workbench is controlled the target that tracking lock is followed the tracks of.
6. dynamic objective radiation characteristic simulating system according to claim 5 is characterized in that: imaging system module (4) adopts visible light CCD or medium wave is infrared or the imaging system of LONG WAVE INFRARED.
7. according to any described dynamic objective radiation characteristic simulating system of claim of claim 1～4, it is characterized in that: radiation intensity is regulated with control module (8) and is obtained the target distance parameter that will simulate by utility appliance, handle by main control module (1) again and adjust radiation intensity, be used to simulate the dynamic object feature.
8. dynamic objective radiation characteristic simulating system according to claim 7 is characterized in that: the combination of a kind of in the spread angle of adjusting output power of laser and adjusting laser beam or 2 kinds is adopted in the adjustment of radiation intensity.
9. dynamic objective radiation characteristic simulating system according to claim 8 is characterized in that: output power realizes the rapid adjustment of the average power of laser output by adjusting repetition or dutycycle; Method by the output current of the driving power of laser instrument or voltage or dutycycle are modulated reaches intensity modulation.
10. dynamic objective radiation characteristic simulating system according to claim 8, it is characterized in that: the spread angle of adjusting laser beam is finished by adopting laser spread angle Adjustment System, the motion control of laser spread angle Adjustment System is undertaken by control motor (7), and control motor (7) is connected with main control module (1).
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