CN102425978A - Missile-borne computer - Google Patents
Missile-borne computer Download PDFInfo
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- CN102425978A CN102425978A CN2011103300998A CN201110330099A CN102425978A CN 102425978 A CN102425978 A CN 102425978A CN 2011103300998 A CN2011103300998 A CN 2011103300998A CN 201110330099 A CN201110330099 A CN 201110330099A CN 102425978 A CN102425978 A CN 102425978A
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Abstract
The invention discloses a missile-borne computer which comprises a measurement module, a processing module and an output control module, wherein the measurement module is used for measuring missile operating data; the processing module is used for combining the missile operating data measured by the measurement module to obtain a control command; and the output control module is used for carrying out signal multiplication on the control command obtained from the processing module and outputting the control command subjected to signal multiplication to a control actuator. The missile-borne computer is small in volume, simple and easy in circuit connection, low in cost, convenient in use, high in reliability, reusable, applicable to various terminal guided projectile series, good in control effect, simple in engineering implementation, economical and practical, can accurately output a helm turning command within a short time, and can be applied to terminal guidance projectiles, terminal correction mortar projectiles, terminal guidance mortar projectiles, simple guidance control systems of laser semiactive long-distance simple rocket projectiles and the like.
Description
Technical field
The present invention relates to missile-borne computer, particularly based on the missile-borne computer of terminal-guided shell.
Background technology
At present; Machine Design is generally used in the control of terminal-guided shell system inertial navigation section, in control, bigger drawback is arranged like this, i.e. inertial navigation section open loop control does not have real control action; Especially under the excessive situation of body attitude swing; Deviation appears more easily, thus introduce the digitlization missile-borne computer, thus realize closed-loop control.Mechanical control quality is heavy, and volume is big, and the digitlization missile-borne computer is in lightweight, and the small size aspect is greatly improved.
Deficiencies such as but, there is complex structure in the terminal-guided shell missile-borne computer that uses at present, and cost is high, and volume is big, weight is big.
In low cost, closed-loop control, small size; Lightweight, the deficiency of the several aspects of digitlization, the present invention provides a kind of missile-borne computer to control system; This system provides good inertial navigation section control for playing the designer; Shorten the lead time of bullet, reduce the development cost of bullet, have very high social benefit and economic benefit
Summary of the invention
In order to overcome the deficiency of prior art; The inventor has carried out research with keen determination; Find that master chip (CPU) combines on the body exercise data that spatial orientation gyro, accelerometer and angular velocity gyro are measured and bullet; To transfer to master chip on the bullet with bullet axle clamp angle and through body rotating speed and overload values that accelerometer and angular velocity gyro obtain through the gyroaxis that the spatial orientation gyro obtains, the control instruction that master chip combines the gained result to provide the inertial navigation section on the bullet is distributed, and output order is exported to steering wheel; The control steering wheel is accurately worked, thereby accomplishes the present invention.
The object of the present invention is to provide a kind of missile-borne computer based on terminal-guided shell; Comprise measurement module, processing module and output control module; Measurement module is used to measure the body service data; The body service data that processing module is used for measurement module is recorded combines controlled instruction, and output control module will export steering wheel to from the control instruction that processing module obtains
Wherein, Measurement module (being also referred to as the host CPU processing module) comprises following attitude transducer: twin-axis accelerometer, wobble shaft angular rate gyroscope and space orientation directional gyro; Said three sensors link to each other through master chip (CPU) on the bullet in front end signal treatment circuit and the processing module respectively; Twin-axis accelerometer and wobble shaft angular rate gyroscope respectively through the front end signal treatment circuit with sensor signal through master chip on the bullet in the mode input processing module of gathering, the space orientation directional gyro through the front end signal treatment circuit with sensor signal through master chip on the bullet in the mode input processing module of catching;
Processing module comprises master chip on transformation Voltage stabilizing module, electrification reset module and the bullet, and the transformation Voltage stabilizing module stabilizes to low-voltage and the stable electrification reset module of exporting to missile power supply, again through anti-jamming circuit master chip power supply on bullet;
Output control module comprises optocoupler (photoelectrical coupler), and the master chip output links to each other on the bullet of its input and processing module, exports the control signal modulation of master chip output on bullet steering wheel.
Each module volume of missile-borne computer based on terminal-guided shell provided by the invention is little, and circuit connects simple and easy, and cost is low, and overload is high, and is easy-to-use, extensively is suitable for using on the various terminal-guided shell series.In addition, this missile-borne computer can effectively be controlled shell in terminal-guided shell system inertial navigation section and arrive required target area according to design work, controls respond well.The invention Project Realization is simple, economical and practical, in short time period, can accurately export and play the rudder instruction, can be widely used in the simple and easy guidance control system of terminal-guided shell, also can be applied on other high overload bullets like rocket, rocket projectile etc.
Description of drawings
Fig. 1 is the structural representation of the missile-borne computer according to the present invention.
Fig. 2 is the transformation Voltage stabilizing module circuit diagram of the missile-borne computer according to the present invention.
Fig. 3 is a circuit diagram in the electrification reset module of the missile-borne computer according to the present invention.
Fig. 4 is the anti-jamming circuit sketch map of the missile-borne computer according to the present invention.
Fig. 5 is the signal curve of output of missile-borne computer of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, through the specific embodiment the present invention is elaborated, characteristics of the present invention and advantage are along with these explanations will become more clear, clear and definite.
The present invention provides a kind of missile-borne computer based on terminal-guided shell; Comprise measurement module, processing module and output control module; Measurement module is used to measure the body service data; The body service data that processing module is used for measurement module is recorded combines controlled instruction, and output control module will export steering wheel to from the control instruction that processing module obtains
Wherein, Measurement module comprises following attitude transducer: twin-axis accelerometer, wobble shaft angular rate gyroscope and space orientation directional gyro; Said three sensors link to each other through master chip on the bullet in front end signal treatment circuit and the processing module respectively; Twin-axis accelerometer and wobble shaft angular rate gyroscope respectively through the front end signal treatment circuit with sensor signal through master chip on the bullet in the mode input processing module of gathering, the space orientation directional gyro through the front end signal treatment circuit with sensor signal through master chip on the bullet in the mode input processing module of catching;
Processing module comprises master chip on transformation Voltage stabilizing module, electrification reset module and the bullet, and the transformation Voltage stabilizing module stabilizes to low-voltage and the stable electrification reset module of exporting to missile power supply, again through anti-jamming circuit master chip power supply on bullet;
Output control module comprises optocoupler (photoelectrical coupler), and the master chip output links to each other on the bullet of its input and processing module, the control signal modulation output of master chip output is moved go up steering wheel.
In missile-borne computer according to the present invention; In measurement module; These three sensors of twin-axis accelerometer, wobble shaft angular rate gyroscope and space orientation directional gyro are independently each other, link to each other through master chip on the bullet in front end signal treatment circuit (resistance bleeder circuit) and the processing module respectively.Wherein, Master chip links to each other through the mode that adc data is gathered respectively on twin-axis accelerometer and wobble shaft angular rate gyroscope and the bullet; The data of twin-axis accelerometer and wobble shaft angular rate gyroscope sensor transfer to master chip on the bullet through the mode of data acquisition; Master chip links to each other through the mode of catching on space orientation directional gyro and the bullet, and the data of space orientation directional gyro transfer to master chip on the bullet through the mode of catching.Connected mode between measurement module and the host CPU processing module adopts integrated adc data collection and catches dual mode and accomplish, and measurement module links to each other through master chip on 12 analog-digital converters and the bullet.Capturing unit can capture the saltus step of capturing unit external pin, is triggered when saltus step occurring on the external pin of capturing unit, and each capturing unit is all caught pin.When on catching input pin, detecting selected saltus step, the count value of selected GP timer is hunted down and is deposited in the dark FIFO stack of secondary.The Schmidt trigger of each capturing unit can capture the saltus step of relevant pin, uses the interrupt function and the timer of the capturing unit of this chip, can accurately measure two width between the edge, can accurately judge the triggering state and trigger width.The collection A/D converter that in invention, uses adopts 12 analog-digital converters (8 tunnel 12 built-in analog-digital converters); Comprise the front end analog multiplexer, adopt holding circuit, the conversion kernel; Circuit is supported in voltage-stablizer and other simulation; After the hardware resource to ADC is configured completion, start the A/D sampling according to instruction, can obtain the result after ADC changes.
In missile-borne computer according to the present invention, in measurement module, twin-axis accelerometer does not have special demands, preferably uses twin-axis accelerometer ADXL210E.
In missile-borne computer according to the present invention, in measurement module, the wobble shaft angular rate gyroscope does not have special demands, preferably uses wobble shaft angular rate gyroscope ADXRS150.
In missile-borne computer according to the present invention, in measurement module, the space orientation directional gyro is the special gyro in this area, refers to the space orientation directional gyro specially.
In missile-borne computer according to the present invention; The signal that the host CPU processing module will be gathered and capture is through the collection pin among the CPU and catch pin entering CPU; The core control algolithm is arranged among the CPU, and this algorithm mainly is that utilization space orientation directional gyro and roll angle rate gyroscope find real body gravity direction and real-time roll angle, and combines twin-axis accelerometer to obtain Y; The accekeration of Z diaxon; And carry out the attitude closed-loop control by accekeration, thereby (algorithm can be with reference to " based on the Control System Design of DSP missile-borne computer ", Wang Wei for the control signal that obtains generating; Beijing Institute of Technology's academic dissertation), and with control signal be transferred to output control module.
In missile-borne computer according to the present invention, master chip adopts MSP430F149 (available from TI company) on the bullet, and it is low in energy consumption, and volume is little, is suitable for using on the bullet.
In missile-borne computer according to the present invention, because the supply voltage of master chip MSP430F149 is+3.3V, and the supply voltage of battery is+12V on the bullet; Therefore adopt the LM7805 device at the transformation Voltage stabilizing module; LM7805 with on the bullet+12V power supply transformation is+5V, the electrification reset module is used the TPS7333Q device, its general+5V power supply transformation is+3.3V; Distinguish digital voltage and aanalogvoltage through anti-jamming circuit again, master chip MSP430F149 power supply on bullet.
Particularly, Fig. 2 shows transformation Voltage stabilizing module circuit, i.e. LM7805 and accessory circuit thereof, and wherein, "+12V " locates in the missile power supply connection layout, and output is located for "+5V ", locates to be connected with "+5V " among Fig. 3;
Fig. 3 shows the electrification reset modular circuit, i.e. TPS7333Q and accessory circuit thereof, and wherein, "+5V " links to each other among "+5V " and Fig. 2, and "+3.3V " is output, is connected with "+3.3V " among Fig. 4, and " RST " links to each other with MSP430F149 " RST ";
Fig. 4 shows anti-jamming circuit, and wherein, "+3.3V " is connected among "+3.3V " and Fig. 3, and " DVcc3 " is connected with the analog power end with the digital power end of MSP430F149 respectively with " AVcc3 ".
In missile-borne computer of the present invention; The main effect of transformation Voltage stabilizing module is that battery power source voltage on the bullet is handled; Obtain the voltage of host CPU chip operate as normal, and voltage ripple is very little, electrify restoration circuit guarantees that the master chip minimum system can operate as normal.Used transformation Voltage stabilizing module device and electrify restoration circuit module device volume are very little among the present invention, with the chip coupling, can be suitable for using on the bullet to the master chip stable power-supplying.
In missile-borne computer of the present invention, the main effect of output control module output control module is that control signal is boosted to the signal that steering wheel can respond, and plays the effect that host CPU module and outside steering wheel, electronic unit are isolated.
Output control module adopts optocoupler output, and the output control module input is a host CPU module output port, and the PWM waveform of host CPU module output zooms into amplitude 12V through output control module and do not have the same waveform as of phase shifts.Connected mode between host CPU module and the output control module is analog level signal output, and the host CPU module output signal adopts general I/O pin through optocoupler signal output amplification, control steering wheel.Output control module input and host CPU processing module coupling, steering wheel coupling on output control module output and the bullet.In addition, output control module also can adopt power amplifier (power amplifier) to realize corresponding function.Output control module transfers to 12V with the control signal of host CPU module output, to drive steering wheel on the bullet.
Missile-borne computer based on terminal-guided shell according to the present invention carries out the processing of control algolithm according to the attitude information of attitude transducer, and controlled signal controlling body is stablized accurately flight according to the attitude that designs.
According to the missile-borne computer based on terminal-guided shell of the present invention; Preferably also comprise housing, said housing comprises inner housing and shell body, and inner housing is through sealing measurement module, processing module and output control module; Shell body and end cap are encapsulated in the inner housing outside, and end cap is located at the shell body top.Missile-borne computer according to the present invention is installed in the fuse and the warhead position of bullet.
In a further preferred embodiment; Soft encapsulation between inner housing and measurement module, processing module and the output control module; For example be filled with epoxide-resin glue, silicon gel etc.; Soft encapsulation between inner housing and the shell body for example is filled with padded coaming such as silicon gel, so that improve the shock resistance of missile-borne computer.
Embodiment 1
Above-mentioned measurement module, processing module and output control module are distributed on the circular circuit printing plate that a diameter is 60mm (Φ 60), wherein, as twin-axis accelerometer; Use twin-axis accelerometer ADXL210E as the wobble shaft angular rate gyroscope, use wobble shaft angular rate gyroscope ADXRS150, as master chip on the bullet; Use MSP430F149; Twin-axis accelerometer, wobble shaft angular rate gyroscope and space orientation directional gyro link to each other through the built-in collection A/D converter of master chip MSP430F149 on holding wire and the bullet respectively,, as optocoupler; Use optocoupler TLP521; Transformation Voltage stabilizing module circuit adopts circuit as shown in Figure 2, and the electrification reset modular circuit adopts circuit as shown in Figure 3, and anti-jamming circuit adopts circuit as shown in Figure 4.A whole set of Circuits System connects the hole of back through the Φ 3 on three circles that are evenly distributed on Φ 56 and is connected with inner housing; Connecting the back adopts epoxy encapsulation in aluminum hull (inner housing); End cap is installed in the shell body top, and end cap and shell body all adopt high strength alloy steel, are not damaged when guaranteeing high overload; Be filled with epoxide-resin glue 211 between the inner and outer shell, obtain missile-borne computer.This missile-borne computer is installed in the fuse and the warhead position of terminal-guided shell.Good cushioning effect is arranged between each module and shell body, make each module when running the bullet emission under the effect in soft encapsulation suffered impact acceleration reduce missile-borne computer system operate as normal.
When above gained missile-borne computer was installed on terminal-guided shell, when firing shells, bullet was in the moment of emission; Battery is activated on the bullet; This moment, missile-borne computer began the operate as normal of supplying power, and the program in the host CPU module brings into operation at this moment, waits for the input of attitude transducer signal.Flight is after after a while; Sensor signal just enters into the host CPU processing module through test module; This moment, the host CPU processing module was exported to output control module through the integration of internal control algorithm with control signal; And output control module will be exported control signal and export to steering wheel on the bullet, thus guarantee the body attitude according to design work to required target area.
In experiment, the signal curve of output of above-mentioned missile-borne computer is as shown in Figure 5.
The cost of gained missile-borne computer is extremely low, and its overload reaches 30000G, and the scope of application is extensive, not only can be applicable to terminal-guided shell, can also be applied to the end and repair urgent bullet, the urgent bullet of terminal guidance, the simple and easy guidance control system of laser half active remote simple rocket bullet etc.
More than through anti-rational embodiment the present invention is specified; These embodiments and should not be construed as limitation of the present invention but; It will be apparent to those skilled in the art that; Under the situation that does not depart from spirit and scope of the invention, can carry out multiple improvement, replacement or modification to technical scheme of the present invention and embodiment thereof, these all should fall in protection scope of the present invention.
Claims (10)
1. missile-borne computer; It is characterized in that; Said missile-borne computer comprises measurement module, processing module and output control module, and measurement module is used to measure the body service data, and the body service data that processing module is used for measurement module is recorded combines controlled instruction; Output control module will export steering wheel to from the control instruction signal amplification that processing module obtains
Wherein, Measurement module comprises following attitude transducer: twin-axis accelerometer, wobble shaft angular rate gyroscope and space orientation directional gyro; Said three sensors link to each other through master chip (CPU) on the bullet in front end signal treatment circuit and the processing module respectively; Twin-axis accelerometer and wobble shaft angular rate gyroscope respectively through the front end signal treatment circuit with sensor signal through master chip on the bullet in the mode input processing module of gathering, the space orientation directional gyro through the front end signal treatment circuit with sensor signal through master chip on the bullet in the mode input processing module of catching;
Processing module comprises master chip on transformation Voltage stabilizing module, electrification reset module and the bullet, and the transformation Voltage stabilizing module stabilizes to low-voltage and the stable electrification reset module of exporting to missile power supply, again through anti-jamming circuit master chip power supply on bullet;
Output control module comprises optocoupler (photoelectrical coupler), and the master chip output links to each other on the bullet of its input and processing module, exports the control signal modulation of master chip output on bullet steering wheel.
2. missile-borne computer according to claim 1 is characterized in that, said front end signal treatment circuit is the resistance bleeder circuit, is specially 8 tunnel 12 built-in analog-digital converters.
3. missile-borne computer according to claim 1 is characterized in that, said measurement module links to each other through master chip on 12 analog-digital converters and the bullet.
4. missile-borne computer according to claim 1 is characterized in that, master chip is MSP430F149 on the bullet.
5. according to each described missile-borne computer among the claim 1-4, it is characterized in that, in the transformation Voltage stabilizing module, use the LM7805 device.
6. according to each described missile-borne computer among the claim 1-5, it is characterized in that, in the electrification reset module, use the TPS7333Q device.
7. according to each described missile-borne computer among the claim 1-6, it is characterized in that, use power amplifier to replace optocoupler at output control module.
8. according to each described missile-borne computer among the claim 1-7; Also comprise housing, said housing comprises inner housing and shell body, and inner housing is through sealing measurement module, processing module and output control module; Shell body and end cap are encapsulated in the inner housing outside, and end cap is located at the shell body top.
9. missile-borne computer according to claim 8, wherein, soft encapsulation between inner housing and measurement module, processing module and the output control module, soft encapsulation between inner housing and the shell body.
10. according to each described missile-borne computer application in terminal-guided shell among the claim 1-9.
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| CN201110330099.8A CN102425978B (en) | 2011-10-26 | 2011-10-26 | Missile-borne computer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106093629A (en) * | 2016-06-03 | 2016-11-09 | 上海机电工程研究所 | The unit test system of the missile-borne computer of infrared rotary missile and method of testing |
| CN109253670A (en) * | 2017-07-13 | 2019-01-22 | 北京信息科技大学 | A kind of more bullet kind fuse flight course parameter measuring apparatus |
| CN111366188A (en) * | 2018-12-26 | 2020-07-03 | 北京信息科技大学 | Data acquisition and storage device for dynamic environment force measurement field |
| CN111692919A (en) * | 2020-01-16 | 2020-09-22 | 北京理工大学 | Precise guidance control method for aircraft with ultra-close range |
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| CN201764899U (en) * | 2010-09-19 | 2011-03-16 | 航宇救生装备有限公司 | Multifunctional electric control air starting device |
| CN202421893U (en) * | 2011-10-26 | 2012-09-05 | 王伟 | Missile-borne computer |
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| CN1430720A (en) * | 2000-05-25 | 2003-07-16 | 斯托姆金属有限公司 | Directional control of missiles |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106093629A (en) * | 2016-06-03 | 2016-11-09 | 上海机电工程研究所 | The unit test system of the missile-borne computer of infrared rotary missile and method of testing |
| CN109253670A (en) * | 2017-07-13 | 2019-01-22 | 北京信息科技大学 | A kind of more bullet kind fuse flight course parameter measuring apparatus |
| CN109253670B (en) * | 2017-07-13 | 2021-07-30 | 北京信息科技大学 | Multi-bullet detonator flight process parameter measuring device |
| CN111366188A (en) * | 2018-12-26 | 2020-07-03 | 北京信息科技大学 | Data acquisition and storage device for dynamic environment force measurement field |
| CN111692919A (en) * | 2020-01-16 | 2020-09-22 | 北京理工大学 | Precise guidance control method for aircraft with ultra-close range |
| CN111692919B (en) * | 2020-01-16 | 2021-05-28 | 北京理工大学 | Precise guidance control method for aircraft with ultra-close range |
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| CN102425978B (en) | 2014-04-02 |
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Inventor after: Lin Defu Inventor after: Wang Wei Inventor after: Wang Jiang Inventor after: Wang Hui Inventor after: Song Tao Inventor after: Cheng Zhenxuan Inventor after: Fan Shipeng Inventor after: Xu Ping Inventor after: Luo Yanwei Inventor before: Wang Wei Inventor before: Lin Defu Inventor before: Wang Jiang Inventor before: Cheng Zhenxuan Inventor before: Xu Ping Inventor before: Wang Hui Inventor before: Song Tao Inventor before: Fan Shipeng Inventor before: Luo Yanwei |