CN102425978B - Missile-borne computer - Google Patents

Missile-borne computer Download PDF

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CN102425978B
CN102425978B CN 201110330099 CN201110330099A CN102425978B CN 102425978 B CN102425978 B CN 102425978B CN 201110330099 CN201110330099 CN 201110330099 CN 201110330099 A CN201110330099 A CN 201110330099A CN 102425978 B CN102425978 B CN 102425978B
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missile
borne
computer
borne computer
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CN 201110330099
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CN102425978A (en )
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王伟
林德福
王江
程振轩
徐平
王辉
宋韬
范世鹏
罗艳伟
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北京理工大学
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Abstract

本发明公开一种弹载计算机,包括测量模块、处理模块和输出控制模块,测量模块用于测量弹体运行数据,处理模块用于将测量模块测得的弹体运行数据结合得到控制指令,输出控制模块将从处理模块得到的控制指令信号放大输出至舵机。 The present invention discloses an onboard computer, includes a measurement module, a control module and an output processing module, a measurement module for measuring elastomers operating data, means for processing the measuring module elastomer measured operational data obtained in conjunction with the control command, the output a control command signal from the control module obtained by the processing module to the servo amplifier output. 该弹载计算机体积小,线路连接简易,成本低,使用便利,可靠性高,可重复使用适于各种末制导炮弹系列上应用,其控制效果良好,工程实现简单,经济实用,在短时间段内可以准确输出打舵指令,可以广泛应用于末制导炮弹,末修迫弹,末制导迫弹,激光半主动远程简易火箭弹简易制导控制系统等。 The onboard computer is small, the line connection is simple, low cost, ease of use, reliability, can be reused for all applications on the ball series homing good controlling effect, simple construction, economical and practical, in a short time the output section can accurately hit the rudder command, it can be widely applied to the end of the guided projectile, Terminal Correction, missile terminal guidance force, semi-active laser rocket simple guidance simple remote control system.

Description

一种弹载计算机 One kind onboard computer

技术领域 FIELD

[0001] 本发明涉及弹载计算机,特别涉及基于末制导炮弹的弹载计算机。 [0001] The present invention relates to onboard computer, and particularly to the onboard computer-based end of the guided projectile.

背景技术 Background technique

[0002]目前,末制导炮弹系统惯导段的控制一般运用机械设计,这样在控制的时候有较大的弊端,即惯导段开环控制起不到真正的控制作用,尤其在弹体姿态摆动过大的情况下,更容易出现偏差,所以引入数字化弹载计算机,从而实现闭环控制。 [0002] Currently, inertial navigation system control section guided projectile end generally use mechanical design, such drawbacks at the time of greater control, i.e., the open loop control section INS not achieve true control action, especially in the missile body posture overswings is large, the deviation is easier, so the introduction of digital onboard computer, for closed loop control. 机械式的控制质量重,体积大,而数字化弹载计算机在轻质量,小体积方面有很大改善。 Mechanical quality control heavy, bulky, and digital onboard computer greatly improved in light weight, small volume terms.

[0003] 不过,目前使用的末制导炮弹弹载计算机存在结构复杂,成本高,体积大、重量大等不足。 [0003] However, the end of the guided projectile currently used onboard computer presence complicated structure, high cost, large size, weight and other issues.

[0004] 在低成本,闭环控制,小体积,轻质量,数字化几个方面的不足,本发明提供一种弹载计算机控制系统,该系统为弹设计者提供很好的惯导段控制,缩短弹的研制周期,降低弹的研制费用,具有很高的社会效益和经济效益 [0004] Low cost in several ways, closed-loop control, small size, light weight, digitized, the present invention provides an onboard computer control system, which provides good control section INS bomb designers, shortening bomb development cycle and reduce development costs bomb, with high social and economic benefits

发明内容 SUMMARY

[0005] 为了克服现有技术的不足,本发明人进行了锐意研究,发现当将空间定向陀螺、力口速度计和角速度陀螺测量得到的弹体运动数据与弹上主芯片(CPU)结合,将通过空间定向陀螺得到的陀螺轴和弹轴夹角以及通过加速度计和角速度陀螺得到的弹体转速和过载值传输至弹上主芯片,弹上主芯片结合所得结果给出惯导段的控制指令分配,将输出指令输出给舵机,控制舵机准确工作,从而完成本发明。 [0005] In order to overcome the deficiencies of the prior art, the present inventors conducted intensive studies, found that when the elastomer binding spatial orientation gyroscopic force and angular speedometer port gyroscopic motion data measured projectile master chip (CPU), the directional gyro axis and the missile axis angle obtained by the gyro and elastomer space and overload value of the transmission speed obtained by the accelerometer and gyro angular velocity to the main chip shells, the main control chip bonding results obtained are given in the missile inertial navigation segments instruction dispatch, the output command to the servo, servo control and accurate work, thereby completing the present invention.

[0006] 本发明的目的在于提供一种基于末制导炮弹的弹载计算机,包括测量模块、处理模块和输出控制模块,测量模块用于测量弹体运行数据,处理模块用于将测量模块测得的弹体运行数据结合得到控制指令,输出控制模块将从处理模块得到的控制指令输出至舵机, [0006] The object of the present invention is to provide a computer-based onboard end guided projectile, comprising a measurement module, a control module and an output processing module, a measurement module for measuring elastomers operating data, means for processing the measured measurement module the binding data obtained elastomer operation control command, the output control module outputs a control command to the servo from the processing module obtained,

[0007] 其中,测量模块(也称为主CPU处理模块)包括以下姿态传感器:双轴加速度计、滚转轴角速率陀螺和空间定位定向陀螺,所述三个传感器分别通过前端信号处理电路与处理模块中的弹上主芯片(CPU)相连,双轴加速度计和滚转轴角速率陀螺分别通过前端信号处理电路将传感器信号通过采集的方式输入处理模块中的弹上主芯片,空间定位定向陀螺通过前端信号处理电路将传感器信号通过捕获的方式输入处理模块中的弹上主芯片; [0007] wherein the measurement module (also called a main module CPU processing) attitude sensor comprising: a biaxial accelerometer, roll axis angular rate gyro and the gyro spatial positioning and orientation of the three sensors respectively front end signal processing circuit processing the master chip module shells (CPU) connected to the shaft axis accelerometer and roll angular rate gyro signals respectively through the front sensor signal processing circuit on the input processing modules by way of the main chip shells collected by spatial positioning and orientation gyroscope the front-end signal processing circuitry in the sensor signal processing module through elastic master chip inputs captured;

[0008] 处理模块包括变压稳压模块、上电复位模块和弹上主芯片,变压稳压模块将弹上电源稳定为低电压并稳定输出给上电复位模块,再经过抗干扰电路向弹上主芯片供电; [0008] The processing module comprises a pressure swing voltage regulator, a power-on reset chip module and the main shells, the shells transformer voltage regulator power supply and a stable low-voltage power-on reset to stabilize the output module, through the anti-jamming circuit playing on the main chip power;

[0009] 输出控制模块包括光I禹(光电I禹合器),其输入端与处理模块的弹上主芯片输出端相连,将主芯片输出的控制信号调制输出至弹上舵机。 [0009] The control module includes an optical output I Yu (Yu photoelectric coupler I), the missile having an input terminal connected to the master chip processing module output terminal, a control signal outputted from the modulated output to the servo master chip on the shells.

[0010] 本发明提供的基于末制导炮弹的弹载计算机各模块体积小,线路连接简易,成本低,过载高,使用便利,广泛适于各种末制导炮弹系列上应用。 [0010] Based on the end of the guided projectile onboard computer modules is small, the line connection is simple, low cost, high overload, ease of use, suitable for application on a wide variety of terminal guidance provided herein projectile series. 此外,该弹载计算机在末制导炮弹系统惯导段能有效控制炮弹按照设计工作到达所需目标区域,控制效果良好。 In addition, the onboard computer at the end section guided projectile inertial navigation system can effectively control the shell as designed reaches the desired target area, good control effect. 发明工程实现简单,经济实用,在短时间段内可以准确输出打舵指令,可以广泛应用于末制导炮弹简易制导控制系统,也可以应用于其他高过载弹上如火箭、火箭弹等。 Project invention is simple, economical and practical, can accurately output rudder command in a short period of time, can be widely used Terminal Guided Projectile simple guidance control system can also be applied to other high overload, such as rocket shells, rockets and so on.

附图说明 BRIEF DESCRIPTION

[0011] 图1是根据本发明弹载计算机的结构示意图。 [0011] FIG. 1 is a diagram showing the configuration of the onboard computer of the present invention.

[0012] 图2是根据本发明弹载计算机的变压稳压模块电路示意图。 [0012] FIG. 2 is a schematic diagram of a transformer voltage regulator circuit of the present invention, the onboard computer.

[0013] 图3是根据本发明弹载计算机的上电复位模块中电路示意图。 [0013] FIG. 3 is a schematic diagram of the present invention, the onboard computer module power-on reset circuit.

[0014] 图4是根据本发明弹载计算机的抗干扰电路示意图。 [0014] FIG. 4 is a schematic diagram interference circuit onboard computer of the present invention.

[0015] 图5是本发明弹载计算机的信号输出曲线。 [0015] FIG. 5 is the onboard computer of the present invention, the signal output curve.

具体实施方式 detailed description

[0016] 以下结合附图,通过具体实施方式对本发明进行详细说明,本发明的特点和优点随着这些说明将变得更为清楚、明确。 [0016] conjunction with the drawings, the present invention is described in detail by specific embodiments, features and advantages of the present invention will be described as these become more clear and precise.

[0017] 本发明提供一种基于末制导炮弹的弹载计算机,包括测量模块、处理模块和输出控制模块,测量模块用于测量弹体运行数据,处理模块用于将测量模块测得的弹体运行数据结合得到控制指令,输出控制模块将从处理模块得到的控制指令输出至舵机, [0017] The present invention provides a method based on the onboard computer at the end of the guided projectile, comprising a measurement module, a control module and an output processing module, a measurement module for measuring elastomers operating data, means for processing the measured measurement module elastomer operational data obtained in conjunction with the control command, the output control module outputs a control command to the servo from the processing module obtained,

[0018] 其中,测量模块包括以下姿态传感器:双轴加速度计、滚转轴角速率陀螺和空间定位定向陀螺,所述三个传感器分别通过前端信号处理电路与处理模块中的弹上主芯片相连,双轴加速度计和滚转轴角速率陀螺分别通过前端信号处理电路将传感器信号通过采集的方式输入处理模块中的弹上主芯片,空间定位定向陀螺通过前端信号处理电路将传感器信号通过捕获的方式输入处理模块中的弹上主芯片; [0018] wherein the measured attitude sensor module comprising: a biaxial accelerometer, roll axis angular rate gyro and the gyro spatial positioning and orientation of the three sensors are connected to the signal processing circuit through the front end processing module shells master chip, biaxial accelerometers and angular rate gyro roll axis, respectively, the front end of the sensor signal by the input signal processing circuit processing master chip module by way of elastic collected spatial positioning and orientation through the front gyro signal processing circuit by way of capturing the sensor signal input playing the main chip processing module;

[0019] 处理模块包括变压稳压模块、上电复位模块和弹上主芯片,变压稳压模块将弹上电源稳定为低电压并稳定输出给上电复位模块,再经过抗干扰电路向弹上主芯片供电; [0019] The processing module comprises a pressure swing voltage regulator, a power-on reset chip module and the main shells, the shells transformer voltage regulator power supply and a stable low-voltage power-on reset to stabilize the output module, through the anti-jamming circuit playing on the main chip power;

[0020] 输出控制模块包括光I禹(光电I禹合器),其输入端与处理模块的弹上主芯片输出端相连,将主芯片输出的控制信号调制输出动弹上舵机。 [0020] The control module includes an optical output I Yu (Yu photoelectric coupler I), the missile having an input terminal connected to the master chip processing module output terminal, a control signal output from the modulated output master chip move the steering gear.

[0021] 在根据本发明的弹载计算机中,在测量模块中,双轴加速度计、滚转轴角速率陀螺和空间定位定向陀螺这三个传感器相互之间是独立的,分别通过前端信号处理电路(阻值分压电路)与处理模块中的弹上主芯片相连。 [0021] In the onboard computer of the present invention, the measurement module, the dual axis accelerometer, roll axis angular rate gyroscope and spatial orientation to each other is positioned between the three gyro sensors are independent, the signal processing circuit, respectively by a front end (resistance voltage dividing circuit) connected to the processing module shells master chip. 其中,双轴加速度计和滚转轴角速率陀螺与弹上主芯片分别通过ADC数据采集的方式相连,双轴加速度计和滚转轴角速率陀螺传感器的数据通过数据采集的方式传输至弹上主芯片,空间定位定向陀螺与弹上主芯片通过捕获的方式相连,空间定位定向陀螺的数据通过捕获的方式传输至弹上主芯片。 Wherein the shaft axis accelerometer and angular rate gyro roll shells are connected by way of the main chip ADC data acquisition, transmission shaft for dual axis accelerometer and angular rate gyro sensor data by way of data collection master chip to the missile , spatial positioning and orientation of the playing gyro master chip are connected by a captured spatial positioning data transmitted to the directional gyro master chip by way of the missile captured. 测量模块与主CPU处理模块之间的连接方式采用集成的ADC数据采集和捕获两种方式完成,测量模块通过12位模数转换器与弹上主芯片相连。 Connection between the measuring module and the main CPU processing module with integrated ADC data acquisition and capture accomplished in two ways, by the measuring module is connected to the master chip 12-bit ADC and shells. 捕获单元能够捕获到捕获单元外部引脚的跳变,捕获单元的外部引脚上出现跳变时被触发,每个捕获单元都有捕获引脚。 Capturing unit capturing unit can capture the external trip pin, is triggered when the transition occurs on external pin capture unit, each capture unit has captured pin. 当捕获输入引脚上检测到所选的跳变时,所选的GP定时器的计数值被捕获并存入到一个二级深的FIFO栈中。 When detecting the transition to the selected input pin to capture the count value of the timer selected GP is captured and stored into a two-deep FIFO stack. 每个捕获单元的施密特触发器可以捕获到相关引脚的跳变,运用该芯片的捕获单元的中断功能和定时器,可以准确测量出两个沿之间的宽度,即可准确判断触发状态和触发宽度。 Schmitt trigger for each capture unit may capture the associated pin becomes to jump, use of the chip capturing unit and timer interrupt function, can accurately measure the width direction between the two, to accurately determine the trigger state and trigger width. 在发明中使用的采集模/数转换器采用12位模数转换器(8路12位内置模数转换器),包含前端模拟多路复用器,采用保持电路,转换内核,稳压器以及其它模拟支持电路,当对ADC的硬件资源进行配置完成后,根据指令启动A/D采样,即可获取ADC转换后的结果。 Acquisition mode used in the invention, the A / D converter 12-bit analog to digital converter (built-in 12-bit analog to digital converter 8), comprising a front-end analog multiplexer, using the hold circuit, the conversion core, voltage regulators, and other analog support circuitry, when the ADC is hardware resources configuration, start the a / D sampling on command to obtain the result of the ADC.

[0022] 在根据本发明的弹载计算机中,在测量模块中,双轴加速度计没有特别要求,优选使用双轴加速度计ADXL210E。 [0022] In the onboard computer of the present invention, the measurement module, the dual axis accelerometer is not particularly required, it is preferable to use a biaxial accelerometer ADXL210E.

[0023] 在根据本发明的弹载计算机中,在测量模块中,滚转轴角速率陀螺没有特别要求,优选使用滚转轴角速率陀螺ADXRS150。 [0023] In the rotating shaft angular rate gyro is not particularly required onboard computer according to the present invention, the measurement module, roller, preferably using roll axis angular rate gyro ADXRS150.

[0024] 在根据本发明的弹载计算机中,在测量模块中,空间定位定向陀螺是本领域专门的陀螺,专门指空间定位定向陀螺。 [0024] The gyro orientation in the onboard computer of the present invention, the measurement module, the spatial positioning of the gyro is designed in the art, specifically refers to the spatial positioning of the gyro orientation.

[0025] 在根据本发明的弹载计算机中,主CPU处理模块将采集和捕获到的信号通过CPU中的采集管脚和捕获管脚进入CPU,CPU中有核心控制算法,该算法主要是运用空间定位定向陀螺和滚转角速率陀螺找到真实的弹体重力方向和实时的滚转角,并且结合双轴加速度计得到Y,Z两轴的加速度值,并且由加速度值进行姿态闭环控制,从而得到生成的控制信号(算法可参考《基于DSP弹载计算机控制系统设计》,王伟,北京理工大学学位论文),并将控制信号传输给输出控制模块。 [0025] The signal in the onboard computer of the present invention, the main CPU processing module will collect and captured into the CPU via the CPU pins acquisition and capture pins, there CPU core control algorithm mainly the use of spatial positioning and orientation gyro angle and roll rate gyroscope find real weight elastic force direction and the roll angle in real time, and combined to obtain a biaxial accelerometer Y, Z axis acceleration values ​​of the two, by a closed-loop control for attitude and acceleration values, whereby generation the control signal (algorithm refer to "DSP onboard computer control system design based on" Wang Wei, dissertations Beijing Institute of Technology), and the control signal to the output control module.

[0026] 在根据本发明的弹载计算机中,弹上主芯片采用MSP430F149 (购自TI公司),其功耗低,体积小,适于弹上应用。 [0026] Application of the missile in accordance with the onboard computer of the present invention, the main chip playing the MSP430F149 (available from TI's), low power consumption, small size, adapted.

[0027] 在根据本发明的弹载计算机中,由于主芯片MSP430F149的供电电压为+3.3V,而弹上电池的电源电压为+12V,因此在变压稳压模块采用LM7805器件,LM7805将弹上+12V电源变压为+5V,上电复位模块使用TPS7333Q器件,其将+5V电源变压为+3.3V,再经过抗干扰电路区分数字电压和模拟电压,向弹上主芯片MSP430F149供电。 [0027] In the onboard computer of the present invention, since the main chip MSP430F149 supply voltage is + 3.3V, while the power supply voltage of the missile battery + 12V, so a transformer voltage regulator devices LM7805, LM7805 will spring the + 12V power transformer is + 5V, the reset module TPS7333Q device, the + 5V power transformer which is + 3.3V, then through the analog digital voltage distinguish interference voltage circuit to the main chip MSP430F149 powered missile.

[0028] 具体而言,图2示出了变压稳压模块电路,即LM7805及其附属电路,其中,弹上电源连接图中“+12V”处,输出端为“+5V”处,与图3中的“+5V”处连接; [0028] Specifically, FIG. 2 shows a transformer voltage regulator circuit, i.e. its subsidiary LM7805 circuit, wherein the power connection bomb FIG "+ 12V", the output is "+ 5V" place, and in FIG. 3 "+ 5V" at a connection;

[0029] 图3示出了上电复位模块电路,即TPS7333Q及其附属电路,其中,“+5V”与图2中“+5V” 相连,“+3.3V” 为输出端,与图4 中的“+3.3V” 连接,“RST” 与MSP430F149 的“RST”相连; [0029] FIG. 3 shows a power-on reset circuit module, i.e. TPS7333Q its subsidiary circuit is connected, wherein, "+ 5V" in FIG. 2 "+ 5V", the "+ 3.3V" as an output, and FIG. 4 the "+ 3.3V" connected, "RST" is connected to the MSP430F149 "RST";

[0030] 图4示出了抗干扰电路,其中,“+3.3V”与图3中“+3.3V”连接,“DVcc3”和“AVcc3”分别与MSP430F149的数字电源端和模拟电源端连接。 [0030] FIG. 4 shows interference circuit, wherein, "+ 3.3V" in FIG. 3 and the "+ 3.3V" connected, "DVcc3" and "AVcc3" are respectively connected with the digital and analog power supply terminal side of MSP430F149.

[0031] 在本发明的弹载计算机中,变压稳压模块的主要作用是将弹上电池电源的电压进行处理,得到主CPU芯片正常工作的电压,并且电压纹波很小,上电复位电路确保主芯片最小系统能够正常工作。 [0031] In the present invention, the onboard computer, the main purpose of the transformer is a voltage regulator module the missile battery power source, to give the voltage for normal operation of the main CPU, and the voltage ripple is small, power-on reset the main chip circuit ensures minimum system to work properly. 本发明中所用变压稳压模块器件和上电复位电路模块器件体积非常小,与芯片匹配,能向主芯片稳定供电,适于弹上应用。 The present invention is a pressure swing device and the voltage regulator module power-on reset circuit module device volume is very small, matching with the chip, the chip can be stabilized to the main power supply, adapted for missile applications.

[0032]在本发明的弹载计算机中,输出控制模块输出控制模块的主要作用是将控制信号升压到舵机能够响应的信号,并且起到将主CPU模块与外部舵机、电子部件隔离的作用。 [0032] In the onboard computer of the present invention, the output module outputs a major role in the control module is to control the boost control signal in response to the servo signals, and functions to isolate the main CPU module and an external servo, the electronic component role.

[0033] 输出控制模块采用光耦输出,输出控制模块输入端为主CPU模块输出端口,主CPU模块输出的PWM波形经过输出控制模块放大成幅值12V且没有相位移动的相同波形。 [0033] The output control module optocoupler output, output control module main CPU input module output port, the main CPU module through the output waveform output from the PWM control module is amplified to 12V and the magnitude of the phase shift is not the same waveform. 主CPU模块与输出控制模块之间的连接方式是模拟电平信号输出,主CPU模块输出信号采用通用输入/输出管脚经过光耦信号输出放大,控制舵机。 Connection between the main CPU module and the control module is an analog output signal output level, the main CPU module output signal using a common input / output pins optocoupler outputs the amplified signal, the servo control. 输出控制模块输入端和主CPU处理模块匹配,输出控制模块输出端和弹上舵机匹配。 Output control module and the main CPU input matching processing module, and output a control output of the module to match the missile steering. 此外,输出控制模块也可以采用功率放大器(功放)来实现相应功能。 Further, the output control module may be realized using corresponding functions of the power amplifier (PA). 输出控制模块将主CPU模块输出的控制信号调至12V,以驱动弹上舵机。 Output control module the control signal is adjusted to 12V master CPU module output to drive the servo shells. [0034] 根据本发明的基于末制导炮弹的弹载计算机根据姿态传感器的姿态信息进行控制算法的处理,得到控制信号控制弹体按照设计好的姿态进行稳定准确飞行。 [0034] According to the present invention, the end of the onboard computer guided projectile control algorithm for processing information in accordance with the posture of the posture sensor, a control signal to obtain stable and accurate missile flight attitude designed according to on.

[0035] 根据本发明的基于末制导炮弹的弹载计算机,优选还包括壳体,所述壳体包括内壳体和外壳体,内壳体通过包封测量模块、处理模块和输出控制模块,外壳体和端盖包封于内壳体外部,端盖设于外壳体顶部。 [0035] According to the present invention is based on the onboard computer at the end of the guided projectile, preferably further comprising a housing, said housing comprising an inner housing and outer housing, the inner housing by encapsulation measurement module, the processing module and an output control module , encapsulated in the outer shell and the outer cap within the housing, an end cap disposed on top of the housing body. 根据本发明的弹载计算机安装在弹的引信和战斗部位置。 And a warhead fuze position onboard computer of the present invention is installed according to the bomb.

[0036] 在进一步优选的实施方案中,内壳体与测量模块、处理模块和输出控制模块之间软封装,例如填充有环氧树脂胶、硅凝胶等,内壳体与外壳体之间软封装,例如填充有缓冲材料如娃凝胶,以便改进弹载计算机的抗冲击性能。 [0036] In a further preferred embodiment, the soft encapsulated between the inner housing and the measurement module, control module and an output processing module, such as between filled with epoxy, silicone gel, the inner housing and the outer housing soft package, filled with a buffer material such as for example baby gel, in order to improve impact resistance of the onboard computer.

[0037] 实施例1 [0037] Example 1

[0038] 将上述测量模块、处理模块和输出控制模块分布在一块直径为60mm(C>60)的圆形电路印制板上,其中,作为双轴加速度计,使用双轴加速度计ADXL210E作为滚转轴角速率陀螺,使用滚转轴角速率陀螺ADXRS150,作为弹上主芯片,使用MSP430F149,双轴加速度计、滚转轴角速率陀螺和空间定位定向陀螺分别通过信号线与弹上主芯片MSP430F149的内置采集模/数转换器相连,,作为光耦,使用光耦TLP521,变压稳压模块电路采用如图2所示电路,上电复位模块电路采用如图3所示电路,抗干扰电路采用如图4所示电路。 [0038] The above measurement module, the processing module and the output module control distributed on a diameter of a circular printed board circuit 60mm (C> 60), wherein, as the dual-axis accelerometer, biaxial accelerometer as a roller ADXL210E shaft angular rate gyro, the roll axis angular rate gyroscope using the ADXRS150, the missile as the master chip, using MSP430F149, dual axis accelerometer, roll axis angular rate gyroscope and spatial positioning and orientation gyro signal line respectively on elastic MSP430F149 built main chip collection analog / digital converter is connected as an optocoupler ,, used TLP521 optocoupler, transformer voltage regulator circuit using the circuit shown in FIG. 2, power on reset circuit using the module circuit shown in Figure 3, using the anti-interference circuit in FIG. 4 shows the circuit. 整套电路系统连接好后通过三个均匀分布在Φ56的圆上的Φ3的孔与内壳体进行连接,连接好后采用环氧树脂封装在铝壳(内壳体)内,端盖安装在外壳体顶部,端盖和外壳体均采用高强度合金钢,确保高过载时不被损坏,内外壳体之间填充有环氧树脂胶211,得到弹载计算机。 After connecting the entire circuitry is connected to the inner housing through the three holes evenly distributed on a circle of Φ56 Φ3 after connected epoxy encapsulated within aluminum (inner housing), an end cap mounted in the housing top body, end caps and the outer casing are made of high strength steel, to ensure that no damage is high overload, filled epoxy adhesive 211 between the inner and outer shells, to give onboard computer. 该弹载计算机安装在末制导炮弹的引信和战斗部位置。 The onboard computer installed at the end of the guided projectile fuze and fighting position. 各模块与外壳体间有良好的缓冲作用,使得各模块在跑弹发射时在软封装的作用下所受的冲击加速度降低,弹载计算机系统正常工作。 Each module has a housing body between a good buffer, such that each module suffered under the action of the soft package when run on missile launch acceleration shock reduction, the onboard computer system to work properly.

[0039] 将以上所得弹载计算机安装于末制导炮弹时,发射炮弹时,弹在发射的瞬间,弹上电池被激活,此时弹载计算机开始供电正常工作,此时主CPU模块中的程序开始运行,等待姿态传感器信号的输入。 [0039] The above obtained onboard computer is attached to the end of the guided projectile, when fired artillery shells at the moment of transmission, the missile battery is active and the power supply onboard computer starts to work, then the main program module CPU running, waiting for the posture sensor signal input. 飞行经过一段时间后,传感器信号就经过测试模块进入到主CPU处理模块,此时主CPU处理模块经过内部控制算法的整合将控制信号输出给输出控制模块,而输出控制模块又将输出控制信号输出给弹上舵机,从而保证弹体姿态按照设计工作到所需目标区域。 After a period of time of flight, the sensor signal is tested module into the processing module to the main CPU when the primary CPU module through the interior of the processing algorithm of the integrated control signal to control the output control module, the control module in turn outputs an output control signal output It bounced on the steering gear, thereby ensuring the elastomer as designed attitude to the desired target area.

[0040] 在实验中,上述弹载计算机的信号输出曲线如图5所示。 [0040] In the experiment the onboard computer of the signal output curve shown in Figure 5.

[0041 ] 所得弹载计算机的成本极低,其过载达30000G,使用范围广泛,不仅可应用于末制导炮弹,还可以应用于末修迫弹、末制导迫弹、激光半主动远程简易火箭弹简易制导控制系统等。 Cost [0041] The resulting onboard computer is extremely low, it is overloaded 30000G up, using a wide range, can be applied not only to the end of the guided projectile, may also be applied Terminal Correction, missile terminal guidance force, semi-active laser remote simple rocket simple guidance control systems.

[0042] 以上通过反理性实施方式对本发明进行了详细说明,不过这些实施方式并不应理解为对本发明的限制,本领域技术人员理解,在不偏离本发明精神和范围的情况下,可以对本发明的技术方案及其实施方式进行多种改进、替换或修饰,这些均应落入本发明的保护范围内。 [0042] or more by irrational embodiments of the present invention in detail, but these embodiments are not to be construed as limiting the present invention, those skilled in the art understand, without departing from the spirit and scope of the present invention, the present aspect of the invention and its embodiments many modifications, substitutions or modifications within the scope of the present invention are intended to fall.

Claims (21)

  1. 1.一种弹载计算机,其特征在于,所述弹载计算机包括测量模块、处理模块和输出控制模块,测量模块用于测量弹体运行数据,处理模块用于将测量模块测得的弹体运行数据结合得到控制指令,输出控制模块将从处理模块得到的控制指令信号放大输出至舵机, 其中,测量模块包括以下姿态传感器:双轴加速度计、滚转轴角速率陀螺和空间定位定向陀螺,所述传感器分别通过前端信号处理电路与处理模块中的弹上主芯片(CPU)相连,双轴加速度计和滚转轴角速率陀螺分别通过前端信号处理电路将传感器信号通过采集的方式输入处理模块中的弹上主芯片,空间定位定向陀螺通过前端信号处理电路将传感器信号通过捕获的方式输入处理模块中的弹上主芯片; 处理模块包括变压稳压模块、上电复位模块和弹上主芯片,变压稳压模块将弹上电源稳定为低电压并稳 An onboard computer, characterized in that the onboard computer comprises a measurement module, a control module and an output processing module, a measurement module for measuring elastomers operating data, means for processing the measured measurement module elastomer operational data obtained in conjunction with the control command, the control module outputs control instruction signal from the processing module to the servo amplifier output is obtained, wherein the measuring attitude sensor module comprising: a biaxial accelerometer, roll axis angular rate gyro and the gyro spatial positioning and orientation, the sensor front end respectively on the signal processing circuit processing module shells master chip (CPU) connected to the shaft axis accelerometer and angular roll rate gyro signal processing circuit, respectively through the front sensor signal input processing by way of acquisition module the elastic main chip, spatial positioning and orientation through the front end signal processing circuit gyro sensor signal input processing module shells captured by way of the master chip; processing module includes a transformer voltage regulator, power on reset and spring master chip module , the transformer voltage regulator power supply stabilized projectile and a low voltage stability 定输出给上电复位模块,再经过抗干扰电路向弹上主芯片供电; 输出控制模块包括光耦(光电耦合器),其输入端与处理模块的弹上主芯片输出端相连,将主芯片输出的控制信号调制输出至弹上舵机。 Given output module to the power-on reset, and then through the anti-jamming circuit to the flip-chip main power; output control module comprises optical coupler (optical coupler), the main chip is connected to an output terminal of the missile to its input processing module, the master chip modulated control signal to the output of the flip-steering.
  2. 2.根据权利要求1所述的弹载计算机,其特征在于,所述前端信号处理电路为阻值分压电路,具体为8路12位内置模数转换器。 The onboard computer according to claim 1, wherein said front-end signal processing circuit resistance voltage dividing circuit, in particular built-in 12-bit analog to digital converter 8.
  3. 3.根据权利要求1所述的弹载计算机,其特征在于,所述测量模块通过12位模数转换器与弹上主芯片相连。 3. The onboard computer according to claim 1, characterized in that the measuring module is connected to the master chip 12-bit ADC and shells.
  4. 4.根据权利要求1所述的弹载计算机,其特征在于,弹上主芯片为MSP430F149。 4. The onboard computer according to claim 1, wherein the primary shells chip MSP430F149.
  5. 5.根据权利要求1-4中任一项所述的弹载计算机,其特征在于,在变压稳压模块中使用LM7805器件。 According to claims 1-4 according to an onboard computer in, characterized in that the device used in the transformer LM7805 regulator module.
  6. 6.根据权利要求1-4中任一项所述的弹载计算机,其特征在于,在上电复位模块中使用TPS7333Q器件。 According to claims 1-4 according to an onboard computer in, characterized in that a power-on reset device TPS7333Q module.
  7. 7.根据权利要求5所述的弹载计算机,其特征在于,在上电复位模块中使用TPS7333Q器件。 7. The onboard computer according to claim 5, characterized in that a power-on reset device TPS7333Q module.
  8. 8.根据权利要求1-4中任一项所述的弹载计算机,其特征在于,在输出控制模块使用功率放大器来代替光耦。 According to claims 1-4 according to an onboard computer in, characterized in that, at the output of the power amplifier control module instead of the optocoupler.
  9. 9.根据权利要求5所述的弹载计算机,其特征在于,在输出控制模块使用功率放大器来代替光耦。 9. The onboard computer according to claim 5, characterized in that, at the output of the power amplifier control module instead of the optocoupler.
  10. 10.根据权利要求6所述的弹载计算机,其特征在于,在输出控制模块使用功率放大器来代替光耦。 10. The onboard computer according to claim 6, characterized in that, at the output of the power amplifier control module instead of the optocoupler.
  11. 11.根据权利要求1所述的弹载计算机,其特征在于,在输出控制模块使用功率放大器来代替光耦。 11. The onboard computer according to claim 1, characterized in that, at the output of the power amplifier control module instead of the optocoupler.
  12. 12.根据权利要求1-4中任一项所述的弹载计算机,还包括壳体,所述壳体包括内壳体和外壳体,内壳体通过包封测量模块、处理模块和输出控制模块,外壳体和端盖包封于内壳体外部,端盖设于外壳体顶部。 According to claims 1-4 onboard computer according to any one, further comprising a housing, said housing comprising an inner housing and outer housing, the inner housing by encapsulation measurement module, and an output processing module a control module housing body and a cover enclosing the casing to the outside, the top end cap provided in the outer casing.
  13. 13.根据权利要求5所述的弹载计算机,还包括壳体,所述壳体包括内壳体和外壳体,内壳体通过包封测量模块、处理模块和输出控制模块,外壳体和端盖包封于内壳体外部,端盖设于外壳体顶部。 13. The onboard computer according to claim 5, further comprising a housing, said housing comprising an inner housing and outer housing, the inner housing by encapsulation measurement module, control module and an output processing module, and the outer housing encapsulated within the end cap to the outside of the housing, an end cap disposed on top of the housing body.
  14. 14.根据权利要求6所述的弹载计算机,还包括壳体,所述壳体包括内壳体和外壳体,内壳体通过包封测量模块、处理模块和输出控制模块,外壳体和端盖包封于内壳体外部,端盖设于外壳体顶部。 14. The onboard computer according to claim 6, further comprising a housing, said housing comprising an inner housing and outer housing, the inner housing by encapsulation measurement module, control module and an output processing module, and the outer housing encapsulated within the end cap to the outside of the housing, an end cap disposed on top of the housing body.
  15. 15.根据权利要求7所述的弹载计算机,还包括壳体,所述壳体包括内壳体和外壳体,内壳体通过包封测量模块、处理模块和输出控制模块,外壳体和端盖包封于内壳体外部,端盖设于外壳体顶部。 Claim 15. The onboard computer of claim 7, further comprising a housing, said housing comprising an inner housing and outer housing, the inner housing by encapsulation measurement module, control module and an output processing module, and the outer housing encapsulated within the end cap to the outside of the housing, an end cap disposed on top of the housing body.
  16. 16.根据权利要求8所述的弹载计算机,还包括壳体,所述壳体包括内壳体和外壳体,内壳体通过包封测量模块、处理模块和输出控制模块,外壳体和端盖包封于内壳体外部,端盖设于外壳体顶部。 16. The onboard computer according to claim 8, further comprising a housing, said housing comprising an inner housing and outer housing, the inner housing by encapsulation measurement module, control module and an output processing module, and the outer housing encapsulated within the end cap to the outside of the housing, an end cap disposed on top of the housing body.
  17. 17.根据权利要求9所述的弹载计算机,还包括壳体,所述壳体包括内壳体和外壳体,内壳体通过包封测量模块、处理模块和输出控制模块,外壳体和端盖包封于内壳体外部,端盖设于外壳体顶部。 17. The onboard computer according to claim 9, further comprising a housing, said housing comprising an inner housing and outer housing, the inner housing by encapsulation measurement module, control module and an output processing module, and the outer housing encapsulated within the end cap to the outside of the housing, an end cap disposed on top of the housing body.
  18. 18.根据权利要求10所述的弹载计算机,还包括壳体,所述壳体包括内壳体和外壳体,内壳体通过包封测量模块、处理模块和输出控制模块,外壳体和端盖包封于内壳体外部,端盖设于外壳体顶部。 18. The onboard computer according to claim 10, further comprising a housing, said housing comprising an inner housing and outer housing, the inner housing by encapsulation measurement module, control module and an output processing module, and the outer housing encapsulated within the end cap to the outside of the housing, an end cap disposed on top of the housing body.
  19. 19.根据权利要求11所述的弹载计算机,还包括壳体,所述壳体包括内壳体和外壳体,内壳体通过包封测量模块、处理模块和输出控制模块,外壳体和端盖包封于内壳体外部,端盖设于外壳体顶部。 19. The onboard computer of claim 11, further comprising a housing, said housing comprising an inner housing and outer housing, the inner housing by encapsulation measurement module, control module and an output processing module, and the outer housing encapsulated within the end cap to the outside of the housing, an end cap disposed on top of the housing body.
  20. 20.根据权利要求12所述的弹载计算机,其中,内壳体与测量模块、处理模块和输出控制模块之间软封装,内壳体与外壳体之间软封装。 20. The onboard computer according to claim 12, wherein the soft package between the inner housing and the measurement module, the processing module and the output module control software package between the inner housing and the outer housing.
  21. 21.根据权利要求1-20中任一项所述的弹载计算机在末制导炮弹中的应用。 21. Application of the end of the 1-20-guided artillery shells in the onboard computer as claimed in any of claims.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1430720A (en) 2000-05-25 2003-07-16 斯托姆金属有限公司 Directional control of missiles
CN101101650A (en) 2007-07-02 2008-01-09 北京理工大学 Low altitude penetration missile three-dimensional route planning method
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1430720A (en) 2000-05-25 2003-07-16 斯托姆金属有限公司 Directional control of missiles
CN101101650A (en) 2007-07-02 2008-01-09 北京理工大学 Low altitude penetration missile three-dimensional route planning method
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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