CN106094781A - Detection device and detection method for rocket gun electric transmission performance - Google Patents

Abstract

The invention discloses a detection device and a detection method for the electric transmission performance of the rocket launcher. The detection device for the electric transmission performance of the rocket launcher includes a running collection unit, an electric information collection unit, and an external control unit. The external control unit has High and low signal input sockets, direction signal input sockets, and operation signal input sockets, the signal output end of the operation acquisition unit is connected to the operation signal input socket, the high and low circuit information output end is connected to the high and low signal input sockets, and the direction information output end of the electrical information acquisition unit Connect to the direction signal input socket. The invention has simple structure and high degree of automation, and can carry out on-line real-time detection on the electric drive system of the rocket launcher, and when the electric drive system breaks down, the fault can be found out in time according to the test result for maintenance. The invention is suitable for detecting the electric drive of the 81-122 rocket launcher.

Description

Detection device and detection method for electric drive performance of rocket launcher

technical field

The invention belongs to the field of detection of electric transmission performance of military weapons, and specifically relates to a detection device for the electric transmission performance of a rocket launcher, and meanwhile, the invention also provides a detection method for the electric transmission performance of a rocket launcher.

Background technique

When the 81-122 rocket launcher of our army is in use, the angle needs to be adjusted. The adjustment of the angle includes not only the adjustment of the height angle, but also the adjustment of the left and right angles. Only when the two angles are adjusted in place can the final accuracy of hitting the target be guaranteed. sex. At present, the height and direction movement of the rocket launcher is realized by telex control. Due to the precise requirements on the movement angle and speed, the prior art uses height and direction angle limit devices to precisely position the above movement. The principle of the height and direction angle limiting device is: the height and direction angle limiting device has multiple switches. When the rocket launcher runs to different height angles and direction angles, the movement speed of each interval is controlled by the combination of each switch; and When the rocket launcher runs to the limit angle or dangerous area, it is necessary to directly cut off the electric transmission circuit and stop the adjustment of the gun, and the relevant standards also stipulate the parameter range of the speed of each interval and each limit angle. Once it exceeds the fixed range, it is considered that the electric drive There are problems in the mechanism, and at the same time, it can judge the pros and cons of the electric drive performance of the rocket launcher.

However, if you want to complete the judgment on the electric transmission performance of the rocket launcher, you need to detect the operating parameters when the rocket launcher is running. At present, the domestic detection methods are manual visual inspection and static judgment. Or use other tools to detect the state after it is put in place, which has the disadvantages of inaccurate detection results and the inability to detect during the operation of the rocket launcher, and cannot realize the monitoring of the operation process of the rocket launcher.

In addition, if the rocket launcher is repaired, the height and direction of the rocket launcher need to be adjusted, but the current adjustment method only relies on visual inspection and static judgment to determine, which also has the defect of large error.

Contents of the invention

In order to solve the above deficiencies in the prior art, the present invention provides a detection device for the performance of the rocket launcher electric transmission, which can monitor the operation process of the rocket launcher, judge the performance of the rocket launcher electric transmission device through the monitoring results, and find faults in time Make repairs.

In order to achieve the above object, the technical scheme adopted in the present invention is as follows:

A detection device for electric transmission performance of a rocket launcher, comprising:

The operation collection unit for collecting the operation information of the rocket launcher during operation, the operation collection unit is fixed on the gun body of the rocket launcher, and rotates coaxially with the height angle limiter of the electric drive system of the rocket launcher or the rocket launcher respectively;

An electrical information acquisition unit for collecting the height and direction control circuit information of the rocket launcher, the electrical information acquisition unit is arranged in the control circuit of the rocket launcher electric drive system, and outputs the height control circuit information and the direction control circuit information of the rocket launcher respectively;

An external control unit for receiving, analyzing, and processing the information collected by the operation collection unit and the electrical information collection unit. The external control unit has high and low signal input sockets, direction signal input sockets, and operation signal input sockets. The operation collection The signal output end of the unit is connected to the running signal input socket, the high and low circuit information output end is connected to the high and low signal input socket, and the direction information output end of the electrical information collection unit is connected to the direction signal input socket.

As a limitation of the present invention: the operation collection unit includes:

The high-low acquisition mechanism for collecting the information of the height limiter of the rocket launcher, the high-low acquisition mechanism includes a height sensor for collecting the information of the high-low angle limiter of the rocket launcher, and a first mounting bracket for installing the height sensor, the first installation One end of the bracket is fixed on the gun body of the rocket launcher, and the other end of the first mounting bracket is equipped with a height sensor, and the signal input end of the height sensor is linked with the rotating shaft of the height angle limiter through an elastic connection;

The direction acquisition mechanism for collecting the information of the direction angle limiter of the rocket launcher, the direction acquisition mechanism includes a direction sensor for collecting the information of the direction angle limiter of the rocket launcher, and a second mounting bracket for installing the direction sensor, the second installation One end of the support is fixed on the gun body of the rocket launcher, and the other end is equipped with a direction sensor, and the signal input end of the direction sensor is linked with the friction wheel shaft provided on the outer ring of the rotary disk of the rocket launcher through an elastic connection.

As a further definition of the present invention: the height sensor is a first rotary encoder; the first mounting bracket includes a first magnetic clamp fixed on the gun body of the rocket launcher, and the first magnetic clamp is fixed on the A first mounting rod is provided, and a second mounting rod for fixing the first rotary encoder is fixed on the first mounting rod, and the rotating shaft of the first rotary encoder is linked with the rotating shaft of the height limiter;

The direction sensor is a second rotary encoder; the second mounting bracket includes a second magnetic holder fixed on the gun body of the rocket launcher, and a mounting frame with a cavity is fixed on the second magnetic holder. The second rotary encoder is fixed in the cavity of the installation frame, and the rotating shaft of the second rotary encoder is linked with the friction wheel rotating shaft arranged on the outer ring of the rotary disk of the rocket launcher through elastic connection.

As another limitation of the present invention: the external control unit includes a main control module as a control center;

A signal acquisition module for collecting height and direction signals of the rocket launcher, the signal acquisition module has a height signal input terminal, a direction signal input terminal, and a running signal input terminal, respectively corresponding to the high and low signal input socket and the direction signal input socket of the external control unit , Running signal input socket, described high and low signal input terminal, direction signal input terminal are directly connected to the high and low, direction detection signal input terminal of the main control module, and the running signal input terminal is connected to the signal input terminal of the main control module through the AD conversion module;

A display module for displaying the operation process and information, the signal input end of the display module is connected to the display signal output end of the main control module;

An input module for staff to input instruction information, the signal output end of the input module is connected to the instruction signal receiving end of the main control module;

A power supply module for supplying power to the main control module, signal acquisition module, AD conversion module, display module, and input module, the power output terminals of the power supply module are respectively connected to the main control module, signal acquisition module, AD conversion module, and display module input module.

The present invention also provides a detection method for the electric transmission performance of the rocket launcher, which is completed by using the above-mentioned detection device for the electric transmission performance of the rocket launcher, and includes the following steps carried out in sequence:

(1) System installation: Install the operation acquisition unit and the electrical information acquisition unit in place, make the operation acquisition unit rotate coaxially with the high and low angle limiter and the gun body of the acquisition rocket launcher, and make the electrical information acquisition unit respectively connected to the high and low angle limiter The electrical control circuit of the positioner, the electrical control circuit of the direction angle limiter, and at the same time connect the signal lead wire output by the operation acquisition unit to the operation signal input socket of the external control unit, and the high and low circuit information output terminal of the information acquisition unit is connected to the external control unit. High and low signal input sockets, the direction information output terminal of the electrical information acquisition unit is connected to the direction signal input socket of the external control unit;

(2) Information collection: the operation collection unit collects the information of the height angle limiter and the direction angle limiter of the rocket launcher respectively, and the electrical information collection unit collects the control circuit of the high and low angle limiter of the rocket launcher and the direction angle limiter respectively Control the electrical information of the circuit, run the acquisition unit and the electrical information acquisition unit at the same time, and transmit the collected information to the external control unit in real time;

(3) Information analysis and processing: After receiving the above-mentioned information, the external control unit uses its own stored calculation program to analyze and process various types of information to obtain the final result;

(4) Fault judgment: The external control unit corresponds the final result obtained with the information stored by itself, that is, obtains the operating status of the rocket launcher. If the rocket launcher is abnormal in operation, the external control unit stores corresponding fault information, and finally directly obtains Failure of the bazooka electric drive.

As a limitation to the above method: the collection of information by the operation acquisition unit includes: using the first rotary encoder to respectively record the direction angle of the rocket launcher from up to down and from bottom to top at full speed outside the specific degree of the rocket launcher's normal operation, and the direction angle is in the direction angle of the rocket launcher. The number of rotations at full speed from top to bottom and bottom to top within a certain degree of normal operation, and the number of rotations at any angle segment is recorded at the same time;

The second rotary encoder is used to record the number of rotations of the direction angle of the rocket launcher within the range from the right specified degree to the left specified degree in the normal operation of the rocket launcher when the elevation angle is above the specified degree in the normal operation of the rocket launcher.

As a limitation to the information collected by the electrical information acquisition unit in the above method: the information collected by the electrical information acquisition unit includes: during the high and low operation of the rocket launcher, the high and low angles are set by the respective switches of the high and low angle limiters. The voltage of the control circuit of the limiter;

During the left and right operation of the rocket launcher, the voltage of the control circuit of the directional angle limiter passes through the directional angles set by the switches of the directional angle limiter respectively.

As a limitation to the information analysis and processing in the above method: the information analysis and processing includes: through the first rotary encoder and the number of turns collected and the timing data of the external control unit, the external control unit can calculate the rocket launcher according to the calculation program stored in itself. During normal operation, it goes from top to bottom, from bottom to top at full speed outside a certain direction angle, from top to bottom, from bottom to top at full speed within a certain direction angle, and the speed of any angle segment, and is consistent with the speed reference stored in the external control unit. Values are compared to obtain the comparison result; through the second rotary encoder, the number of turns collected and the timing data of the external control unit, the external control unit can calculate the height angle of the rocket launcher above a specific angle according to the calculation program stored in itself. The speed within the range from the right specific direction angle to the left specific direction angle of the rocket launcher is compared with the speed reference value stored in the external control unit to obtain the comparison result;

The external control unit collects the voltage of the control circuit of the high and low angle limiter at the high and low angles set by the switches of the high and low angle limiter during the high and low operation process of the rocket launcher collected by the electrical information acquisition unit, and the normal value stored in the internal storage. When the rocket launcher passes the high and low angle voltages set by the switches of the high and low angle limiter, the comparison result is obtained; at the same time, the rocket launcher collected by the electrical information acquisition unit passes through the direction angle limiter respectively during the left and right running process. The voltage of the control circuit of the directional angle limiter at the directional angle set by each switch of the directional angle limiter is compared with the voltage of the directional angle set by each switch of the directional angle limiter of the rocket launcher stored by itself, and the comparison is obtained. to the result.

As a limitation on the comparison results in the above method: when the comparison results meet the following requirements at the same time, it is determined that the rocket launcher is normal:

The calculated rocket launcher goes from top to bottom and bottom to top at full speed outside the specified direction angle, and goes from top to bottom and bottom to top at full speed within the specified direction angle, and the speed of any angle segment is within the error of the stored speed reference value. within the range; when the height angle of the rocket launcher is above a specific angle, the speed of the rocket launcher’s direction angle within the range from the right setting angle to the left setting angle range and the stored speed reference value are within the error range; the rocket launcher passes through each of the height angle limiters When the height angle is set by the switch, the voltage of the control circuit of the height angle limiter and the voltage reference value stored in the external control unit are within the error range; When the direction angle is fixed, the voltage of the control circuit of the direction angle limiter and the voltage reference value stored inside the external control unit are within the error range.

As a limitation to the fault information in the above method: the rocket launcher fault information stored inside the external control unit in the described step (four) includes:

When the rocket launcher passes through the angles set by the switches of the high and low angle limiter or the direction angle limiter during the operation of the height and direction, the voltage of the control circuit of the high and low angle limiter or the control circuit of the direction angle limiter If the voltage and the voltage reference value stored in the external control unit are both outside the error range, then the installation position of the elevation angle limiter or the direction angle limiter is wrong;

When the rocket launcher passes through the angles set by the switches of the high and low angle limiter or the direction angle limiter during the high and low or direction running process, some voltage of the control circuit of the high and low angle limiter or the voltage of the direction angle limiter Some voltages of the control circuit and the voltage reference value stored in the external control unit are outside the error range, and the high and low angle limiter or the direction angle limiter may be damaged;

The rocket launcher is in the high and low speed ranges, and the speed change is not obvious, then there is a problem with the speed control circuit;

The speed of the rocket launcher's altitude operation or left and right operation is higher than the reference speed, the speed regulating resistor is short-circuited, and the contacts of the polarization relay are stuck;

If the speed of the rocket launcher’s altitude operation or left and right operation is lower than the reference speed, it is a mechanical failure or an electrical failure;

When the height of the rocket launcher is running, if the upward and downward speed values are different, the mechanical failure will occur;

When the rocket launcher is running left and right, if the left and right speed values are different, it is a mechanical failure or a motor failure.

Owing to having adopted above-mentioned technical scheme, the technical progress that the present invention obtains compared with prior art is:

(1) the present invention collects height, the switch angle of direction angle limiter, and the electric signal of control circuit respectively by operation acquisition unit and electric information acquisition unit, can calculate the speed information of rocket launcher according to the information of gathering, and reach height, The electric signal at the angle corresponding to each switch of the direction angle limiter intuitively gives various parameters in the electric drive process of the rocket launcher, that is, completes the real-time monitoring of the rocket launcher operation process, and at the same time combines the above speed information and electrical signals with the After comparing the reference values stored in the external control unit, you can get whether the rocket launcher is running normally or not. When the rocket launcher runs abnormally, the external control unit stores faults corresponding to various abnormal conditions, and you can directly give the fault Analyze and provide maintenance suggestions to staff;

(2) the operation acquisition unit of the present invention comprises a height sensor and a direction sensor, and the height sensor and the direction sensor all adopt the rotary encoder in the prior art, and record the number of rotations along with the rocket launcher by the rotary encoder, and send it to An external control unit, and the external control unit is equipped with timing, and calculates the running speed of the rocket launcher according to the number of rotations of the rotary encoder obtained above and the obtained timing. precise;

(3) The electrical information collection unit of the present invention directly collects the electrical information of the control circuit where each switch of the height and direction angle limiter is located, which also makes the detection result more accurate;

(4) fault information is stored in the external control unit of the present invention, if the comparison result obtained is abnormal, the external control unit provides the possible faults of the rocket launcher electric drive system corresponding to various abnormal situations, and the staff can intuitively Accurately obtain fault information for easy maintenance.

To sum up, the present invention has a simple structure and a high degree of automation, and can perform online real-time detection on the electric transmission system of the rocket launcher. When the electric transmission system fails, it can find out the fault in time according to the detection results for maintenance.

The invention is suitable for detecting the electric drive of the 81-122 rocket launcher.

Description of drawings

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 is the functional block diagram of embodiment 1 of the present invention;

Fig. 2 is the schematic diagram of the circuit in which the main control module of the external control unit is connected with the AD conversion module and the controllable photoelectric coupling device in Embodiment 1 of the present invention;

3 is a schematic circuit diagram of the connection between the main control module of the external control unit and the display module and the input module in Embodiment 1 of the present invention;

Fig. 4 is the schematic diagram of the circuit in which the electrical information detection unit is connected to the external control unit in Embodiment 1 of the present invention;

5 is a schematic structural diagram of the height acquisition mechanism of the operation detection unit in Embodiment 1 of the present invention;

6 is a schematic diagram of the installation structure of the direction acquisition mechanism of the running detection unit in Embodiment 1 of the present invention;

7 is a waveform diagram output by the first rotary encoder 21 and the second rotary encoder 22 in Embodiment 1 of the present invention;

Fig. 8 is the flowchart of embodiment 2 of the present invention;

Fig. 9 is a flow chart of high and low speed measurement in Embodiment 2 of the present invention;

Fig. 10 is a flowchart of direction angle measurement in Embodiment 2 of the present invention;

Fig. 11 is the coordinate diagram that rocket launcher elevation angle, direction angle constitute in the embodiment 2 of the present invention;

Fig. 12 is a flow chart of height angle measurement in Embodiment 2 of the present invention;

Fig. 13 is a flow chart of direction angle measurement in Embodiment 2 of the present invention.

In the figure: 1-gun body, 21-the first rotary encoder, 22-the second rotary encoder, 31-the first magnetic holder, 32-the second magnetic holder, 41-the first installation rod, 42- The second installation rod, 51-the first elastic connection, 52-the second elastic connection, 61-the first installation frame, 62-the second installation frame, 7-the friction wheel.

detailed description

Embodiment 1 is used for the detection device of electric drive performance of rocket launcher

This embodiment provides a detection device for the electric drive performance of the rocket launcher, as shown in Figure 1, comprising:

(1) The operation collection unit is used to collect various operation information during the operation of the rocket launcher, and the operation collection unit is fixed on the gun body of the rocket launcher, and is coaxial with the height angle limiter or the rocket launcher of the electric drive system of the rocket launcher respectively turn.

The operation collection unit of the present embodiment comprises:

1. the high and low acquisition mechanism is used to collect the information of the high and low angle limiter of the rocket launcher, as shown in Figure 5, it includes the high and low sensor for collecting the information of the high and low angle limiter of the rocket launcher, and the first mounting bracket for installing the high and low sensor, in the present embodiment The high-low sensor adopts the rotary encoder in the prior art, which is marked as the first rotary encoder 21 in this embodiment for convenience of description. As shown in Figure 5, the first mounting bracket includes a first magnetic mount 31 fixed on the barrel body 1 of the rocket launcher, the first magnetic mount 31 is fixed with a first mounting rod 41, and A mounting rod 41 is fixedly provided with a second mounting rod 42 for fixing the first rotary encoder 21, and the first rotary encoder 21 is fixed on the second mounting rod 42 by screws, and the first rotary encoder 21 The rotating shaft of the first mounting bracket 61 is fixedly arranged in the first elastic coupling 51 to be linked with the rotating shaft of the elevation angle limiter.

② The direction acquisition mechanism is used to collect the information of the direction angle limiter of the rocket launcher, as shown in Figure 6, including the direction sensor for collecting the information of the direction angle limiter of the rocket launcher, and the second mounting bracket for installing the direction sensor. The direction sensor in the embodiment also adopts the rotary encoder in the prior art, i.e. the second rotary encoder 22; and the second mounting bracket includes a second magnetic clamp 32 fixed on the barrel body 1 of the rocket launcher , the second magnetic card base 32 is fixed with a second mounting frame 62 with a cavity, the second rotary encoder 22 is fixed in the cavity of the mounting frame 6 by screws, and the rotating shaft of the second rotary encoder 22 passes through The second elastic coupling 52 is linked with the rotating shaft of the friction wheel 7 arranged on the outer ring of the rotary disk of the rocket launcher.

(2) an external control unit, used to receive, analyze, and process the information collected by the acquisition unit. The external control unit has a high and low signal input socket, a direction signal input socket, and an operation signal input socket. The signal output of the operation acquisition unit Connect the terminal to the running signal input socket.

The external control unit in this implementation is shown in Figure 1, including:

① As the main control module of the control center, the existing single-chip microcomputer technology is adopted. As shown in Figure 2, the 89C51 single-chip microcomputer in the prior art is used to store the voltage reference values of each height and direction angle of the rocket launcher, and the rocket launcher in each interval. Height, low, direction running speed reference value.

②A signal acquisition module used to collect the height and direction signals of the rocket launcher. The signal acquisition module has a height signal input terminal, a direction signal input terminal, and a running signal input terminal, which correspond to the high and low signal input sockets and the direction signal input of the external control unit respectively. Socket, running signal input socket, described high-low signal input end, direction signal input end are directly connected to the high-low, direction detection signal input end of the main control module, and the running signal input end is connected to the signal input end of the main control module through the AD conversion module.

Since the signals output by the height sensor and direction sensor in this embodiment are digital signals, the signals output by the height sensor and direction sensor in this embodiment are directly transmitted to the main control module, as shown in FIG. 4 .

Since the first rotary encoder 21 and the second rotary encoder 22 in this embodiment are ELTRA incremental rotary encoders, there are two output waveforms, as shown in Figure 7, including an A pulse and One B pulse, the phase between the two pulses is 90°, the A pulse is ahead of the B pulse during forward rotation, and the B pulse is ahead of the A pulse during reverse rotation. Taking the high-low sensor as an example, the output terminal of the first rotary encoder 21 Directly transmit to the P3.0 and P3.1 pins of the microcontroller, and judge the current combination value by scanning the status of the P3.0 and P3.1 pins, among which the BA combination has four states of 00, 01, 10 and 11, and then Compared with the last detected value, the rotation direction of the first rotary encoder 21 can be judged, and then it can be determined whether the rocket launcher is running from high to low or from low to high.

③ A display module for displaying the operation process and information, the signal input end of the display module is connected to the display signal output end of the main control module. The display module of this embodiment is shown in FIG. 3 , and a liquid crystal display in the prior art is used, and the specific connections may refer to FIG. 3 .

④ An input module for staff to input instruction information, the signal output end of the input module is connected to the instruction signal receiving end of the main control module. The input module of this implementation is shown in FIG. 3 , which can directly use the keyboard input in the prior art, and refer to FIG. 3 for the specific connection with the main control module.

⑤ A power supply module for supplying power to the main control module, signal acquisition module, AD conversion module, display module, and input module. The power output terminals of the power supply module are respectively connected to the main control module, signal acquisition module, AD conversion module, display module import module.

(3) Electric information collection unit, for collecting the information of the high and low, direction control circuit of rocket launcher, the high and low circuit information output end of described electric information collection unit connects the high and low signal input socket of external control unit, the direction information of electric information collection unit The output terminal is connected to the direction signal input socket of the external control unit.

The electrical information acquisition unit of this embodiment can directly use the tee for collecting electrical signals in the prior art. Since this embodiment needs to collect the information of the high and low control circuit and the information of the direction control circuit, two tees are required, one at one end It is connected to the high and low control circuit of the electric drive system of the rocket launcher, and the other end is connected to the high and low signal input socket of the external control unit; and one end of the other tee is connected to the direction control circuit of the electric drive system of the rocket launcher, and the other end is connected to the external control unit. The direction signal input socket of the control unit.

Since the signal collected by the tee is an analog signal, the signal needs to be converted by AD before being transmitted to the main control module. Therefore, as shown in Fig. The controllable photocoupler TLP521 performs filtering, and then passes AD conversion through an AD conversion module (ADC0809 conversion chip used in this embodiment) and then sends it to the main control module.

Embodiment 2 is used for the detection method of electric drive performance of rocket launcher

The present invention provides a kind of detection method that is used for rocket launcher electric transmission performance, utilizes the detection device that is used for rocket launcher electric transmission performance described in embodiment 1 to complete, as shown in Figure 8, comprises the following steps that carry out successively:

(1) System installation: Install the operation acquisition unit and the electrical information acquisition unit in place, make the operation acquisition unit rotate coaxially with the high and low angle limiter and the gun body of the acquisition rocket launcher, and make the electrical information acquisition unit respectively connected to the high and low angle limiter The electrical control circuit of the positioner, the electrical control circuit of the direction angle limiter, and at the same time connect the signal lead wire output by the operation acquisition unit to the operation signal input socket of the external control unit, and the high and low circuit information output terminal of the information acquisition unit is connected to the external control unit. The high and low signal input socket, the direction information output end of the electrical information collection unit is connected to the direction signal input socket of the external control unit.

(2) Information collection: the operation collection unit collects the information of the height angle limiter and the direction angle limiter of the rocket launcher respectively, and the electrical information collection unit collects the control circuit of the high and low angle limiter of the rocket launcher and the direction angle limiter respectively Control the electrical information of the circuit, run the acquisition unit and the electrical information acquisition unit at the same time, and transmit the collected information to the external control unit in real time.

In this step, the collection information collected by running the collection unit includes:

① Utilize the first rotary encoder 21 to respectively record the direction angle of the rocket launcher from top to bottom and from bottom to top at full speed outside the specified degree of normal operation of the rocket launcher, and from top to bottom and from bottom to top at full speed within the specified degree of normal operation of the rocket launcher. The highest number of rotations, while recording the number of rotations of any angle segment.

Since the rocket launcher uses a direction angle of 39.5 degrees as the dividing line during operation, there are requirements for the high and low characteristics of the direction angle outside 39.5 degrees and within 39.5 degrees. The specific characteristic requirements are:

When the direction angle is beyond 39.5 degrees, the average speed from 1.5 degrees to 50±1 degrees should be 5±10/s; when it reaches 50±1 degrees, it should slow down obviously; The degree should be 1±0.3 degree/s; run down to degrees and run up to should stop.

When the direction angle is within 39.5 degrees, run down to It should slow down obviously when it reaches 12±0.5 degrees, and it should stop when it reaches 12±0.5 degrees. The speed in the slow zone is 0.75±0.1 degrees/s; the average speed from 12±0.5 degrees to 50±1 degrees should be 5±1 degrees/s; When it reaches 50±1 degrees, it should slow down obviously; from 50±1 degrees to The average speed of degrees should be 1±0.3 degrees/s.

Therefore the direction specific angle of the present embodiment is chosen as 39.5 degree, promptly utilizes the first rotary encoder 21 to record respectively the direction angle of the rocket launcher at full speed beyond 39.5 degree from top to bottom, from bottom to top, and within the direction angle of 39.5 degrees, at full speed from top to bottom. The number of rotations from bottom to top, and the number of rotations at any angle segment is recorded at the same time.

② Utilize the second rotary encoder 22 to record the number of rotations of the direction angle of the rocket launcher within the range from the right specified degree to the left specified degree in the normal operation of the rocket launcher when the height angle is above the specified degree in the normal operation of the rocket launcher.

Since the rocket launcher has specific requirements on the direction when the direction angle is above 14 degrees, the specific requirements are: the electric drive should stop when it reaches 67.5±1 degrees to the right and 99.5±1 degrees to the left, and it should be able to operate in reverse ; The direction angle is within the range of 67.5±1 degrees to 99.5±1 degrees to the right, and the average speed of forward and reverse directions is 7±1 degrees/s.

Therefore, in this embodiment, the specific angle of height is selected as 14 degrees. Considering the allowable error, the specific comparison is selected as 14+1 degree and 14-0.5 degrees.

③Use the electrical information detection unit to detect the voltage of the control circuit of the high and low angle limiter when the rocket launcher is in the process of high and low operation, and the high and low angles are set by the switches of the high and low angle limiter respectively.

Since in the actual use process, the height angle limiter is equipped with five kinds of switches, corresponding to control the height angle of 1.5 degrees, 12 degrees, 14 degrees, 50 degrees, and 53.5 degrees, so the electronic information detection unit is required to detect the rocket launchers respectively. The voltage value at each switch when the height angle is 1.5 degrees, 12 degrees, 14 degrees, 50 degrees, 53.5 degrees.

④ Use the electrical information detection unit to detect the voltage of the control circuit of the directional angle limiter when the rocket launcher passes through the directional angles set by the switches of the directional angle limiter during left and right operation.

In actual use, the direction angle limiter is equipped with three switches, corresponding to the control direction angle of 39.5 degrees left and right, 99.5 degrees left and 67.5 degrees right, so the electrical information detection unit is required to detect the rocket launcher passing through the direction angle of 39.5 degrees left and right respectively. , The voltage value at each switch at 99.5 degrees left and 67.5 degrees right.

The detection and determination process for the above-mentioned angles is the determination of each switch action of the high and low angle limiter and the direction angle limiter. As shown in Figure 11, the height and direction angle of the rocket launcher are formed into coordinates, and the abscissa is the direction angle. The ordinate is the height angle, and in the formed coordinates, the left and right angles are 39.5 degrees as the dividing point, and the height angle is 1.5 degrees as the dividing point, that is, the area where the rocket launcher operates within the left and right direction angles of 39.5 degrees and the height angle of 1.5 degrees is Dangerous area, the rest are safe areas, and 99.5 degrees to the left and 67.5 degrees to the right are direction limit angles, 53.5 degrees are height limit angles, and the remaining areas can be controlled according to the characteristic requirements given above. As for the specific determination process of the elevation angle and direction angle, it is enough as shown in Fig. 12 and Fig. 13 .

(3) Information analysis and processing: After receiving the above information, the external control unit uses its own stored calculation program to analyze and process various types of information to obtain the final result.

The information analysis and processing in this step include:

① Through the number of turns collected by the first rotary encoder 21 and the timing data of the external control unit, the external control unit can calculate according to the calculation program stored by itself that the rocket launcher is in normal operation, and the direction angle is beyond 39.5 degrees at full speed from top to bottom, From bottom to top, from top to bottom, from bottom to top, and any angle section at full speed within a direction angle of 39.5 degrees, compare it with the speed reference value stored in the external control unit to obtain the comparison result.

②Through the number of turns collected by the second rotary encoder and the timing data of the external control unit, the external control unit can calculate according to its own stored calculation program that when the height angle of the rocket launcher is above 14 degrees, the rocket launcher is on the right at 67.5±1 degree to the left 99.5±1 degree direction angle range, and compare it with the speed reference value stored in the external control unit to obtain the comparison result.

The detection principle of the above-mentioned direction running speed of the rocket launcher is the same as the high and low running speed. Taking the speed detection of the rocket launcher running from top to bottom at full speed within a direction angle of 39.5 degrees as an example, it is assumed that the high and low action angles obtained by each measurement are 14 degrees and 51.5 degrees in turn. , 53 degrees, as shown in Figure 9.

③The external control unit collects the voltage of the control circuit of the high and low angle limiter at the high and low angles set by the switches of the high and low angle limiter during the high and low operation process collected by the electrical information acquisition unit, and the voltage of the control circuit of the internal storage Normally, the rocket launcher is compared with the voltages of the high and low angles set by the switches of the high and low angle limiter, and the comparison result is obtained; at the same time, the rocket launcher collected by the electrical information acquisition unit passes through the direction angle limiter respectively during the left and right operation. The voltage of the control circuit of the directional angle limiter at the directional angle set by each switch of the directional angle limiter is compared with the voltage of the directional angle set by each switch of the directional angle limiter of the self-stored rocket launcher respectively, and the obtained Compare the results.

The principle of detecting the direction angle of the rocket launcher above is the same as that of the high and low angle detection. Taking the direction angle detection of the rocket launcher as an example, it is necessary to detect the voltage values when the direction angles are 39.5 degrees, 67.5 degrees, and 99.5 degrees respectively. The specific detection process is shown in Figure 10. .

(4) Fault judgment: The external control unit corresponds the final result obtained with the information stored by itself, that is, obtains the operating status of the rocket launcher. If the rocket launcher is abnormal in operation, the external control unit stores corresponding fault information, and finally directly obtains Failure of the bazooka electric drive.

When the comparison result meets the following requirements at the same time, it is determined that the rocket launcher is normal:

The calculated rocket launcher goes from top to bottom and bottom to top at full speed outside the specified direction angle, and goes from top to bottom and bottom to top at full speed within the specified direction angle, and the speed of any angle segment is within the error of the stored speed reference value. within the range; when the height angle of the rocket launcher is above a specific angle, the speed of the rocket launcher’s direction angle within the range from the right setting angle to the left setting angle range and the stored speed reference value are within the error range; the rocket launcher passes through each of the height angle limiters When the height angle is set by the switch, the voltage of the control circuit of the height angle limiter and the voltage reference value stored in the external control unit are within the error range; When the direction angle is fixed, the voltage of the control circuit of the direction angle limiter and the voltage reference value stored inside the external control unit are within the error range.

The rocket launcher failure information stored inside the external control unit includes:

During the high and low operation of the rocket launcher, when the high and low angles are set by the switches of the high and low angle limiter, the voltage of the control circuit of the high and low angle limiter and the voltage reference value stored in the external control unit are all outside the error range. Then the installation position of the height limiter is wrong, and the height limiter needs to be reinstalled at this time;

During the high and low operation of the rocket launcher, when the high and low angles are set by the switches of the high and low angle limiter, some voltages of the control circuit of the high and low angle limiter are outside the error range from the voltage reference value stored in the external control unit , that is, some voltage values are normal voltage values, and some voltage values are abnormal voltage values, the high and low angle limiter may be damaged, and a new high and low angle limiter needs to be replaced at this time;

During the left and right operation of the rocket launcher, when the direction angles set by the switches of the direction angle limiter are respectively passed through, the voltage of the control circuit of the direction angle limiter and the stored voltage reference value are both outside the error range, and the direction angle limit The installation position of the limiter is wrong, and the direction angle limiter needs to be reinstalled at this time;

During the left and right operation of the rocket launcher, when the direction angles set by the switches of the direction angle limiter are respectively passed, some voltages of the control circuit of the direction angle limiter and the stored voltage reference value are outside the error range, that is, some The voltage value is a normal voltage value, and some voltage values are abnormal voltage values, and the direction angle limiter may be damaged. In this case, a new direction angle limiter needs to be replaced;

When the rocket launcher is in the high and low speed ranges, if the speed change is not obvious, then there is a problem with the speed control circuit, and the speed control circuit needs to be repaired;

The speed of the rocket launcher’s altitude operation or left and right operation is higher than the reference speed, the speed regulating resistor is short-circuited, and the contacts of the polarization relay are stuck, so the speed regulating resistor and the polarization relay need to be repaired;

If the speed of the rocket launcher's altitude operation or left and right operation is lower than the reference speed, it is a mechanical failure or an electrical failure, such as a motor failure, manual resistance failure, etc., and the motor and manual resistance need to be overhauled;

When the height of the rocket launcher is running, if the upward and downward speed values are different, the mechanical failure will occur;

When the rocket launcher is running left and right, if the speed values of the left and right are different, then it is a mechanical failure or a motor failure.

Claims (10)

1. A detection device for rocket launcher electric drive performance, characterized in that: comprising The operation collection unit for collecting the operation information of the rocket launcher during operation, the operation collection unit is fixed on the gun body of the rocket launcher, and rotates coaxially with the height angle limiter of the electric drive system of the rocket launcher or the rocket launcher respectively; An electrical information acquisition unit for collecting the height and direction control circuit information of the rocket launcher, the electrical information acquisition unit is arranged in the control circuit of the rocket launcher electric drive system, and outputs the height control circuit information and the direction control circuit information of the rocket launcher respectively; An external control unit for receiving, analyzing, and processing the information collected by the operation collection unit and the electrical information collection unit. The external control unit has high and low signal input sockets, direction signal input sockets, and operation signal input sockets. The operation collection The signal output end of the unit is connected to the running signal input socket, the high and low circuit information output end is connected to the high and low signal input socket, and the direction information output end of the electrical information collection unit is connected to the direction signal input socket. 2. The detection device for rocket launcher electric drive performance according to claim 1, characterized in that: the operation collection unit comprises: The high-low acquisition mechanism for collecting the information of the height limiter of the rocket launcher, the high-low acquisition mechanism includes a height sensor for collecting the information of the high-low angle limiter of the rocket launcher, and a first mounting bracket for installing the height sensor, the first installation One end of the bracket is fixed on the gun body of the rocket launcher, and the other end of the first mounting bracket is equipped with a height sensor, and the signal input end of the height sensor is linked with the rotating shaft of the height angle limiter through an elastic connection; The direction acquisition mechanism for collecting the information of the direction angle limiter of the rocket launcher, the direction acquisition mechanism includes a direction sensor for collecting the information of the direction angle limiter of the rocket launcher, and a second mounting bracket for installing the direction sensor, the second installation One end of the support is fixed on the gun body of the rocket launcher, and the other end is equipped with a direction sensor, and the signal input end of the direction sensor is linked with the friction wheel rotating shaft provided on the outer ring of the rocket launcher rotary disk through an elastic connection. 3. The detecting device for the electric transmission performance of the rocket launcher according to claim 2, characterized in that: the height sensor is a first rotary encoder; The first magnetic card base, the first magnetic card base is fixed with a first mounting rod, the first mounting rod is fixed with a second mounting rod for fixing the first rotary encoder, the rotating shaft of the first rotary encoder and The shaft linkage of the high and low angle limiter; The direction sensor is a second rotary encoder; the second mounting bracket includes a second magnetic holder fixed on the gun body of the rocket launcher, and a mounting frame with a cavity is fixed on the second magnetic holder. The second rotary encoder is fixed in the cavity of the installation frame, and the rotating shaft of the second rotary encoder is linked with the friction wheel rotating shaft arranged on the outer ring of the rotary disk of the rocket launcher through elastic connection. 4. according to the detection device that is used for rocket launcher electric drive performance according to any one of claim 1 to 3, it is characterized in that: described external control unit comprises the main control module as control center; A signal acquisition module for collecting height and direction signals of the rocket launcher, the signal acquisition module has a height signal input terminal, a direction signal input terminal, and a running signal input terminal, respectively corresponding to the high and low signal input socket and the direction signal input socket of the external control unit , Running signal input socket, described high and low signal input terminal, direction signal input terminal are directly connected to the high and low, direction detection signal input terminal of the main control module, and the running signal input terminal is connected to the signal input terminal of the main control module through the AD conversion module; A display module for displaying the operation process and information, the signal input end of the display module is connected to the display signal output end of the main control module; An input module for staff to input instruction information, the signal output end of the input module is connected to the instruction signal receiving end of the main control module; A power supply module for supplying power to the main control module, signal acquisition module, AD conversion module, display module, and input module, the power output terminals of the power supply module are respectively connected to the main control module, signal acquisition module, AD conversion module, and display module input module. 5. a detection method for rocket launcher electric transmission performance, utilizes the detection device for rocket launcher electric transmission performance described in any one of claims 1 to 4, it is characterized in that comprising the following steps carried out successively: (1) System installation: Install the operation acquisition unit and the electrical information acquisition unit in place, make the operation acquisition unit rotate coaxially with the high and low angle limiter and the gun body of the acquisition rocket launcher, and make the electrical information acquisition unit respectively connected to the high and low angle limiter The electrical control circuit of the positioner, the electrical control circuit of the direction angle limiter, and at the same time connect the signal lead wire output by the operation acquisition unit to the operation signal input socket of the external control unit, and the high and low circuit information output terminal of the information acquisition unit is connected to the external control unit. The high and low signal input socket, the direction information output terminal of the electrical information collection unit is connected to the direction signal input socket of the external control unit; (2) Information collection: the operation collection unit collects the information of the height angle limiter and the direction angle limiter of the rocket launcher respectively, and the electrical information collection unit collects the control circuit of the high and low angle limiter of the rocket launcher and the direction angle limiter respectively Control the electrical information of the circuit, run the acquisition unit and the electrical information acquisition unit at the same time, and transmit the collected information to the external control unit in real time; (3) Information analysis and processing: After receiving the above-mentioned information, the external control unit uses its own stored calculation program to analyze and process various types of information to obtain the final result; (4) Fault judgment: The external control unit corresponds the final result obtained with the information stored by itself, that is, obtains the operating status of the rocket launcher. If the rocket launcher is abnormal in operation, the external control unit stores corresponding fault information, and finally directly obtains Failure of the bazooka electric drive. 6. The detection method for rocket launcher electric transmission performance according to claim 5, characterized in that: said operation collection unit collects information comprising: utilizing the first rotary encoder to respectively record that the direction angle of rocket launcher is outside the specific degree of rocket launcher normal operation The number of rotations at full speed from top to bottom and from bottom to top, and the direction angle is within a certain degree of normal operation of the rocket launcher, and the number of rotations at full speed from top to bottom and bottom to top, and the number of rotations at any angle segment is recorded at the same time; The second rotary encoder is used to record the number of rotations of the direction angle of the rocket launcher within the range from the right specified degree to the left specified degree in the normal operation of the rocket launcher when the elevation angle is above the specified degree in the normal operation of the rocket launcher. 7. The detection method for rocket launcher electric transmission performance according to claim 5 or 6, characterized in that: the information collected by the electrical information collection unit includes: the rocket launcher passes through the height angle limiter during the high and low operation process The voltage of the control circuit of the high and low angle limiter when the high and low angles are set by each switch; During the left and right operation of the rocket launcher, the voltage of the control circuit of the directional angle limiter passes through the directional angles set by the switches of the directional angle limiter respectively. 8. The detection method for rocket launcher electric transmission performance according to claim 7, characterized in that: said information analysis and processing comprises: the number of turns and the timing data of the external control unit collected by the first rotary encoder, the external According to the calculation program stored by the control unit, it can be calculated that when the rocket launcher is in normal operation, it can go from top to bottom and from bottom to top at full speed outside a certain direction angle, from top to bottom and from bottom to top at full speed within a certain direction angle, and at any angle. The speed is compared with the speed reference value stored in the external control unit to obtain the comparison result; through the second rotary encoder, the number of turns collected and the timing data of the external control unit, the external control unit according to the calculation program stored in itself When the height angle of the rocket launcher is above a certain angle, the speed of the rocket launcher within the range from the right specific direction angle to the left specific direction angle can be calculated, and compared with the speed reference value stored in the external control unit to obtain the comparison result; The external control unit collects the voltage of the control circuit of the high and low angle limiter at the high and low angles set by the switches of the high and low angle limiter during the high and low operation process of the rocket launcher collected by the electrical information acquisition unit, and the normal value stored in the internal storage. When the rocket launcher passes through the high and low angle limiter, the voltages of the high and low angles set by the switches of the high and low angle limiter are compared, and the comparison result is obtained; at the same time, the rocket launcher collected by the electrical information acquisition unit passes through the direction angle limiter respectively during the left and right running process. The voltage of the control circuit of the directional angle limiter at the directional angle set by each switch of the directional angle limiter is compared with the voltage of the directional angle set by each switch of the directional angle limiter respectively stored by the self-stored rocket launcher, and the comparison is obtained. to the result. 9. The detection method for rocket launcher electric drive performance according to claim 8, characterized in that: when the comparison result meets the following requirements simultaneously, it is determined that the rocket launcher is normal: The calculated rocket launcher goes from top to bottom and bottom to top at full speed outside the specified direction angle, and goes from top to bottom and bottom to top at full speed within the specified direction angle, and the speed of any angle segment is within the error of the stored speed reference value. within the range; when the height angle of the rocket launcher is above a specific angle, the speed of the rocket launcher’s direction angle within the range from the right setting angle to the left setting angle range and the stored speed reference value are within the error range; the rocket launcher passes through each of the height angle limiters When the height angle is set by the switch, the voltage of the control circuit of the height angle limiter and the voltage reference value stored in the external control unit are within the error range; When the direction angle is fixed, the voltage of the control circuit of the direction angle limiter and the voltage reference value stored inside the external control unit are within the error range. 10. the detection method that is used for rocket launcher electric transmission performance according to claim 9, is characterized in that: the rocket launcher failure information of external control unit internal storage in described step (four) comprises: When the rocket launcher passes through the angles set by the switches of the high and low angle limiter or the direction angle limiter during the operation of the height and direction, the voltage of the control circuit of the high and low angle limiter or the control circuit of the direction angle limiter If the voltage and the voltage reference value stored in the external control unit are both outside the error range, then the installation position of the elevation angle limiter or the direction angle limiter is wrong; When the rocket launcher passes through the angles set by the switches of the high and low angle limiter or the direction angle limiter during the high and low or direction running process, some voltage of the control circuit of the high and low angle limiter or the voltage of the direction angle limiter Some voltages of the control circuit and the voltage reference value stored in the external control unit are outside the error range, and the high and low angle limiter or the direction angle limiter may be damaged; The rocket launcher is in the high and low speed ranges, and the speed change is not obvious, then there is a problem with the speed control circuit; The speed of the rocket launcher's altitude operation or left and right operation is higher than the reference speed, the speed regulating resistor is short-circuited, and the contacts of the polarization relay are stuck; If the speed of the rocket launcher’s altitude operation or left and right operation is lower than the reference speed, it is a mechanical failure or an electrical failure; When the height of the rocket launcher is running, if the upward and downward speed values are different, the mechanical failure will occur; When the rocket launcher is running left and right, if the left and right speed values are different, it is a mechanical failure or a motor failure.