CN110297430B - Microminiature high-precision digital electric steering engine system and design method thereof - Google Patents
Microminiature high-precision digital electric steering engine system and design method thereof Download PDFInfo
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- CN110297430B CN110297430B CN201910506647.4A CN201910506647A CN110297430B CN 110297430 B CN110297430 B CN 110297430B CN 201910506647 A CN201910506647 A CN 201910506647A CN 110297430 B CN110297430 B CN 110297430B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
- F42B15/04—Arrangements thereon for guidance or control using wire, e.g. for guiding ground-to-ground rockets
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Abstract
The invention relates to a microminiature high-precision digital electric steering engine system and a design method thereof. The body contain 4 steering engines, every steering engine is by the brushless torque motor of direct current, through n level straight-tooth gear drive speed reduction, again through ball and linear guide subassembly speed reduction, and turn into the rotary motion of motor the linear motion of rack, then through the meshing of rack and the epaxial sector gear of rudder, or round pin axle and shift fork meshing, make the output pivot angle of rudder axle, through installing the potentiometre on the output shaft, the position/speed signal of feedback steering engine, transmit the digital control board in the steering engine controller through the wire, form steering engine system closed-loop control. The invention has the characteristics of compact structure, high precision, large rated load and the like.
Description
Technical Field
The invention relates to a microminiature high-precision digital electric steering engine system and a design method thereof, belonging to the field of electric steering engine systems.
Background
The steering engine system is used as an actuating mechanism of the missile control system, and the performance of the steering engine system directly influences the success or failure of a flight test. The control system drives the control surface to deflect to realize the flight control of the rocket projectile, and the performance of the rocket projectile directly influences the technical indexes of the rocket projectile. The steering engine system is a high-precision position servo system, and the operating principle of the steering engine system is that a control signal given by an upper computer is received, the steering engine is driven to act through power amplification, and the steering engine is controlled to control the deflection of the control surface of the rocket projectile, so that the flying attitude and the flying track of the rocket projectile are adjusted, and finally the rocket projectile can fly and strike a given tactical target according to a preset track.
However, the existing controllers have many defects. Firstly, the whole process of the general control flow of the existing steering engine controller adopts a sequential execution mode, and the operation speed is limited, the occupied resources are large, and the operation is unreliable for controlling a plurality of steering engines. In addition, in the existing controller, because the frequency of the steering engine deflection angle command signal transmitted from the upper computer is relatively low, usually several hundred hertz, the current sampling frequency of the steering engine is usually high, the current loop bandwidth is usually large, and the steering engine deflection angle command signal transmitted from the upper computer contains abundant speed and current impact components, the steering engine can generate speed fluctuation and a large current process in actual control, so that the stability of the steering engine is poor, and the power consumption of the steering engine is increased.
Meanwhile, due to the limitation of rocket projectile space, the diameter of the steering engine body is required to be within 120 mm. How to realize the stable control of four steering engines in a tiny space is a technical problem to be solved urgently in the field.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a microminiature high-precision digital electric steering engine system and a design method thereof, realizes the closed-loop control of an ultrasonic motor, and has the advantages of compact structure, high sensitivity, large rated load, small moment interference, low speed, large torque, high control precision, convenient wiring and compact structure.
The purpose of the invention is realized by the following technical scheme:
the micro high-precision digital electric steering engine system comprises a steering engine body, a control system and a control system, wherein the steering engine body comprises 4 motors, a base, n-stage straight-tooth gears, a linear guide rail assembly, a rack, a steering shaft, a sector gear and a potentiometer;
the base comprises a bottom plate and four rudder cases, the middle part of the bottom plate is provided with four uniformly distributed grooves for mounting the motor, and the back of the bottom plate is provided with n-stage straight-tooth gears; the rudder shell is provided with a mounting hole of the rudder shaft, the rudder shaft is positioned in the mounting hole, and the sector gear is positioned on the inner surface of the rudder shell and is connected with the rudder shaft through a key; the side surface of the rudder shell is vertical to the bottom plate, and a linear guide rail assembly is installed;
the brushless torque motor is driven by the n-stage straight-tooth gear to decelerate, then is decelerated by the ball screw and the linear guide rail assembly, the rotary motion of the motor is converted into the linear motion of the rack, and then is meshed with the sector gear through the rack, so that the steering shaft outputs a swing angle, and the potentiometer senses the angular position of the steering shaft.
Providing another microminiature high-precision digital electric steering engine system, wherein a steering engine body comprises 4 motors, a base, n-grade straight-tooth gears, a linear guide rail assembly, a pin shaft, a steering shaft, a shifting fork and a potentiometer;
the base comprises a bottom plate and four rudder cases, the middle part of the bottom plate is provided with four uniformly distributed grooves for mounting the motor, and the back of the bottom plate is provided with n-stage straight-tooth gears; the rudder shell is provided with a mounting hole of a rudder shaft, the rudder shaft is positioned in the mounting hole, and the shifting fork is positioned on the inner surface of the rudder shell and connected with the rudder shaft through a key; the side surface of the rudder shell is vertical to the bottom plate, and a linear guide rail assembly is arranged;
the brushless torque motor is driven by n-stage straight-tooth gears to decelerate, then is decelerated by a ball screw and a linear guide rail assembly, the rotary motion of the motor is converted into the linear motion of a rack, and then is meshed with a shifting fork through a pin shaft, so that a steering shaft outputs a swing angle, and a potentiometer senses the angular position of the steering shaft.
Preferably, the diameter of the steering engine body is within 120 mm.
Preferably, the ball screw and linear guide rail assembly comprises a ball screw, a nut, a transition block, a linear guide rail and a sliding block; one end of the ball screw is fixedly connected to a final-stage gear of the n-stage straight-tooth gear; ball and nut cooperation, the transition piece cover is established outside the nut, and the transition piece is through fixing to the slider, and the slider can move along linear guide, and the transition piece sets up with ball is coaxial, and the transition piece internal surface is the arc surface that matches with the nut diameter, and length is greater than the length of nut to it is unanimous with the length of slider.
Preferably, the lower surface of the transition block is mounted to the sliding block, and the parallelism of the transition block and the sliding block is higher than 0.01mm; the rack is arranged on the upper surface of the transition block, and the parallelism of the rack and the transition block is higher than 0.01mm.
Preferably, the verticality of the side surface of the rudder housing perpendicular to the bottom plate is higher than 0.015mm.
Preferably, the steering engine control device is further included, and the steering engine control device and the steering engine body are located in the rudder cabin and connected through a wire; the steering engine controller comprises a power panel, a digital control panel and two driving plates; the power panel is used for supplying power for the steering engine controller, each driving plate drives two motors, the digital control panel receives the overall control signal to obtain a required steering deflection angle theta, the receiving potentiometer acquires the angular position of a steering shaft of the motor to form a PWM control signal, and the driving plates drive the corresponding motor to swing the steering shaft.
Preferably, the steering engine controller further comprises a ROM, a comparison table for comparing the rudder deflection angle deviation with the duty ratio of the PWM control signal is stored in the ROM, the digital control board obtains the required rudder deflection angle θ according to the control signal, the receiving potentiometer acquires the angular position of the motor rudder shaft, the rudder deflection angle deviation is calculated, the comparison table is searched to obtain the duty ratio of the PWM control signal, and the PWM control signal of the duty ratio is sent.
Preferably, the base (1) is integrally formed by hard aluminum 2A 12.
Meanwhile, the design method of the microminiature high-precision digital electric steering engine system comprises the following steps:
(1) Acquiring Load requirements of a steering engine under the conditions of rudder deflection angle theta and frequency f;
(2) Setting the transmission efficiency eta, the transmission ratio i of the electric steering engine and the rotational inertia J of the electric steering engine according to the space size;
(3) Calculating the required torque T d ；
(4) Based on the required torque T d To electricityModel selection is carried out by the machine; if no proper motor exists, returning to the step (2) to change the transmission ratio i of the electric steering engine; and if the motor is suitable, selecting the motor, determining the transmission efficiency eta, the transmission ratio i of the electric steering engine and the rotational inertia J of the electric steering engine, and further determining the structure of the steering engine body of the micro-miniature high-precision digital electric steering engine system.
Preferably, the required torque T is calculated d The method comprises the following steps:
preferably, the method for selecting the type of the motor comprises the following steps: required torque T d Not more than m times of rated torque, and m is 3.
Compared with the prior art, the invention has the following advantages:
(1) The invention designs 4 steering engines into an integrated structure, thereby not only ensuring the structural strength under small volume, but also meeting the requirements of large load and high bandwidth.
(2) The invention adopts the ball screw and linear guide rail combined speed reducer, so that the structure is more compact, and the high-strength, large reduction ratio and stable and smooth linear transmission are realized.
(3) The invention adopts a closed loop simulation optimization design method, realizes the optimization design of a structural system and shortens the development period.
(4) The steering engine controller adopts various miniaturized and high-precision digital control and drive chips, and realizes the miniaturization and high precision of the steering engine controller.
(5) The steering engine system has the advantages that low friction and small inertia design are considered from the steering engine structure, low-power-consumption devices are selected, wiring is reasonably arranged, and low-power-consumption control of the steering engine system is realized.
(6) The invention adopts the ROM table look-up form, and realizes the miniaturization and the generalization of the steering engine control software.
(7) The invention adopts a low-inertia transmission mechanism and a high-performance servo motor, realizes the high-precision control of the steering engine, has the bandwidth of 1 DEG and 30Hz which is more than two times of that of the traditional steering engine, has the sensitivity of 0.01 DEG, and has a leading level in electric steering engine products at home and abroad.
(8) The invention provides a design method of an electric steering engine, which converts load requirements and space requirements into torque required by a motor and facilitates structural design and model selection of the motor.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 (a) is a mechanical structure diagram of the steering engine body in the invention; FIG. 2 (b) is a cross-sectional structure view of the steering engine body according to the present invention;
FIG. 3 is a schematic view of a base structure of the present invention;
FIG. 4 is a schematic view of a ball screw and linear guide assembly according to the present invention.
Detailed Description
The invention provides a microminiature high-precision digital electric steering engine system which comprises a steering engine controller and an integrated steering engine body. The steering engine controller and the integrated steering engine body are positioned in the rudder cabin and are connected through a wire.
The integrated steering engine body comprises 4 steering engines, each steering engine is driven by a brushless torque motor through n (n =1,2,3 … …) level straight-tooth gears to decelerate, then decelerates through a ball screw and a linear guide rail assembly, the rotary motion of the motor is converted into linear motion of a rack, then the rack is meshed with a sector gear on a steering shaft, the steering shaft outputs a swing angle, and a position/speed signal of the steering engine is fed back through a potentiometer installed on an output shaft to a digital control board in a steering engine controller, so that closed-loop control of a steering engine system is formed.
The diameter phi of the integrated steering engine body is within 120mm, the length is within 85mm, the integrated steering engine comprises 4 steering engines, and the base 1 of the 4 steering engines is designed into an integrated structure.
As shown in fig. 3, the base 1 comprises a bottom plate and four rudder cases, the bottom plate is a circular plate, the diameter of the bottom plate is slightly smaller than 120mm, four uniformly distributed grooves 1-1 for mounting a motor are processed in the middle of the bottom plate, and a straight-tooth gear 3 is mounted on the back 1-2 of the bottom plate; the rudder housing is provided with a mounting hole 1-4 of a rudder shaft 6, the rudder shaft 6 is positioned inside the mounting hole 1-4, and a sector gear or a shifting fork 7 is positioned on the inner surface of the rudder housing and is in key connection with the rudder shaft 6; the side face 1-3 of the rudder housing is perpendicular to the bottom plate, the perpendicularity is higher than 0.015mm, and the rudder housing is used for installing the linear guide rail assembly 4. The base 1 is integrally formed by hard aluminum 2A 12.
As shown in fig. 4, one end of a ball screw 4-1 is fixedly connected to a final-stage straight-tooth gear, the ball screw 4-1 is matched with a nut 4-2, a transition block 4-3 is sleeved outside the nut 4-2, the transition block 4-3 is fixed to a sliding block 4-5 through a screw, the sliding block 4-5 can move along a linear guide rail 4-4, the transition block 4-3 and the ball screw 4-1 are coaxially arranged, the inner surface of the transition block 4-3 is an arc surface matched with the diameter of the nut 4-2, the length of the arc surface is larger than that of the nut 4-2, and the length of the arc surface is identical to that of the sliding block 4-5. The lower surface of the transition block 4-3 is arranged to the sliding block 4-5, the parallelism of the transition block and the sliding block is higher than 0.01mm, the rack or the pin shaft 5 is arranged on the upper surface of the transition block 4-3, the parallelism is higher than 0.01mm, the verticality of the ball screw and the bottom plate is ensured, and the smooth transmission within the stroke range of the ball screw is ensured. The ball screw and linear guide rail assembly adopts a miniature ball screw speed reducer.
In combination with the steering engines shown in fig. 2 (a) and (b), each steering engine is driven by a brushless torque motor 2 to decelerate through an n (n =1,2,3 … …) level straight-tooth gear 3, then decelerates through a ball screw and a linear guide rail assembly 4, the rotary motion of the motor is converted into the linear motion of a rack or a pin shaft 5, then the rack is meshed with a sector gear or a shifting fork 7 on a steering shaft 6, the steering shaft outputs a swing angle, and an angular position/speed signal of the steering shaft is sensed through a potentiometer 8 arranged on the side surface of a steering housing at the tail part of the steering shaft.
The steering engine controller consists of a power panel, a digital control panel and two driving plates; as shown in fig. 1, the power panel is used for supplying power to the steering engine controller, each driving board drives two motors, the digital control board receives the overall control signal to obtain a required rudder deflection angle theta to form a PWM control signal, the driving board drives the corresponding motor to swing the rudder shaft, the potentiometer acquires the angular position of the motor rudder shaft and feeds the angular position back to the digital control board, and the digital control board performs closed-loop control.
The steering engine control software is miniaturized and generalized. The steering engine control software adopts IP core multiplexing, reduces the system resource occupation which is 1/4 of that of the conventional software, and reduces the price of a chip. The PID parameters adopt a ROM table look-up form, and for various types of steering engines, the steering engine control parameters can be adjusted only by changing the ROM table.
A closed-loop simulation optimization design method is adopted. In the initial design stage, a mathematical model is established between the structural design parameters such as reduction ratio, rotational inertia, efficiency and the like and the output performance index. The closed loop simulation optimization design method comprises the following steps: if the amplitude of the output signal of each steering engine is larger than k times of the input under the condition that the Load carried by the steering engine is Load under the condition that the sinusoidal input signal of which the rudder deflection angle is theta and the frequency is f is met, and k is the requirement of loading bandwidth and is usually 0.707, the output torque T on a motor shaft can be converted according to the condition that the acceleration is larger than the required value d It is required to satisfy the following formula
According to the formula, the required torque T of each motor can be calculated by assuming that the total transmission efficiency eta of the electric steering engine, the transmission ratio i of the electric steering engine and the rotational inertia J of the electric steering engine are known d Required torque T d Not more than 3 times of rated torque, and thus motor selection is completed.
The design process of the electric steering engine comprises the following steps:
(1) Acquiring a Load requirement Load of a steering engine under the conditions of a rudder deflection angle theta and frequency f;
(2) Setting the transmission efficiency eta, the transmission ratio i of the electric steering engine and the rotational inertia J of the electric steering engine according to the space size;
(3) Calculating the required torque T d ，
(4) Based on the required torque T d Selecting the type of the motor 2; if no suitable motor exists, returning to the step 2 to change the transmission ratio i; if the motor is suitable, the motor is selected, the transmission efficiency eta, the transmission ratio i of the electric steering engine and the rotational inertia J of the electric steering engine are determined, and the steering engine structure is determined.
The miniaturized and high-precision steering engine controller is provided. Various miniaturized and high-precision digital control and drive chips are adopted.
The control with low power consumption is adopted, the steering engine considers low friction from the aspects of structure type selection and assembly details, the design with small inertia, the addition of a lubricant and the like, and the power consumption is reduced; meanwhile, the whole power consumption design is considered on the type selection of circuit components, low-power-consumption devices are selected, and reasonable layout and wiring are adopted on the circuit to increase the heat dissipation channels of the power devices.
The steering engine has large bandwidth and high sensitivity. Because the steering engine adopts ball screw transmission to realize low inertia transmission, the motor performance is improved, the bandwidth of the traditional steering engine is generally dozens of Hz within the range of 1 degree, the bandwidth of the steering engine can be as high as 30Hz, the sensitivity can reach 0.01 degree, and the steering engine has a leading level in domestic steering engines.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (10)
1. A microminiature high accuracy digital electric steering engine system which characterized in that: the steering engine body comprises 1 base (1), 4 motors (2), n-stage straight-tooth gears (3), a linear guide rail assembly (4), a rack (5), a rudder shaft (6), a sector gear (7) and a potentiometer (8);
the base (1) comprises a bottom plate and four rudder cases, the middle part of the bottom plate is provided with four uniformly distributed grooves (1-1) for mounting a motor, and the back (1-2) of the bottom plate is provided with n-stage straight-tooth gears (3); the rudder shell is provided with a mounting hole (1-4) of the rudder shaft (6), the rudder shaft (6) is positioned in the mounting hole (1-4), and the sector gear (7) is positioned on the inner surface of the rudder shell and is connected with the rudder shaft (6) through a key; the side surface of the rudder housing is vertical to the bottom plate, and a linear guide rail assembly (4) is installed;
the brushless torque motor (2) is driven to decelerate through the n-stage straight-tooth gear (3), then decelerates through the ball screw and the linear guide rail assembly (4), the rotary motion of the motor is converted into the linear motion of the rack (5), and then the linear motion is meshed with the sector gear (7) through the rack, so that the rudder shaft (6) outputs a swing angle, and the potentiometer (8) senses the angular position of the rudder shaft;
the ball screw and linear guide rail assembly (4) comprises a ball screw (4-1), a nut (4-2), a transition block (4-3), a linear guide rail (4-4) and a sliding block (4-5); one end of the ball screw (4-1) is fixedly connected to a final stage gear of the n-stage straight-tooth gear; the ball screw (4-1) is matched with the nut (4-2), the transition block (4-3) is sleeved outside the nut (4-2), the transition block (4-3) is fixed to the sliding block (4-5), the sliding block (4-5) can move along the linear guide rail (4-4), the transition block (4-3) and the ball screw (4-1) are coaxially arranged, the inner surface of the transition block (4-3) is an arc surface matched with the diameter of the nut (4-2), and the length of the transition block is larger than that of the nut (4-2) and is consistent with that of the sliding block (4-5).
2. The microminiature high precision digitized electric steering engine system of claim 1, characterized in that the steering engine body diameter is within 120 mm.
3. The microminiature high-precision digitalized electric steering engine system according to claim 1, characterized in that the lower surface of the transition block (4-3) is mounted to the slide block (4-5), the parallelism of which is higher than 0.01mm; the rack is arranged on the upper surface of the transition block (4-3), and the parallelism of the rack and the transition block is higher than 0.01mm.
4. The microminiature high accuracy digital electric steering engine system of claim 1, wherein the perpendicularity of the side of the rudder housing perpendicular to the base plate is higher than 0.015mm.
5. The microminiature high-precision digital electric steering engine system according to claim 1, further comprising a steering engine controller, wherein the steering engine controller and the steering engine body are located in the rudder trunk and connected through a wire; the steering engine controller comprises a power panel, a digital control panel and two driving plates; the power panel is used for supplying power for the steering engine controller, each driving plate drives two motors, the digital control panel receives the overall control signal to obtain a required steering deflection angle theta, the receiving potentiometer acquires the angular position of a steering shaft of the motor to form a PWM control signal, and the driving plates drive the corresponding motor to swing the steering shaft.
6. The micro-miniature high-precision digital electric steering engine system according to claim 5, wherein the steering engine controller further comprises a ROM, a comparison table for comparing the deviation of the rudder deflection angle with the duty ratio of the PWM control signal is stored in the ROM, the digital control board obtains the required rudder deflection angle theta according to the control signal, the potentiometer is received to collect the angular position of the motor rudder shaft, the deviation of the rudder deflection angle is calculated, the comparison table is searched to obtain the duty ratio of the PWM control signal, and the PWM control signal of the duty ratio is sent.
7. The microminiature high-precision digital electric steering engine system according to claim 1, wherein the base (1) is integrally formed of duralumin 2a 12.
8. A design method of a microminiature high-precision digital electric steering engine system according to any one of claims 1 to 7, characterized by comprising the following steps:
(1) Acquiring Load requirements of a steering engine under the conditions of rudder deflection angle theta and frequency f;
(2) Setting the transmission efficiency eta, the transmission ratio i of the electric steering engine and the rotational inertia J of the electric steering engine according to the space size;
(3) Calculating the required torque T d ；
(4) Based on the desired torque T d Selecting the type of the motor; if no proper motor exists, returning to the step (2) to change the transmission ratio i of the electric steering engine; and if the motor is suitable, selecting the motor, determining the transmission efficiency eta, the transmission ratio i of the electric steering engine and the rotational inertia J of the electric steering engine, and further determining the structure of the steering engine body of the micro-miniature high-precision digital electric steering engine system.
9. The method of claim 8, wherein the required torque T is calculated d The method comprises the following steps:
j is the rotational inertia of the electric steering engine, f is the frequency of the steering engine, theta is the rudder deflection angle of the steering engine, i is the transmission ratio of the electric steering engine, k is the loading bandwidth, load is the Load required by the steering engine, and eta is the transfer efficiency.
10. The design method of the microminiature high-precision digital electric steering engine system according to claim 8 or 9, wherein the method for selecting the type of the motor comprises the following steps: required torque T d Not more than m times of rated torque, and m is 3.
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| CN113602489B (en) * | 2021-10-11 | 2021-12-07 | 中国空气动力研究与发展中心低速空气动力研究所 | Active control trailing edge winglet device for backflow stall of rotor blade with large advancing ratio |
| CN114111463A (en) * | 2021-11-01 | 2022-03-01 | 西安航天精密机电研究所 | Three-channel digital electric steering engine system with diameter of 40mm bullet |
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