CN109813180A - A kind of air bubble localizing emission control system and control method based on rotating vane - Google Patents
A kind of air bubble localizing emission control system and control method based on rotating vane Download PDFInfo
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- CN109813180A CN109813180A CN201811464909.7A CN201811464909A CN109813180A CN 109813180 A CN109813180 A CN 109813180A CN 201811464909 A CN201811464909 A CN 201811464909A CN 109813180 A CN109813180 A CN 109813180A
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Abstract
The present invention discloses a kind of air bubble localizing emission control system and control method based on rotating vane, the control system includes air bubble emitter, blade, sample fibre optical sensor, transmitting is to projectile road screen sensor, bullet to projectile road screen sensor, controller and high-speed camera, when air bubble pellet injection, controller postpones several periods sendings after sampling fibre optical sensor and collecting sampling square wave according to setting delay time and opens fire with artillery square wave control transmitting solenoid valve unlatching, gas chamber air pressure pushes pellet injection, transmitting is transferred to controller to collected first square wave of projectile road screen sensor and the second square wave with bullet to projectile road screen sensor and calculates the response time, launch time and ejection speed.The practical bomb-release point of comprehensive high-speed camera shooting and the location error of set point and ejection time and response time, it is possible to reduce times of revision guarantees that practical sticking position sets fast approaching set point, reduces test period and cost.
Description
Technical field
The present invention relates to air bubble emission test field more particularly to the launch control systems of air bubble emission test.
Background technique
It is currently used for impacting and colliding the air bubble localizing emission control system based on rotating vane of field experimental study
Its practical bullet location error producing cause is based on theory analysis more, needs to correct delay time repeatedly during test, not only
Use cost and test period are increased, improvement of the later period to air bubble localizing emission system is also unfavorable for.
Therefore the technical solution for needing one kind new is to solve the above problems.
Summary of the invention
Goal of the invention: the purpose of the present invention is in view of the deficienciess of the prior art, test time can be reduced by providing one kind
Number, guarantee high-precision the air bubble localizing emission control system set of sticking position.
Invention also provides the control methods of above-mentioned air bubble localizing emission control system.
Technical solution: to achieve the above object, air bubble localizing emission control system provided by the invention can be used following
Technical solution.
A kind of air bubble localizing emission control system based on rotating vane, including air bubble emitter, motor, leaf
Piece, sampling fibre optical sensor, transmitting to projectile road screen sensor, bullet to projectile road screen sensor, controller and high-speed photography
Instrument, the air bubble emitter include trajectory, bullet, transmitting solenoid valve, connection trajectory and the gas to store high pressure gas
Room, the Frequency Converter Control motor drag blade rotation, the sampling fibre optical sensor acquire the blade rotational speed signal, hair
Penetrate to projectile road screen sensor generate be located at pellet injection position the infrared optical screen of transmitting, bullet to projectile road screen sensor produce
It is raw be located at blade sampled point play infrared optical screen, the transmitting acquires the pellet injection moment to projectile road screen sensor
The signal of generation, described the bullet acquire the signal that the projectile impact blade moment generates to projectile road screen sensor, emit red
Outer optical screen and the infrared crosscutting bullet of optical screen of bullet are by path, when bullet is by emitting infrared optical screen and the infrared optical screen of bullet,
Cause the variation of luminous flux, transmitting generates the first square-wave signal to projectile road screen sensor, bullet projectile road screen sensor is produced
Raw second square-wave signal；Sample the sampling square wave that fibre optical sensor acquisition sampled point is formed；
The controller controls three valves of the air bubble emitter and the frequency converter, the controller are adopted
Collect the first square wave, the second square wave, sampling square wave, the controller calculates ejection time, ejection speed, blade rotational speed and gas chamber
Air pressure, the controller include control interface, and the high-speed camera shoots the bomb-release point on the blade.
Further, the sampled point on the blade and set point relative position are fixed, and the sampled point on the blade is
Blade outer edge adheres to overhanging shelter, and the overhanging shelter does not influence the stress generated after blade rotation and they strike
Variation effect, the shielding signals that the sampling fibre optical sensor acquires overhanging shelter form sampling square wave and are supplied to the control
Device processed, the controller calculate blade rotation speed according to sampling square wave.
Further, the transmitting is arranged between air bubble and blade the infrared optical screen of the transmitting of projectile road screen close
The nearest position of bullet before air bubble emits makes bullet position before emitting not influence to emit infrared optical screen luminous flux.
Further, described the bullet to projectile road screen play infrared optical screen be arranged between air bubble and blade it is close
The nearest position of blade makes to interfere playing infrared optical screen luminous flux in blade rotary course.
Further, after the controller receives the first square wave and the second square wave, according to opening fire with artillery square wave and the first square wave
Time difference calculates the response time, the ejection time is calculated according to the time difference of the first square wave and the second square wave, according to catapulting distance
Ejection speed is calculated with the ejection time.
And following technical scheme can be used in the control method of above-mentioned air bubble localizing emission control system.
Include the following steps:
The first step sets air chamber pressure and to gas chamber gas injection；
Second step sets blade rotational speed；Frequency Converter Control blade rotation speed is stablized in setting speed；
Third step, according to setting delay time, after blade rotates several circles, in the failing edge delay of sampling square wave
Output is opened fire with artillery square wave control transmitting solenoid valve and is opened after setting time, and bullet is beaten on rotating vane after emitting via trajectory, is sent out
Penetrate and the first square wave issued to controller to projectile road screen sensor acquisition pellet injection moment, bullet to projectile road screen sensor
Acquire bullet bullet moment issue the second square wave to controller, controller is according to the time difference meter for opening fire with artillery square wave and the first square wave
The response time is calculated, the ejection time is calculated according to the time difference of the first square wave and the second square wave, and calculate and launch according to catapulting distance
Response time, ejection time and ejection speed are shown in control interface by speed, controller, and high-speed camera shoots bullet
The location error of bomb-release point and setting bomb-release point；
4th step is corrected according to the location error of the response time of control interface, ejection time and high-speed camera shooting
Dead time is emitted again.
Further, it in second step, after controller receives instruction, issues initial p WM square wave and controls frequency converter, frequency converter
Adjust the rotation of three-phase electric control motor drag blade, the square-wave signal generated after sampling fibre optical sensor acquisition sampled point shading
Controller is fed back to, controller calculates blade actual speed according to sampled point square wave interval time, and controller is according to setting speed
Adjust PWM pulsewidth with the difference of actual speed to change blade rotational speed, until blade rotation speed is stablized in setting speed,
This step revolving speed setting program finishes.
Further, repeatedly emit and correct delay time until the high-speed camera it is collected sticking position be set to
Set point, record setting delay time.
The utility model has the advantages that the present invention realizes speed closed loop control according to the tach signal of sampling fibre optical sensor, and postponing
Emit after several periods, it is ensured that the interference not run by the fluctuation of speed and program in air bubble emission process；By to projectile
Road screen sensor, the bullet reference of time error and location error that projectile road screen sensor and high-speed camera are provided, can
Delay time times of revision is set to reduce, reaches accurately controlling for positioning shock；Simultaneously because air bubble emitter and rotation
Mechanical couplings are not present in rotating vane piece, the response time and launch the time not by the interference of blade rotational speed, therefore that control interface is shown
It can assist to calculate the dead time that should be arranged under different rotating speeds, to reduce test overall cost and time.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the air bubble localizing emission control system in the present invention based on rotating vane.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate
It the present invention rather than limits the scope of the invention, after the present invention has been read, those skilled in the art are to of the invention each
The modification of kind equivalent form falls within the application range as defined in the appended claims.
Refering to Figure 1, the present invention discloses a kind of air bubble localizing emission control system based on rotating vane, packet
Include air bubble emitter 5, motor 1, frequency converter 6, blade 2, sampling fibre optical sensor 7, bullet to projectile road screen sensor 3,
Transmitting is to projectile road screen sensor 4, controller 9 and the high-speed camera 8 set for shooting sticking position.
The air bubble emitter 5 includes trajectory 10, bullet 11, transmitting solenoid valve 12, gas chamber 13, inflator pump 14, puts
Air valve 15, baroceptor 16, charge valve 17 and gas cylinder 18.The frequency converter 6 controls the motor 1 and drags the rotation of blade 2
Turn, the sampling fibre optical sensor 7 acquires the 2 sampled point tach signal of blade, and the transmitting is to projectile road screen sensor 4
Comprising emitting infrared optical screen, described the bullet includes plays infrared optical screen to projectile road screen sensor 3, described to emit to projectile road
Screen sensor 4 acquires the signal generated 11 T-time of bullet, and described the bullet acquires projectile road screen sensor 3 described
Bullet 11 hits the signal generated 2 moment of blade.
Sampled point and set point relative position on the blade 2 are fixed, and the sampled point on the blade 2 is outside blade
Edge adheres to overhanging shelter, and the overhanging shelter does not influence the stress variation effect generated after blade rotation and they strike
Fruit, the shielding signals that the sampling fibre optical sensor 7 acquires overhanging shelter form sampling square wave and are supplied to the controller,
The controller 9 calculates blade rotation speed according to neighbouring sample square wave time interval；
The transmitting includes to emit infrared optical screen to projectile road screen sensor 4, and described the bullet is to projectile road screen sensor 3
Include to play infrared optical screen, emits infrared optical screen and play the infrared crosscutting bullet of optical screen by path, when bullet is red by emitting
When outer optical screen is with infrared optical screen is played, cause the variation of luminous flux, transmitting generates the first square wave letter to projectile road screen sensor 4
Number, bullet to projectile road screen sensor 3 generate the second square-wave signal；The transmitting is infrared to the transmitting of projectile road screen sensor 4
Optical screen, which is arranged between air bubble and blade, emits the nearest position of preceding bullet close to air bubble, guarantees bullet position before emitting
Do not interfere the infrared optical screen luminous flux of transmitting；Described the bullet to projectile road screen sensor 3 play infrared optical screen and be arranged in air bubble
Close to the nearest position of blade between blade, guarantee to interfere playing infrared optical screen luminous flux in blade rotary course.
The controller 9 includes control interface 19, and the controller is electrically connected bullet to projectile road screen sensor 3, hair
It penetrates to projectile road screen sensor 4, frequency converter 6, sampling fibre optical sensor 7, transmitting solenoid valve 12, baroceptor 16, vent valve
15, charge valve 17, control interface 19 are with the following functions: input setting gas chamber air pressure, setting speed, setting delay time, bullet
Penetrate distance and firing order, the air pressure of real-time display gas chamber, actual speed, response time, ejection time and ejection speed.Control
Device 9 controls frequency converter 6 according to setting speed, and sampling fibre optical sensor 7 acquires actual speed and feeds back to controller 9；Controller 9
According to setting gas chamber pressure control charge valve 17 and vent valve 15, baroceptor 16 acquires the actual pressure value in gas chamber 13
Feed back to controller 9.It is stable at setting speed to actual speed, gas chamber stable gas pressure is in setting gas chamber air pressure, to control circle
The input of face 19 setting delay time simultaneously clicks firing order, and controller 9 declines after several 2 swing circles of blade in sampled point
It is issued along delay setting delay time and opens fire with artillery square wave, opened fire with artillery square wave control transmitting solenoid valve 12 and open concurrent projectile ball 11, hit
After blade, control interface 19 shows that ejection time and ejection speed, high-speed camera 8 capture sticking position and sets.
Now the application method of the air bubble localizing emission control system entirely based on rotating vane is specifically described as follows:
The first step inputs setting air chamber pressure to controller control interface 19, starts inflation procedure；
Controller 9 opens charge valve 17 after receiving instruction, while pressure sensor 16 acquires pressure feedback in gas chamber 13 and gives
Controller 9,19 real-time display gas room pressure of controller interface, controller 9 is according to the unlatching for feeding back air pressure adjustment charge valve 17
The opening time of time and vent valve 15, until feedback stable gas pressure is until setting air pressure, this step inflation procedure is finished；
Second step inputs setting speed to controller control interface 19, starts revolving speed setting program；
After controller 9 receives instruction, issues initial p WM square wave and control frequency converter 6, frequency converter adjusts three-phase electric control electricity
Machine 1 drags blade 2 and rotates, and sampling fibre optical sensor 7 acquires the square-wave signal generated after sampled point shading and feeds back to controller 9,
Controller 9 calculates 2 actual speed of blade, and display control interface 19,9 basis of controller according to sampled point square wave interval time
The difference of setting speed and actual speed adjusts PWM pulsewidth to change 2 revolving speed of blade, until 2 rotation speed of blade is stablized
Setting speed, this step revolving speed setting program finish.
Third step to 9 control interface 19 of controller input catapulting distance, dead time and clicks firing order；
After controller 9 receives firing order, after blade 2 rotates several circles, in the failing edge delay of sampling square wave
Square wave is opened fire with artillery in setting time output, and control transmitting solenoid valve 12 is opened, and 13 gas pressure of gas chamber is in bullet 11,11 stress of bullet
Acquisition initial kinetic energy is launched air bubble 5 via trajectory 10 and is impinged upon on rotating vane 2, and bullet starts mobile moment, by hair
It penetrates and shading amount is changed to the infrared optical screen of projectile road screen sensor 4, sensor 4 generates the first square wave and feeds back to controller 9, bullet
The moment that ball 11 hits blade 2 equally changes bullet to the shading amount of the infrared optical screen of projectile road screen sensor 3, and sensor 3 produces
Raw second square wave feeds back to controller 9, and controller 9 calculates the response time according to the time difference for opening fire with artillery square wave and the first square wave, and
The ejection time is calculated according to the time difference of the first square wave and the second square wave, control interface 19 is shown in, further according to catapulting distance knot
Closing the ejection time calculates ejection speed and is shown in control interface 19, while high-speed camera 8 shoots practical the bullet of bullet 11
Point；
4th step is corrected according to the location error of the response time of control interface, ejection time and high-speed camera shooting
Dead time is emitted again, until bullet 11 impinges upon the set point on blade 2.
The present invention controls charge valve 17,16 closed-loop control gas chamber of vent valve 15 and baroceptor by setting controller 9
Air pressure constant guarantees that bullet 11 emits the precision of initial velocity；PWM pulse-width controlled frequency converter 6 is adjusted by setting controller 9,
Speed closed loop control is realized according to the tach signal of sampling fibre optical sensor 7, and is emitted after postponing several periods, it is ensured that
The interference not run by the fluctuation of speed and program in air bubble emission process；By bullet to penetrating screen sensor 3, transmitting to penetrating
The reference for shielding time error and location error that sensor 4 and high-speed camera 8 provide, can reduce setting delay time repairs
Positive number reaches accurately controlling for positioning shock；Simultaneously because mechanical coupling is not present in air bubble emitter 5 and rotating vane 2
It closes, the response time and ejection time that control interface 19 is shown can assist to calculate different not by the interference of 2 revolving speed of blade
The dead time that should be arranged under revolving speed, to reduce test overall cost and time.
Entire Control system architecture is simple, and precision is higher, and is related to for modularization convenient for safeguarding.
In addition, there are many concrete methods of realizing and approach of the invention, the above is only preferred implementation side of the invention
Formula.It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, may be used also
To make several improvements and modifications, these modifications and embellishments should also be considered as the scope of protection of the present invention.It is not known in the present embodiment
The available prior art of each component part realized.
Claims (8)
1. a kind of air bubble localizing emission control system based on rotating vane, including air bubble emitter, motor, blade,
Sample fibre optical sensor, transmitting to projectile road screen sensor, bullet to projectile road screen sensor, controller and high-speed camera,
The air bubble emitter includes trajectory, bullet, transmitting solenoid valve, connects trajectory and the gas chamber to store high pressure gas,
The Frequency Converter Control motor drag blade rotation, the sampling fibre optical sensor acquire the blade rotational speed signal, transmitting pair
Projectile road screen sensor generate be located at pellet injection position the infrared optical screen of transmitting, bullet to projectile road screen sensor generation be located at
Blade sampled point play infrared optical screen, the transmitting acquires the letter that the pellet injection moment generates to projectile road screen sensor
Number, described the bullet acquires the signal that the projectile impact blade moment generates to projectile road screen sensor, emit infrared optical screen and
Play the infrared crosscutting bullet of optical screen by path, when bullet through transmitting infrared optical screen and play infrared optical screen when, cause light logical
The variation of amount, transmitting to projectile road screen sensor generate the first square-wave signal, bullet to projectile road screen sensor generate second party
Wave signal；Sample the sampling square wave that fibre optical sensor acquisition sampled point is formed；
The controller controls three valves and the frequency converter of the air bubble emitter, the controller acquisition first
Square wave, the second square wave, sampling square wave, the controller calculate ejection time, ejection speed, blade rotational speed and gas chamber air pressure, institute
Stating controller includes control interface, and the high-speed camera shoots the bomb-release point on the blade.
2. air bubble localizing emission control system according to claim 1, which is characterized in that the sampled point on the blade
It is fixed with set point relative position, the sampled point on the blade is that blade outer edge adheres to overhanging shelter, the overhanging screening
Block material does not influence the stress variation effect generated after blade rotation and they strike, and the sampling fibre optical sensor acquires overhanging screening
The shielding signals of block material form sampling square wave and are supplied to the controller, and the controller calculates blade according to sampling square wave and rotates
Speed.
3. air bubble localizing emission control system according to claim 1, which is characterized in that the transmitting is to projectile road screen
The infrared optical screen of transmitting be arranged between air bubble and blade close to air bubble emit before the nearest position of bullet, make to emit preceding bullet
Ball position does not influence to emit infrared optical screen luminous flux.
4. air bubble localizing emission control system according to claim 1, which is characterized in that described the bullet is to projectile road screen
Play infrared optical screen and be arranged between air bubble and blade close to the nearest position of blade, make to do in blade rotary course
It disturbs and plays infrared optical screen luminous flux.
5. air bubble localizing emission control system according to claim 1, which is characterized in that the controller receives first
After square wave and the second square wave, the response time is calculated according to the time difference for opening fire with artillery square wave and the first square wave, according to the first square wave and
The time difference of second square wave calculates the ejection time, calculates ejection speed according to catapulting distance and ejection time.
6. a kind of control method of the air bubble localizing emission control system as described in any one of claims 1 to 5, feature
It is: includes the following steps:
The first step sets air chamber pressure and to gas chamber gas injection；
Second step sets blade rotational speed；Frequency Converter Control blade rotation speed is stablized in setting speed；
Third step, according to setting delay time, after blade rotates several circles, when the failing edge for sampling square wave postpones setting
Between after output open fire with artillery square wave control transmitting solenoid valve and open, bullet beats on rotating vane after emitting via trajectory, emits to penetrating
Trajectory screen sensor acquires pellet injection moment and issues the first square wave to controller, bullet bullet is acquired to projectile road screen sensor
Bullet moment issue the second square wave to controller, controller is calculated according to the time difference for opening fire with artillery square wave and the first square wave when responding
Between, the ejection time is calculated according to the time difference of the first square wave and the second square wave, and ejection speed, control are calculated according to catapulting distance
Response time, ejection time and ejection speed are shown in control interface by device, and high-speed camera shoots bullet bomb-release point and sets
Determine the location error of bomb-release point；
4th step corrects transmitting according to the location error of the response time of control interface, ejection time and high-speed camera shooting
Delay time is emitted again.
7. control method as claimed in claim 6, which is characterized in that emit repeatedly and correct delay time until the high speed
Photographic apparatus it is collected sticking position be set to set point, record setting delay time.
8. control method as claimed in claim 6, which is characterized in that in second step, after controller receives instruction, issue initial
PWM square wave controls frequency converter, and frequency converter adjusts the rotation of three-phase electric control motor drag blade, sampling fibre optical sensor acquisition sampling
The square-wave signal generated after point shading feeds back to controller, and controller calculates practical turn of blade according to sampled point square wave interval time
Speed, controller adjust PWM pulsewidth to change blade rotational speed, until blade rotates according to the difference of setting speed and actual speed
Velocity-stabilization is finished in setting speed, this step revolving speed setting program.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811464909.7A CN109813180B (en) | 2018-12-03 | 2018-12-03 | Air cannon positioning and launching control system and control method based on rotating blades |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811464909.7A CN109813180B (en) | 2018-12-03 | 2018-12-03 | Air cannon positioning and launching control system and control method based on rotating blades |
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| CN109813180A true CN109813180A (en) | 2019-05-28 |
| CN109813180B CN109813180B (en) | 2021-03-30 |
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