CN102425978B - Missile-borne computer - Google Patents
Missile-borne computer Download PDFInfo
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- CN102425978B CN102425978B CN201110330099.8A CN201110330099A CN102425978B CN 102425978 B CN102425978 B CN 102425978B CN 201110330099 A CN201110330099 A CN 201110330099A CN 102425978 B CN102425978 B CN 102425978B
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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 the missile-borne computer based on terminal-guided shell.
Background technology
At present, Machine Design is generally used in the control of terminal-guided shell system inertial navigation section, when controlling, there is larger drawback like this, be that inertial navigation section open loop control does not have real control action, especially in body attitude, swing excessive in the situation that, more easily there is deviation, thus digitizing missile-borne computer introduced, thus realize closed-loop control.Mechanical control quality weight, volume is large, and digitizing missile-borne computer is in lightweight, small size aspect is greatly improved.
The deficiencies such as but, the terminal-guided shell missile-borne computer using at present exists complex structure, and cost is high, and volume is large, weight is large.
In low cost, closed-loop control, small size, lightweight, the deficiency of the several aspects of digitizing, the invention provides a kind of missile-borne computer control system, this system provides good inertial navigation section to control for playing deviser, shorten the lead time of bullet, reduce the development cost of bullet, there is very high Social benefit and economic benefit
Summary of the invention
In order to overcome the deficiencies in the prior art, the inventor has carried out research with keen determination, find master chip (CPU) combination on the body exercise data that dimensional orientation gyro, accelerometer and angular velocity gyro are measured and bullet, by the gyroaxis obtaining by dimensional orientation gyro with play axle clamp angle and the body rotating speed obtaining by accelerometer and angular velocity gyro and overload values transfer to master chip on bullet, the steering order that on bullet, master chip provides inertial navigation section in conjunction with acquired results is distributed, output order is exported to steering wheel, control steering wheel and accurately work, thereby complete 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 for measuring body service data, the body service data that processing module is used for measurement module to record is in conjunction with controlled instruction, output control module exports the steering order obtaining from processing module to steering wheel
Wherein, measurement module (also referred to as host CPU processing module) comprises following attitude sensor: twin-axis accelerometer, wobble shaft angular rate gyroscope and space orientation directional gyro, described three sensors are connected with master chip (CPU) on bullet in processing module by front end signal treatment circuit respectively, master chip on bullet in the mode input processing module that twin-axis accelerometer and wobble shaft angular rate gyroscope pass through sensor signal to gather by front end signal treatment circuit respectively, space orientation directional gyro by front end signal treatment circuit by sensor signal by 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 bullet, and transformation Voltage stabilizing module stabilizes to low-voltage the stable electrification reset module of exporting to by missile power supply, then through anti-jamming circuit to master chip power supply on bullet;
Output control module comprises optocoupler (photoelectrical coupler), and on the bullet of its input end and processing module, master chip output terminal is connected, and exports the control signal modulation of master chip output to steering gear machinery in the missile.
Each module volume of missile-borne computer based on terminal-guided shell provided by the invention is little, and connection is simple and easy, and cost is low, transships highly, easy-to-use, is extensively suitable for applying in 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 effort, controls respond well.Invention Project Realization is simple, economical and practical, can accurately export and play rudder instruction in short time period, 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 as rocket, rocket projectile etc.
Accompanying drawing explanation
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 circuit diagram in the electrification reset module of the missile-borne computer according to the present invention.
Fig. 4 is the anti-jamming circuit schematic diagram 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.
Embodiment
Below in conjunction with accompanying drawing, by embodiment, the present invention is described in detail, and the features and advantages of the invention are along with these explanations will become more clear, clear and definite.
The 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 for measuring body service data, the body service data that processing module is used for measurement module to record is in conjunction with controlled instruction, output control module exports the steering order obtaining from processing module to steering wheel
Wherein, measurement module comprises following attitude sensor: twin-axis accelerometer, wobble shaft angular rate gyroscope and space orientation directional gyro, described three sensors are connected with master chip on bullet in processing module by front end signal treatment circuit respectively, master chip on bullet in the mode input processing module that twin-axis accelerometer and wobble shaft angular rate gyroscope pass through sensor signal to gather by front end signal treatment circuit respectively, space orientation directional gyro by front end signal treatment circuit by sensor signal by 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 bullet, and transformation Voltage stabilizing module stabilizes to low-voltage the stable electrification reset module of exporting to by missile power supply, then through anti-jamming circuit to master chip power supply on bullet;
Output control module comprises optocoupler (photoelectrical coupler), and on the bullet of its input end and processing module, master chip output terminal is connected, by the moving steering gear machinery in the missile of control signal modulation output of master chip output.
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, are connected respectively by front end signal treatment circuit (resistance bleeder circuit) with master chip on bullet in processing module.Wherein, twin-axis accelerometer is connected with the mode that master chip on bullet gathers by adc data respectively with wobble shaft angular rate gyroscope, the data of twin-axis accelerometer and wobble shaft angular rate gyroscope sensor transfer to master chip on bullet by the mode of data acquisition, space orientation directional gyro is connected by the mode of catching with master chip on bullet, and the data of space orientation directional gyro transfer to master chip on bullet by the mode of catching.Connected mode between measurement module and host CPU processing module adopts integrated adc data collection and catches two kinds of modes and completes, and measurement module is connected with master chip on bullet by 12 analog to digital converters.Capturing unit can capture the saltus step of capturing unit external pin, while there is saltus step on the external pin of capturing unit, is triggered, and each capturing unit is caught pin.While selected saltus step being detected on catching input pin, 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 interrupt function and the timer of the capturing unit of this chip, can accurately measure two width between edge, can accurately judge triggering state and trigger width.The collection A/D converter using in invention adopts 12 analog to digital converters (the 8 built-in analog to digital converter in 12, tunnel), comprise front end analog multiplexer, adopt holding circuit, conversion kernel, circuit is supported in voltage stabilizer and other simulation, after the hardware resource of ADC has been configured, according to instruction, start A/D sampling, can obtain the result after ADC conversion.
In missile-borne computer according to the present invention, in measurement module, twin-axis accelerometer does not have special requirement, preferably uses twin-axis accelerometer ADXL210E.
In missile-borne computer according to the present invention, in measurement module, wobble shaft angular rate gyroscope does not have special requirement, preferably uses wobble shaft angular rate gyroscope ADXRS150.
In missile-borne computer according to the present invention, in measurement module, space orientation directional gyro is the special gyro in this area, refers to specially space orientation directional gyro.
In missile-borne computer according to the present invention, host CPU processing module by the signal that gathers and capture by the collection pin in CPU with catch pin and enter CPU, in CPU, there is core control algolithm, this algorithm is mainly to use space orientation directional gyro and roll angle rate gyro to find real body gravity direction and real-time roll angle, and obtain Y in conjunction with twin-axis accelerometer, the accekeration of Z diaxon, and carry out attitude closed-loop control by accekeration, thereby (algorithm can be with reference to < < based on DSP missile-borne computer Control System Design > > to obtain the control signal that generates, Wang Wei, Beijing Institute of Technology's academic dissertation), and control signal is transferred to output control module.
In missile-borne computer according to the present invention, on bullet, master chip adopts MSP430F149 (purchased from TI company), and it is low in energy consumption, and volume is little, is suitable for applying on 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 Onboard battery is+12V, therefore at transformation Voltage stabilizing module, adopt LM7805 device, LM7805 by bullet+12V power supply transformation is+5V, electrification reset module is used TPS7333Q device, its general+5V power supply transformation is+3.3V, through anti-jamming circuit, distinguish digital voltage and analog voltage again, to 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, in missile power supply connection layout, "+12V " locates, and output terminal is located for "+5V ", locates to be connected with "+5V " in Fig. 3;
Fig. 3 shows electrification reset modular circuit, i.e. TPS7333Q and accessory circuit thereof, and wherein, "+5V " is connected with "+5V " in Fig. 2, and "+3.3V " is output terminal, is connected with "+3.3V " in Fig. 4, and " RST " is connected with MSP430F149 " RST ";
Fig. 4 shows anti-jamming circuit, and wherein, "+3.3V " is connected with "+3.3V " in Fig. 3, and " DVcc3 " is connected with analog electrical source with the digital power end of MSP430F149 respectively with " AVcc3 ".
In missile-borne computer of the present invention, the Main Function of transformation Voltage stabilizing module is that the voltage of Onboard battery power supply is processed, obtain the voltage of the normal work of host CPU chip, and voltage ripple is very little, electrify restoration circuit guarantees that master chip minimum system can normally work.In the present invention, transformation Voltage stabilizing module device used and electrify restoration circuit module device volume are very little, mate with chip, can, to master chip stable power-supplying, be suitable for applying on bullet.
In missile-borne computer of the present invention, the Main Function 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 of host CPU module and outside steering wheel, electronic unit isolation.
Output control module adopts optocoupler output, and output control module input end is host CPU module output port, and the PWM waveform of host CPU module output zooms into amplitude 12V through output control module and there is no the same waveform of phase shifts.Connected mode between host CPU module and output control module is analog level signal output, and host CPU module output signal adopts universal input/output pin through optocoupler signal output amplification, controls steering wheel.Output control module input end and host CPU processing module coupling, output control module output terminal and steering gear machinery in the missile coupling.In addition, output control module also can adopt power amplifier (power amplifier) to realize corresponding function.Output control module is adjusted to 12V by the control signal of host CPU module output, to drive steering gear machinery in the missile.
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 sensor, controlled signal controlling body is stablized accurately flight according to the attitude designing.
According to the missile-borne computer based on terminal-guided shell of the present invention, preferably also comprise housing, described housing comprises inner housing and shell body, and inner housing is by sealing measurement module, processing module and output control module, shell body and end cap are encapsulated in inner housing outside, and end cap is located at shell body top.Missile-borne computer according to the present invention is arranged on fuse and the warhead position of bullet.
In a further preferred embodiment, soft encapsulation between inner housing and measurement module, processing module and output control module, such as being filled with epoxide-resin glue, silicon gel etc., soft encapsulation between inner housing and shell body, for example be filled with padded coaming as silicon gel, to improve the shock resistance of missile-borne computer.
Embodiment 1
By 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 wobble shaft angular rate gyroscope, use wobble shaft angular rate gyroscope ADXRS150, as master chip on bullet, use MSP430F149, twin-axis accelerometer, wobble shaft angular rate gyroscope is connected with the built-in collection A/D converter of master chip MSP430F149 on bullet by signal wire respectively with space orientation directional gyro, , as optocoupler, use optocoupler TLP521, transformation Voltage stabilizing module circuit adopts circuit as shown in Figure 2, electrification reset modular circuit adopts circuit as shown in Figure 3, anti-jamming circuit adopts circuit as shown in Figure 4.Hole by the Φ 3 on three circles that are evenly distributed on Φ 56 after a whole set of Circuits System connects is connected with inner housing, connect rear employing epoxy encapsulation in aluminum hull (inner housing), end cap is arranged on shell body top, end cap and shell body all adopt high strength alloy steel, not damaged while guaranteeing high overload, between inner and outer shell, be filled with epoxide-resin glue 211, obtain missile-borne computer.This missile-borne computer is arranged on fuse and the warhead position of terminal-guided shell.Between each module and shell body, have good buffer action, make the suffered impact acceleration reduction under the effect in soft encapsulation when the transmitting of race bullet of each module, missile-borne computer system is normally worked.
When above gained missile-borne computer is installed on to terminal-guided shell, while firing shells, bullet is in the moment of transmitting, Onboard battery is activated, the now missile-borne computer normal work that starts to power, now the program in host CPU module brings into operation, and waits for the input of attitude sensor signal.Flight is through after a period of time, sensor signal just enters into host CPU processing module through test module, now host CPU processing module is exported to output control module through the integration of internal control algorithm by control signal, and output control module is exported to steering gear machinery in the missile by output control signal, thereby guarantee that body attitude arrives required target area according to design effort.
In experiment, the signal curve of output of above-mentioned missile-borne computer as shown in Figure 5.
The cost of gained missile-borne computer is extremely low, and its overload reaches 30000G, and usable range is extensive, not only can be applicable to terminal-guided shell, can also be applied to 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.
By anti-rationality embodiment, the present invention is had been described in detail above; these embodiments should not be construed as limitation of the present invention but; those skilled in the art understand; in the situation that not departing from spirit and scope of the invention; can carry out multiple improvement, replacement or modification to technical solutions and their implementation methods of the present invention, these all should fall within the scope of protection of the present invention.
Claims (21)
1. a missile-borne computer, it is characterized in that, described missile-borne computer comprises measurement module, processing module and output control module, measurement module is used for measuring body service data, the body service data that processing module is used for measurement module to record is in conjunction with controlled instruction, output control module amplifies the steering order signal obtaining from processing module to export steering wheel to
Wherein, measurement module comprises following attitude sensor: twin-axis accelerometer, wobble shaft angular rate gyroscope and space orientation directional gyro, described sensor is connected with master chip (CPU) on bullet in processing module by front end signal treatment circuit respectively, master chip on bullet in the mode input processing module that twin-axis accelerometer and wobble shaft angular rate gyroscope pass through sensor signal to gather by front end signal treatment circuit respectively, space orientation directional gyro by front end signal treatment circuit by sensor signal by 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 bullet, and transformation Voltage stabilizing module stabilizes to low-voltage the stable electrification reset module of exporting to by missile power supply, then through anti-jamming circuit to master chip power supply on bullet;
Output control module comprises optocoupler (photoelectrical coupler), and on the bullet of its input end and processing module, master chip output terminal is connected, and exports the control signal modulation of master chip output to steering gear machinery in the missile.
2. missile-borne computer according to claim 1, is characterized in that, described front end signal treatment circuit is resistance bleeder circuit, is specially the built-in analog to digital converter in 12,8 tunnel.
3. missile-borne computer according to claim 1, is characterized in that, described measurement module is connected with master chip on bullet by 12 analog to digital converters.
4. missile-borne computer according to claim 1, is characterized in that, on bullet, master chip is MSP430F149.
5. according to the missile-borne computer described in any one in claim 1-4, it is characterized in that, in transformation Voltage stabilizing module, use LM7805 device.
6. according to the missile-borne computer described in any one in claim 1-4, it is characterized in that, in electrification reset module, use TPS7333Q device.
7. missile-borne computer according to claim 5, is characterized in that, uses TPS7333Q device in electrification reset module.
8. according to the missile-borne computer described in any one in claim 1-4, it is characterized in that, at output control module, with power amplifier, replace optocoupler.
9. missile-borne computer according to claim 5, is characterized in that, at output control module, with power amplifier, replaces optocoupler.
10. missile-borne computer according to claim 6, is characterized in that, at output control module, with power amplifier, replaces optocoupler.
11. missile-borne computers according to claim 7, is characterized in that, at output control module, with power amplifier, replace optocoupler.
12. according to the missile-borne computer described in any one in claim 1-4, also comprise housing, described housing comprises inner housing and shell body, and inner housing is by sealing measurement module, processing module and output control module, shell body and end cap are encapsulated in inner housing outside, and end cap is located at shell body top.
13. missile-borne computers according to claim 5, also comprise housing, described housing comprises inner housing and shell body, and inner housing is by sealing measurement module, processing module and output control module, shell body and end cap are encapsulated in inner housing outside, and end cap is located at shell body top.
14. missile-borne computers according to claim 6, also comprise housing, described housing comprises inner housing and shell body, and inner housing is by sealing measurement module, processing module and output control module, shell body and end cap are encapsulated in inner housing outside, and end cap is located at shell body top.
15. missile-borne computers according to claim 7, also comprise housing, described housing comprises inner housing and shell body, and inner housing is by sealing measurement module, processing module and output control module, shell body and end cap are encapsulated in inner housing outside, and end cap is located at shell body top.
16. missile-borne computers according to claim 8, also comprise housing, described housing comprises inner housing and shell body, and inner housing is by sealing measurement module, processing module and output control module, shell body and end cap are encapsulated in inner housing outside, and end cap is located at shell body top.
17. missile-borne computers according to claim 9, also comprise housing, described housing comprises inner housing and shell body, and inner housing is by sealing measurement module, processing module and output control module, shell body and end cap are encapsulated in inner housing outside, and end cap is located at shell body top.
18. missile-borne computers according to claim 10, also comprise housing, described housing comprises inner housing and shell body, and inner housing is by sealing measurement module, processing module and output control module, shell body and end cap are encapsulated in inner housing outside, and end cap is located at shell body top.
19. missile-borne computers according to claim 11, also comprise housing, described housing comprises inner housing and shell body, and inner housing is by sealing measurement module, processing module and output control module, shell body and end cap are encapsulated in inner housing outside, and end cap is located at shell body top.
20. missile-borne computers according to claim 12, wherein, soft encapsulation between inner housing and measurement module, processing module and output control module, soft encapsulation between inner housing and shell body.
21. application in terminal-guided shell according to the missile-borne computer described in any one in claim 1-20.
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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 |
| 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 |
| 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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| 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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| 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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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 |