CN107102651A - A kind of online adjusting zero method of helm gear - Google Patents

A kind of online adjusting zero method of helm gear Download PDF

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Publication number
CN107102651A
CN107102651A CN201710324344.1A CN201710324344A CN107102651A CN 107102651 A CN107102651 A CN 107102651A CN 201710324344 A CN201710324344 A CN 201710324344A CN 107102651 A CN107102651 A CN 107102651A
Authority
CN
China
Prior art keywords
zero
encoder
online
helm gear
processing module
Prior art date
Application number
CN201710324344.1A
Other languages
Chinese (zh)
Inventor
杨中巍
唐旭东
周林阳
马俊
Original Assignee
北京机械设备研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京机械设备研究所 filed Critical 北京机械设备研究所
Priority to CN201710324344.1A priority Critical patent/CN107102651A/en
Publication of CN107102651A publication Critical patent/CN107102651A/en

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/12Control of position or direction using feedback

Abstract

The invention discloses a kind of online adjusting zero method of helm gear, by building the online zero-setting system of helm gear, position command is sent, mark zero is sent and instructs, processing mark zero is instructed, and is stored zero-bit Data, is completed helm gear and return to zero online.Mesh of the present invention provides a kind of online adjusting zero method of helm gear, without reserved electronic zero-setting interface and machine zero operating space, reduce guided missile flying-controlled box bookbinding parameter, so as to improve missile aerodynamic rudder face zeroing efficiency, guided missile deck store structure space is greatlyd save, is relatively specific in the compact new absolutely empty, surface-to-air ballistic missile of internal space requirements.

Description

A kind of online adjusting zero method of helm gear

Technical field

The present invention relates to a kind of online adjusting zero method, particularly a kind of online adjusting zero method of helm gear.

Background technology

During guided missile general assembly, due to steering wheel and rudder face structure alignment error and nacelle interface dimensioned error In the presence of generally requiring and pneumatic rudder face mechanical zero be adjusted, meet body structure centering requirement.

Traditional helm gear adjusting zero method includes machine zero, electronic zero-setting and online zeroing two ways.Machinery is adjusted The zero main mechanical location by adjusting feedback device.This mode needs certain equipment adjustment space, is relatively specific for rudder The larger guided missile of cabin installing space.

Electronic zero-setting is mainly adjusted by the resistance of zero potentiometer in helm gear power amplifier, so as to rudder feedback letter Number it is modified.This mode needs reserved power amplifier zeroing interface, needs also exist for rudder stock and leaves certain zeroing operation sky Between, and return to zero it is qualified after need the knob point adhesive curing to zero potentiometer, rezeroing needs to carry out work of doing over again to solidification point Industry.

Online zeroing is main by increasing helm gear zero compensation variable in flight controller, by rudder is instructed into Row compensation completes the amendment to rudder zero-bit.This mode adds the quantity of the bookbinding parameter of flight controller, and rudder is returned to zero band Enter to MISSILE LAUNCHING flow.Having the disadvantage zeroing using the general character of machinery, electronic zero-setting mode, process is more, complex operation.Online Although zeroing is simple to operate, the bookbinding parameter of flight controller is added, the launcher reliability of flight controller is reduced.

The content of the invention

Present invention aims at a kind of online adjusting zero method of helm gear is provided, solving previous methods needs certain assembling Adjustment space, needs the knob point adhesive curing to zero potentiometer, rezeroing needs to return solidification point after zeroing is qualified Work industry, and zeroing process is more, complex operation, adds bookbinding parameter, the problem of reducing launcher reliability.

A kind of online adjusting zero method of helm gear is concretely comprised the following steps:

The first step builds the online zero-setting system of helm gear

The online zero-setting system of helm gear, including:Test equipment, steering engine controller, servo control mechanism, encoder, data processing mould Block, communication interface and memory.

The function of data processing module is:Gathered data to encoder is handled.

Test equipment is connected with steering engine controller and servo control mechanism respectively, steering engine controller and servo control mechanism and communication interface Connection, servo control mechanism is connected with encoder, and encoder is connected with data processing module, data processing module respectively with communication interface With memory connection.

Encoder is:Photoelectric encoder, potentiometer or magnetic rotary encoder.

Communication interface is:SPI interface or CAN transceiver.

Second step sends position command

Test equipment sends position command to steering engine controller, and driving servo control mechanism runs to mechanical zero, while servo control mechanism Encoder is driven and arrives mechanical zero.

3rd step sends mark zero and instructed

Test equipment sends mark zero to steering engine controller and instructed, and steering engine controller instructs mark zero after the instruction of mark zero is received It is sent to CAN protocol in communication interface.

4th step processing mark zero is instructed

The instruction of mark zero received is sent in data processing module by communication interface, and data processing module reads current encoder Angle value, and current location is set to zero-bit.

5th step stores zero-bit Data

Data processing module stores current zero-bit Data in memory.

So far, helm gear is completed to return to zero online.

Mesh of the present invention provides a kind of online adjusting zero method of helm gear, without reserved electronic zero-setting interface and machine zero Operating space, reduces guided missile flying-controlled box bookbinding parameter, so as to improve missile aerodynamic rudder face zeroing efficiency, greatlys save Guided missile deck store structure space, is relatively specific in the compact new absolutely empty, surface-to-air ballistic missile of internal space requirements.

Brief description of the drawings

The online zero-setting system of helm gear described in a kind of online adjusting zero method of helm gears of Fig. 1.

1. the encoder of 2. steering engine controller of test equipment, 3. servo control mechanism 4.;5. data processing module 6. leads to The memory of communication interface 7..

Embodiment

A kind of online adjusting zero method of helm gear is concretely comprised the following steps:

The first step builds the online zero-setting system of helm gear

The online zero-setting system of helm gear, including:Test equipment 1, steering engine controller 2, servo control mechanism 3, encoder 4, at data Manage module 5, communication interface 6 and memory 7.

The function of data processing module 5 is:Gathered data to encoder 4 is handled.

Test equipment 1 is connected with steering engine controller 2 and servo control mechanism 3 respectively, steering engine controller 2 and servo control mechanism 3 and is led to Communication interface 6 is connected, and servo control mechanism 3 is connected with encoder 4, and encoder 4 is connected with data processing module 5,5 points of data processing module It is not connected with communication interface 6 and memory 7.

Encoder 4 is:Photoelectric encoder, potentiometer or magnetic rotary encoder.

Communication interface 6 is:SPI interface or CAN transceiver.

Second step sends position command

Test equipment 1 sends position command to steering engine controller 2, and driving servo control mechanism 3 runs to mechanical zero, while servo Encoder 4 is driven mechanical zero by structure 3.

3rd step sends mark zero and instructed

Test equipment 1 sends mark zero to steering engine controller 2 and instructed, and steering engine controller 2 refers to mark zero after the instruction of mark zero is received Order is sent in communication interface 6 with CAN protocol.

4th step processing mark zero is instructed

The instruction of mark zero received is sent in data processing module 5 by communication interface 6, and data processing module 5 reads present encoding The angle value of device 4, and current location is set to zero-bit.

5th step stores zero-bit Data

Current zero-bit Data is stored in memory 7 by data processing module 5.

So far, helm gear is completed to return to zero online.

Claims (3)

1. a kind of online adjusting zero method of helm gear, it is characterised in that this method is concretely comprised the following steps:
The first step builds the online zero-setting system of helm gear
The online zero-setting system of helm gear, including:Test equipment(1), steering engine controller(2), servo control mechanism(3), encoder (4), data processing module(5), communication interface(6)And memory(7);
Data processing module(5)Function be:To encoder(4)Gathered data handled;
Test equipment(1)Respectively with steering engine controller(2)And servo control mechanism(3)Connection, steering engine controller(2)With servo control mechanism (3)And communication interface(6)Connection, servo control mechanism(3)With encoder(4)Connection, encoder(4)With data processing module(5)Even Connect, data processing module(5)Respectively with communication interface(6)And memory(7)Connection;
Second step sends position command
Test equipment(1)To steering engine controller(2)Position command is sent, servo control mechanism is driven(3)Mechanical zero is run to, simultaneously Servo control mechanism(3)By encoder(4)Drive mechanical zero;
3rd step sends mark zero and instructed
Test equipment(1)To steering engine controller(2)Send mark zero to instruct, steering engine controller(2), will after the instruction of mark zero is received The instruction of mark zero is sent to communication interface with CAN protocol(6)In;
4th step processing mark zero is instructed
Communication interface(6)The instruction of mark zero received is sent to data processing module(5)In, data processing module(5)Read and work as Preceding encoder(4)Angle value, and current location is set to zero-bit;
5th step stores zero-bit Data
Data processing module(5)Current zero-bit Data is stored in memory(7)In;
So far, helm gear is completed to return to zero online.
2. a kind of online adjusting zero method of helm gear according to claim 1, it is characterised in that described encoder(4) For:Photoelectric encoder, potentiometer or magnetic rotary encoder.
3. a kind of online adjusting zero method of helm gear according to claim 1, it is characterised in that described communication interface(6) For:SPI interface or CAN transceiver.
CN201710324344.1A 2017-05-10 2017-05-10 A kind of online adjusting zero method of helm gear CN107102651A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710324344.1A CN107102651A (en) 2017-05-10 2017-05-10 A kind of online adjusting zero method of helm gear

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710324344.1A CN107102651A (en) 2017-05-10 2017-05-10 A kind of online adjusting zero method of helm gear

Publications (1)

Publication Number Publication Date
CN107102651A true CN107102651A (en) 2017-08-29

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CN201710324344.1A CN107102651A (en) 2017-05-10 2017-05-10 A kind of online adjusting zero method of helm gear

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CN (1) CN107102651A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101915589A (en) * 2010-08-19 2010-12-15 中国航空工业第六一八研究所 Zero-debugging method of sensor for main control valve of steering engine actuator
CN102837821A (en) * 2012-08-27 2012-12-26 中国航天科技集团公司第四研究院四0一所 Controller of steering engine
CN202838035U (en) * 2012-07-20 2013-03-27 罗云高 Remote digital controller for steering engine
CN103092218A (en) * 2013-01-06 2013-05-08 中国航天科技集团公司烽火机械厂 Method and system for steering engine zero adjustment
CN104973265A (en) * 2015-07-07 2015-10-14 西安航空学院 Method for correcting zero position of electric steering engine
CN106547234A (en) * 2016-09-30 2017-03-29 中国科学院长春光学精密机械与物理研究所 A kind of aircraft electric steering engine regulator control system and regulation and control method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101915589A (en) * 2010-08-19 2010-12-15 中国航空工业第六一八研究所 Zero-debugging method of sensor for main control valve of steering engine actuator
CN202838035U (en) * 2012-07-20 2013-03-27 罗云高 Remote digital controller for steering engine
CN102837821A (en) * 2012-08-27 2012-12-26 中国航天科技集团公司第四研究院四0一所 Controller of steering engine
CN103092218A (en) * 2013-01-06 2013-05-08 中国航天科技集团公司烽火机械厂 Method and system for steering engine zero adjustment
CN104973265A (en) * 2015-07-07 2015-10-14 西安航空学院 Method for correcting zero position of electric steering engine
CN106547234A (en) * 2016-09-30 2017-03-29 中国科学院长春光学精密机械与物理研究所 A kind of aircraft electric steering engine regulator control system and regulation and control method

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