CN110979626A

CN110979626A - Airship tail rotary table control system

Info

Publication number: CN110979626A
Application number: CN201911406032.0A
Authority: CN
Inventors: 司占龙; 张旭日
Original assignee: Shijiazhuang Zhongteng Technology Co Ltd
Current assignee: Shijiazhuang Zhongteng Technology Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-04-10

Abstract

The invention provides a control system for a rotary table at the tail of an airship, and belongs to the technical field of aircrafts. The airship tail rotary table control system comprises: the tail rotary table comprises a balance rotary table, a support and a tailstock, and the tailstock is connected with the balance rotary table through the support; a Y-axis rotating shaft and a Z-axis rotating shaft are arranged on the balance rotating table, the Y-axis rotating shaft and the Z-axis rotating shaft are driven to rotate through a Y-axis motor and a Z-axis motor respectively, and a propeller is mounted on the Z-axis rotating shaft; the control box is used for sending instructions and driving the Y-axis motor and the Z-axis motor to rotate; the upper computer is connected with the central control panel. The tail rotary table can rotate within +/-180 degrees by taking the Y axis as the center and rotate within +/-180 degrees by taking the Z axis as the center, so that the rotation of the sky field on the whole spherical surface is realized, and the conversion of any posture of the airship is realized.

Description

Airship tail rotary table control system

Technical Field

The invention belongs to the technical field of aircrafts, and particularly relates to a control system for a rotary table at the tail of an airship.

Background

An airship is a lighter-than-air craft that differs from a hot-air balloon in having means to propel and control the flight conditions. The airship consists of a huge streamline hull, a nacelle positioned below the hull, a tail part for stabilizing and controlling and a propelling device.

The air bag of the airship body is filled with buoyancy gas (hydrogen or helium) with density smaller than that of air so as to generate buoyancy force to lift the airship. The gondola is used for passengers to take and load cargo. The tail part is used for controlling and maintaining the stability of course and pitching. The large civil airship can also be used for transportation, entertainment, disaster relief, film and television shooting, scientific experiments and the like. For example, when a natural disaster occurs, a communication interruption can quickly launch an aerostat, and the mobile communication recovery of the whole disaster area can be completed in a very short time by carrying a communication transponder through a floating balloon. The airship attitude adjustment realized by means of tail deflection mainly has the following problems: with the gradual increase of the flying height of the airship (the flying height of the airship developed by various countries is about 20km at present), the wind field of the working environment of the airship changes violently, the maximum wind speed reaches the magnitude of 120m/s when the airship passes through a current layer, and the wind speed is generally below 10m/s during the 20km high level flight, so that the great wind field difference brings difficulties to the design of a tail structure and the realization of posture adjustment by depending on the effect of the wind field.

Disclosure of Invention

The invention provides a control system for a rotary table at the tail part of an airship, so as to solve the technical problem.

In order to achieve the purpose, the technical solution of the invention is as follows:

an airship aft turret control system comprising:

the tail rotary table comprises a balance rotary table, a support and a tailstock, and the tailstock is connected with the balance rotary table through the support; the balance rotary table is provided with a Y-axis rotary shaft and a Z-axis rotary shaft which are positioned on the same plane and are perpendicular to each other, the Y-axis rotary shaft and the Z-axis rotary shaft are driven to rotate by a Y-axis motor and a Z-axis motor respectively, and a propeller is mounted on the Z-axis rotary shaft;

the control box comprises a Y-axis servo driver, a Z-axis servo driver, a central control board and a power supply, wherein the power supply is connected with the central control board, the Y-axis servo driver and the Z-axis servo driver are respectively connected with the Y-axis motor and the Z-axis motor, and the Y-axis servo driver and the Z-axis servo driver are used for receiving an instruction sent by the central control board and driving the Y-axis motor and the Z-axis motor to rotate;

and the upper computer is connected with the central control board and is used for sending instructions to the central control board.

Preferably, the balance turntable is circular, the Y-axis rotating shaft is mounted outside two radial ends of the balance turntable, and one end of the Y-axis rotating shaft is connected with the Y-axis motor; the tailstock is connected with two ends of the Y-axis rotating shaft through a support; two ends of the Z-axis rotating shaft are connected with the balance rotating table, and a driving motor of the propeller is arranged on the Z-axis rotating shaft.

Preferably, an output shaft driven by the Y-axis motor is provided with a first pinion, a Y-axis rotating shaft is provided with a first bull gear, and the first pinion is meshed with the first bull gear so as to drive the tail rotary table to rotate at +/-180 degrees by taking the Y axis as the center; and a second pinion is arranged on an output shaft driven by the Z-axis motor, a second bull gear is arranged on a Z-axis rotating shaft, and the second pinion is meshed with the second bull gear so as to drive the tail rotary table to rotate +/-180 degrees by taking the Z axis as the center.

Preferably, the driving motor of the propeller is connected with the central control board through a contactor.

Preferably, a Y-axis photoelectric encoder and a Z-axis photoelectric encoder are respectively installed on the Y-axis rotating shaft and the Z-axis rotating shaft, and the Y-axis photoelectric encoder and the Z-axis photoelectric encoder are connected with the central control panel.

Preferably, all install limit switch device on Y axle rotation axis and the Z axle rotation axis, limit switch device includes first limit switch, second limit switch and spacing shifting block, on Y axle rotation axis and the Z axle rotation axis were located to spacing shifting block, and rotated along with Y axle rotation axis and Z axle rotation axis, first limit switch, second limit switch pass through the switch seat and install on the shell of Y axle rotation axis and Z axle rotation axis, can touch first limit switch and second limit switch when spacing shifting block is rotatory, first limit switch and second limit switch are connected with central control panel.

Preferably, the central control board is connected with the Y-axis servo driver and the Z-axis servo driver through the photoelectric isolation circuit, so that signal level conversion and isolation during data exchange are realized.

Preferably, the central control board is connected with the upper computer through an RS422 serial interface.

Preferably, a heating system is arranged in the control box and is connected with the central control board.

The invention has the beneficial effects that:

1. the Y-axis rotating shaft and the Z-axis rotating shaft on the balance turntable are positioned on the same plane and are mutually and vertically arranged, the two shafts are positioned in the same plane, the mutual gravity arm of the two shafts is 0, and the weight of the Z axis has little influence on the driving moment of the Y axis relative to the weight of the Y axis because of no moment arm, so that the influence of the gravity of the two shafts is very small.

2. The tail rotary table can rotate at +/-180 degrees by taking a Y axis as a center and rotate at +/-180 degrees by taking a Z axis as a center, so that the rotation of the sky field on the whole spherical surface is realized, and the conversion of any posture of the airship is realized; the tail rotary table is connected with the tailstock framework to provide support for an airship propeller system, and the included angle between the propeller and the airship is changed when the airship moves, so that the flight direction of the airship is changed.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic structural diagram of the present invention.

Fig. 3 is a schematic structural diagram of the connection relationship of the Y-axis motor in the part B of fig. 1.

Fig. 4 is a schematic structural diagram of the connection relationship of the Z-axis motor in the part C of fig. 1.

Fig. 5 is a schematic structural view of a portion a in fig. 1.

Fig. 6 is a connection diagram of the control system.

Fig. 7 is a circuit connection diagram of the control system.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1-5, an airship aft turret control system includes: the tail rotary table comprises a balance rotary table 1, a support 2 and a tailstock 3, wherein the tailstock 3 is connected with the balance rotary table 1 through the support 2; the balance turntable is provided with a Y-axis rotating shaft 11 and a Z-axis rotating shaft 12 which are positioned on the same plane and are perpendicular to each other, the Y-axis rotating shaft 11 and the Z-axis rotating shaft 12 are driven to rotate by a Y-axis motor 111 and a Z-axis motor 121 respectively, and the Z-axis rotating shaft 12 is provided with a propeller 4; the control box comprises a Y-axis servo driver, a Z-axis servo driver, a central control panel and a power supply, wherein the power supply is connected with the central control panel, the Y-axis servo driver and the Z-axis servo driver are respectively connected with a Y-axis motor and a Z-axis motor, and the Y-axis servo driver and the Z-axis servo driver are used for receiving an instruction sent by the central control panel and driving the Y-axis motor and the Z-axis motor to rotate; the upper computer is connected with the central control panel and is used for sending instructions to the central control panel.

The Y-axis rotating shaft is mainly made of carbon fibers, the Z-axis rotating shaft is mainly made of aluminum alloy, and the outer frame of the inner cylinder is hollow so as to facilitate the arrangement of cables. The tailstock of the balance rotary table 1 is made of carbon fiber materials and connected with an airship tail steel frame, and supports are provided for the balance rotary table 1 and the support 2. Balance revolving stage 1 is circular, and Y axle rotation axis 11 and Z axle rotation axis 12 are located balance revolving stage 1 plane and mutually perpendicular sets up, and Y axle rotation axis 11 and Z axle rotation axis 12 are rotatory through Y axle motor 111 and Z axle motor 121 drive respectively, and Y axle motor and Z axle motor are connected with Y axle servo driver, the Z axle servo driver of locating in the control box, central control panel is used for controlling the rotation of Y axle rotation axis and Z axle rotation axis to with information such as the turned angle of Y axle rotation axis and Z axle rotation axis, speed upload to the host computer, receive the instruction adjustment Y axle rotation angle and the speed of Z axle rotation axis simultaneously.

The Y-axis motor and the Z-axis motor adopt alternating current servo motors and are connected with the Y-axis servo driver and the Z-axis servo driver, so that the locking of the balance rotary table at any position can be ensured. When the propeller driving motor is installed, after the motor and the motor base are assembled, heat-conducting silica gel is coated on two sides of the heat-conducting aluminum sheet and is plugged between the gap of the motor and the motor base, and the heat-conducting aluminum sheet is bonded with the motor base by the AB glue. Motor wire inlet holes and wire outlet holes are formed in the Y-axis rotating shaft 11 and the Z-axis rotating shaft 12, propeller motor wires, the Y-axis motor wires and the Z-axis motor wires penetrate through the middle of the YZ-axis structure frame, waterproof joints are added at the inlet holes to prevent rainwater from entering, and binding is performed at proper positions according to actual conditions. The control box adopts seal structure, ensures that inner structure does not receive the rainwater corruption.

Further, the Y-axis rotating shaft 11 is installed outside two radial ends of the balance rotating table 1, wherein one end is connected with the Y-axis motor 111; the tailstock 3 is connected with two ends of a Y-axis rotating shaft 11 through a support 2; two ends of the Z-axis rotating shaft 12 are connected with the balance rotary table 1, and a driving motor of the propeller 4 is arranged on the Z-axis rotating shaft 12. And a driving motor of the propeller 4 is connected with the central control board through a contactor, and the central control board controls the start and stop of the propeller. Further, an output shaft driven by the Y-axis motor 111 is provided with a first pinion 112, a Y-axis rotating shaft is provided with a first gearwheel 113, the first pinion 112 is engaged with the first gearwheel 113, and the first gearwheel is driven to rotate by the first pinion, so that the tail turntable is driven to rotate by taking the Y-axis as the center. Preferably, the present application sets the rotation angle of the Y-axis rotation shaft 11 to ± 180 °. Be equipped with second pinion 122 on the output shaft of Z axle motor 121 drive, be equipped with second gear wheel 123 on the Z axle rotation axis, second pinion 122 meshes with second gear wheel 123, drives second gear wheel 123 through second pinion 122 and rotates to the drive afterbody revolving stage uses the Z axle to rotate as the center, and is preferred, and this application sets up the turned angle of Z axle rotation axis 12 to 180. Because the Y-axis rotating shaft 11 and the Z-axis rotating shaft 12 are arranged in a mutually perpendicular mode, the rotating angles of the Y-axis rotating shaft 11 and the Z-axis rotating shaft 12 can form a spherical surface, so that the tail rotary table of the airship can rotate in the whole sky, and the flying angle can be changed at will in the flying process of the airship.

Further, for the rotation angle of real-time supervision Y axle rotation axis and Z axle rotation axis, install Y axle photoelectric encoder 5 and Z axle photoelectric encoder 6 on Y axle rotation axis 11 and the Z axle rotation axis 12 respectively, Y axle photoelectric encoder 5 and Z axle photoelectric encoder 6 are connected with central control panel, and Y axle photoelectric encoder 5 and Z axle photoelectric encoder 6 send real-time angle for central processing unit, and central processing unit again with this data transmission to the host computer and show.

Further, all install limit switch device 7 on Y axle rotation axis 11 and the Z axle rotation axis 12, limit switch device 7 includes first limit switch 71, second limit switch 72 and spacing shifting block 73, spacing shifting block 73 is located on Y axle rotation axis and the Z axle rotation axis, and rotates along with Y axle rotation axis and Z axle rotation axis, first limit switch 71, second limit switch 72 pass through the switch seat and install on the shell of Y axle rotation axis and Z axle rotation axis, and when Y axle rotation axis 11 and Z axle rotation axis 12 rotated, first limit switch 71, second limit switch 72 position were motionless, can touch first limit switch and second limit switch when spacing shifting block 73 was rotatory, first limit switch and second limit switch are connected with central control panel. The positions of the first limit switch 71 and the second limit switch 72 can be set to be opposite according to the actual use requirement, for example, when the Y-axis rotating shaft 11 and the Z-axis rotating shaft 12 rotate at an angle of ± 180 degrees, the first limit switch and the second limit switch are horizontally arranged, and the limit shifting block is arranged between the two limit switches; when the Y-axis rotating shaft and the Z-axis rotating shaft rotate +/-90 degrees, the included angle between the first limit switch and the second limit switch is 90 degrees. After the limiting shifting block touches the limiting switch, the limiting switch sends the position information of the Y-axis rotating shaft and the Z-axis rotating shaft to the central processor, and the central processor controls the Y-axis motor and the Z-axis motor to adjust the rotating angle through the servo driver.

Further, referring to fig. 6 and 7, fig. 6 is a connection relationship diagram of the control system, and fig. 7 is a circuit connection relationship diagram of the control system. The central control board is connected with the Y-axis servo driver and the Z-axis servo driver through the photoelectric isolation circuit, and signal level conversion and isolation during data exchange are achieved. And the central control board is connected with the upper computer through an RS422 serial interface. And a heating system is arranged in the control box and is connected with the central control panel.

The central control board is used for processing all input and output signals of the system and processing system data, and the photoelectric isolation circuit is mainly used for signal level conversion and isolation operation during data exchange between each device and the central control board; the servo driver is used for receiving a driving signal sent by the central control board so as to drive the motor to drive the load to operate; the photoelectric encoder feeds back the rotation angle and the direction of the motor shaft to the central control panel at any time.

When the automatic self-checking system works, the control box is powered on, then equipment such as the central control panel, the servo driver and the photoelectric encoder perform self-checking, the central control panel sends the current system, the Y-axis state and the Z-axis state to the upper computer at any time through the RS422 serial interface, and the data sending time interval is 100 ms. A user sends required instruction data to the central processing unit by using the RS422 serial interface through the upper computer control software; the servo controller receives the instruction data from the central processing unit, decodes and analyzes the instruction data according to a corresponding communication protocol, compares the decoded and analyzed instruction data with the current actual state data of the servo to obtain corresponding control data, and then generates corresponding control signals through related circuits to drive the motors of all servo shafts to operate, so that the speed and direction of the airship are controlled.

The servo control system can realize one-axis independent work or multi-axis simultaneous work according to the requirement of the upper computer, and upload the current all-axis angle and speed state data of the system in real time. The running speed of the motor is in a curve type, after the upper computer gives an angle, the motor is accelerated to the required rotating speed at 15 degrees/second (which can be changed according to requirements), and the motor is uniformly decelerated to stop when the motor approaches the given angle value. And when a new command of the upper computer is not received, the system automatically keeps the current state of each axis.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. An airship tail turntable control system, comprising:

2. The airship tail turntable control system of claim 1, wherein the balance turntable is circular, the Y-axis rotating shaft is installed outside two radial ends of the balance turntable, and one end of the Y-axis rotating shaft is connected with a Y-axis motor; the tailstock is connected with two ends of the Y-axis rotating shaft through a support; two ends of the Z-axis rotating shaft are connected with the balance rotating table, and a driving motor of the propeller is arranged on the Z-axis rotating shaft.

3. The airship tail turntable control system of claim 2, wherein the Y-axis motor is provided with an output shaft on which a first pinion is provided, the Y-axis rotating shaft is provided with a first gearwheel on which the first pinion is engaged, thereby driving the tail turntable to rotate by ± 180 ° around the Y-axis; and a second pinion is arranged on an output shaft driven by the Z-axis motor, a second bull gear is arranged on a Z-axis rotating shaft, and the second pinion is meshed with the second bull gear so as to drive the tail rotary table to rotate +/-180 degrees by taking the Z axis as the center.

4. The airship tail turret control system of claim 2, where the propeller drive motor is connected to a central control board through a contactor.

5. The airship tail turntable control system according to any one of claims 1 to 4, wherein the Y-axis rotating shaft and the Z-axis rotating shaft are respectively provided with a Y-axis photoelectric encoder and a Z-axis photoelectric encoder, and the Y-axis photoelectric encoder and the Z-axis photoelectric encoder are connected with the central control board.

6. The airship tail turntable control system according to claim 5, wherein each of the Y-axis rotation shaft and the Z-axis rotation shaft is provided with a limit switch device, the limit switch device comprises a first limit switch, a second limit switch and a limit shifting block, the limit shifting block is arranged on the Y-axis rotation shaft and the Z-axis rotation shaft and rotates along with the Y-axis rotation shaft and the Z-axis rotation shaft, the first limit switch and the second limit switch are arranged on shells of the Y-axis rotation shaft and the Z-axis rotation shaft through switch seats, the limit shifting block can touch the first limit switch and the second limit switch when rotating, and the first limit switch and the second limit switch are connected with a central control panel.

7. The airship tail turntable control system of any one of claims 1 to 4 or 6, wherein the central control board is connected with the Y-axis servo driver and the Z-axis servo driver through an optoelectronic isolation circuit to realize signal level conversion and isolation during data exchange.

8. The airship tail turntable control system of claim 7, wherein the central control board is connected to an upper computer through an RS422 serial interface.

9. The airship tail turntable control system of claim 8, wherein a heating system is provided in the control box, the heating system being connected to a central control panel.