CN110986694B - Rocket model adopting coaxial counter-propellers and fixed-point landing method - Google Patents
Rocket model adopting coaxial counter-propellers and fixed-point landing method Download PDFInfo
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- CN110986694B CN110986694B CN201911327342.3A CN201911327342A CN110986694B CN 110986694 B CN110986694 B CN 110986694B CN 201911327342 A CN201911327342 A CN 201911327342A CN 110986694 B CN110986694 B CN 110986694B
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- 108010066114 cabin-2 Proteins 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 4
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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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
- A63H27/005—Rockets; Missiles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/32—Range-reducing or range-increasing arrangements; Fall-retarding means
- F42B10/48—Range-reducing, destabilising or braking arrangements, e.g. impact-braking arrangements; Fall-retarding means, e.g. balloons, rockets for braking or fall-retarding
- F42B10/54—Spin braking means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/60—Steering arrangements
- F42B10/66—Steering by varying intensity or direction of thrust
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Abstract
The invention provides a rocket model adopting coaxial counter propellers and a fixed-point landing method, belongs to the technical field of aerospace models, and comprises a rocket model body, a power mechanism, a direction adjusting mechanism, an electric control cabin and a braking mechanism. A power mechanism and a direction adjusting mechanism are arranged on the rocket model body; an electric control cabin is arranged in the rocket model body and used for sensing the position of the rocket model body and controlling the driving direction of the power mechanism through the direction adjusting mechanism; the front end of the rocket model body is provided with a braking mechanism which is used for controlling the power mechanism to stop. According to the rocket model adopting the coaxial counter propellers, when the rocket model body needs to land, the electric control cabin sends a control signal to the direction adjusting mechanism, the driving mechanism adjusts the driving direction of the electric control cabin, so that the rocket model lands towards a target point, and the braking mechanism controls the power mechanism to stop running, so that the rocket model stably lands. And finally, the rocket model can be accurately recovered at fixed points.
Description
Technical Field
The invention belongs to the technical field of aerospace models, and particularly relates to a rocket model adopting coaxial counter propellers and a fixed-point landing method.
Background
With the technological progress, the aerospace technology is being developed vigorously, and at present, the recycling and the reuse of the aerospace technology are paid extensive attention. The rocket model is used as the basis of the aerospace industry, is not only a toy, but also can be a carrier. With the development of aerospace technology, the development of aerospace technology is also continuously advanced. However, the main functions of the existing rocket model are launching, parachute opening and landing, but accurate fixed-point recovery cannot be achieved.
Disclosure of Invention
The invention aims to provide a rocket model adopting coaxial counter propellers and aims to solve the problem that the rocket model cannot be accurately recovered at a fixed point.
In order to achieve the purpose, the invention adopts the technical scheme that: the rocket model adopting the coaxial counter propellers comprises a rocket model body, wherein a power mechanism and a direction adjusting mechanism are arranged on the rocket model body;
an electric control cabin is arranged in the rocket model body, and is used for sensing the position of the rocket model body and controlling the driving direction of the power mechanism through the direction adjusting mechanism;
the front end of the rocket model body is provided with a braking mechanism, and the braking mechanism is used for controlling the power mechanism to stop running.
As another embodiment of the application, the power mechanism comprises a coaxial reverse-propeller motor and two propellers sequentially arranged on a driving shaft of the coaxial reverse-propeller motor, and the brake mechanism is used for controlling the coaxial reverse-propeller motor to stop running.
As another embodiment of the application, the direction adjusting mechanism comprises a horizontal rotating motor and a vertical rotating motor, the horizontal rotating motor is installed on the rocket model body, the vertical rotating motor is connected with the horizontal rotating motor and the power mechanism through a connecting device, and the horizontal rotating motor and the vertical rotating motor are used for adjusting the driving direction of the power mechanism by receiving the induction signal of the electric control cabin.
As another embodiment of this application, connecting device includes first connecting piece and second connecting piece, first connecting piece connect in the drive end of horizontal rotation motor with the stiff end of vertical rotation motor, the second connecting piece connect in the drive end of vertical rotation motor with the stiff end of coaxial anti-oar motor.
As another embodiment of the application, the electric control cabin comprises a GPS module, a gyroscope module and a single chip microcomputer, the single chip microcomputer is used for recording coordinates of a target point, the GPS module is used for sensing the position coordinates of the rocket model body at any time, the gyroscope module is used for sensing a deviation angle between the position coordinates and the coordinates of the target point, and driving directions of the two propellers are controlled through the horizontal rotating motor and the vertical rotating motor.
As another embodiment of the present application, a fairing cone is disposed at a front end of the rocket model body, and the braking mechanism is disposed at an end of the fairing cone.
As another embodiment of the application, the brake mechanism is a thimble switch, and the thimble switch is used for controlling the coaxial reverse-paddle motor to stop running.
As another embodiment of the application, a parachute is arranged at the tail end of the rocket model body.
The rocket model adopting the coaxial counter-propellers provided by the invention has the beneficial effects that: compared with the prior art, the rocket model adopting the coaxial counter-propellers has the advantages that when the rocket model body needs to land, the electric control cabin senses the position of the rocket model body, compares the position with a target position and analyzes, sends a control signal to the direction adjusting mechanism, and after the direction adjusting mechanism receives the control signal, the driving mechanism adjusts the driving direction of the rocket model body and adjusts the landing direction of the rocket model body to land towards a target point. When the rocket model body falls to the ground, the brake mechanism controls the power mechanism to stop running, so that the rocket model stably falls. And finally, the rocket model can be accurately recovered at fixed points.
The invention also provides a fixed point landing method of the rocket model, which comprises the rocket model adopting coaxial counter-propellers and comprises the following steps:
s1: inputting the coordinates (x, y, z) of the target point into the single chip microcomputer;
s2: after the rocket model body is launched and the parachute is opened, the GPS module senses the current position coordinates (X, Y and Z);
s3: the single chip microcomputer calculates a pitching angle A and a yawing angle B required by the rocket model body through the current position coordinates (X, Y, Z) and the target point coordinates (X, Y, Z);
s4: the gyroscope module reads current pitch angle data a and current course angle data b at any time;
s5: the single chip microcomputer calculates the rotation direction F of the motor by comparing A with a or B with B, and calculates the rotation speed V of the motor according to the rotation direction F of the motor;
s6: after the rocket model touches the ground, the thimble switch is triggered, and each motor stops rotating.
As another embodiment of the present application, in steps S3 to S5,
calculating a required pitch angle A:
calculating a required yaw angle B:
or
Calculating the motor rotation direction F: sΔ＝A-a,
Calculating the rotating speed V of the motor:
e(t)＝V(2)-V(1),
the fixed-point landing method of the rocket model has the advantages that: compared with the prior art, the method comprises the steps that firstly, coordinates (x, y, z) of a target point are input into a single chip microcomputer on a rocket model body; after the rocket model body is launched and the parachute is opened, the GPS module senses the coordinates (X, Y and Z) of the current position; the single chip microcomputer calculates a pitching angle A and a yawing angle B required by the rocket model body through the current position coordinates (X, Y, Z) and the target point coordinates (X, Y, Z); the gyroscope module reads current pitch angle data a and current course angle data b at any time; the single chip microcomputer calculates the rotation direction F of the motor by comparing A with a or B with B, and calculates the rotation speed V of the motor according to the rotation direction F of the motor; after the rocket model touches the ground, the thimble switch is triggered, and each motor stops rotating. The rocket model can be accurately recovered at fixed points.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a rocket model using coaxial counter-propellers according to an embodiment of the present invention;
fig. 2 is a flowchart of a fixed point landing method of a rocket model according to an embodiment of the present invention.
In the figure: 1. a rocket model body; 2. an electric control cabin; 3. a coaxial counter-rotating motor; 4. a propeller; 5. a horizontal rotation motor; 6. a vertical rotation motor; 7. a first connecting member; 8. a second connecting member; 9. a rectifying nose cone; 10. and a thimble switch.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a rocket model using coaxial counter-propellers according to the present invention will now be described. A rocket model adopting coaxial counter propellers comprises a rocket model body 1, a power mechanism, a direction adjusting mechanism, an electric control cabin 2 and a braking mechanism.
A power mechanism and a direction adjusting mechanism are arranged on the rocket model body 1; an electric control cabin 2 is arranged in the rocket model body 1, and the electric control cabin 2 is used for sensing the position of the rocket model body 1 and controlling the driving direction of the power mechanism through a direction adjusting mechanism; the front end of the rocket model body 1 is provided with a braking mechanism, and the braking mechanism is used for controlling the power mechanism to stop running.
Compared with the prior art, when the rocket model body 1 needs to land, the electric control cabin 2 senses the position of the rocket model body 1, compares the position with a target position and analyzes, sends a control signal to the direction adjusting mechanism, and after the direction adjusting mechanism receives the control signal, the driving mechanism adjusts the driving direction of the direction adjusting mechanism and adjusts the landing direction of the rocket model body 1 to land towards a target point. When the rocket model body 1 lands on the ground, the brake mechanism controls the power mechanism to stop running, so that the rocket model stably lands. And finally, the rocket model can be accurately recovered at fixed points.
Referring to fig. 1, the power mechanism includes a coaxial counter-propeller motor 3 and two propellers 4 sequentially arranged on a driving shaft of the coaxial counter-propeller motor 3, and the brake mechanism is used for controlling the coaxial counter-propeller motor 3 to stop running. In the embodiment, the coaxial reverse-propeller motor 3 is also called a coaxial double-propeller motor, two propellers 4 with opposite rotation directions are coaxially arranged, and the coaxial reverse-propeller motor is a common device on flight equipment, can balance unidirectional rotation deflection torque, and avoids the problem that when a rocket model adopts the unidirectional propellers 4 to rotate, the single-phase deflection torque brought by the unidirectional rotation deflection torque causes the self-rotation of the rocket model body 1, so that the control is difficult. The braking device is electrically connected with the coaxial reverse-propeller motor 3, and can control the coaxial reverse-propeller motor 3 to stop running, so as to realize the landing of the rocket model.
Referring to fig. 1, the direction adjusting mechanism includes a horizontal rotating motor 5 and a vertical rotating motor 6, the horizontal rotating motor 5 is mounted on the rocket model body 1, the vertical rotating motor 6 is connected with the horizontal rotating motor 5 and the power mechanism through a connecting device, and the horizontal rotating motor 5 and the vertical rotating motor 6 are used for adjusting the driving direction of the power mechanism by receiving the sensing signal of the electric control cabin 2. In the embodiment, the vertical rotating motor 6 drives the power mechanism to change the landing included angle between the rocket model and the ground; the horizontal rotating motor 5 drives the power mechanism to change the landing direction. The horizontal rotating motor 5 and the vertical rotating motor 6 are controlled by the electric control cabin 2, and the rotating speed and the rotating direction of the horizontal rotating motor 5 and the vertical rotating motor 6 are changed by receiving induction signals of the electric control cabin 2.
Referring to fig. 1, the connecting device includes a first connecting member 7 and a second connecting member 8, the first connecting member 7 is connected to the driving end of the horizontal rotating motor 5 and the fixed end of the vertical rotating motor 6, and the second connecting member 8 is connected to the driving end of the vertical rotating motor 6 and the fixed end of the coaxial counter-paddle motor 3. In this embodiment, the first connecting member 7 and the second connecting member 8 are both U-shaped frame bodies, the corresponding free ends are hinged, and the first connecting member 7 is rotatably disposed above the second connecting member 8. The first connecting piece 7 is connected with the driving end of the horizontal rotating motor 5, the driving end of the horizontal rotating motor 5 is driven to rotate, and the vertical rotating motor 6 and the coaxial reverse-propeller motor 3 are driven to convert angles through the second connecting piece 8, so that the flying direction of the rocket model is changed. The second connecting piece 8 is connected with the driving end of the vertical rotating motor 6 and the coaxial reverse propeller motor 3, and the vertical rotating motor 6 drives the second connecting piece 8 to rotate relative to the first connecting piece 7, so that the flying angle of the rocket model and the ground is changed.
Referring to fig. 1, an electric control cabin 2 includes a GPS module, a gyroscope module, and a single chip microcomputer, the single chip microcomputer is used for recording coordinates of a target point, the GPS module is used for sensing a position coordinate of a rocket model body 1 at any time, the gyroscope module is used for sensing a deviation angle between the position coordinate and the coordinates of the target point, and driving directions of two propellers 4 are controlled by a horizontal rotating motor 5 and a vertical rotating motor 6. In the embodiment, the coordinates of the target point are input into the single chip microcomputer, the GPS module senses the coordinates of the position in real time in the flying process of the rocket model, analyzes and compares the coordinates with the coordinates of the target point, generates sensing signals according to the deviation value of the coordinates and the coordinates of the target point, sends the sensing signals to corresponding motors, namely the horizontal rotating motor 5 and the vertical rotating motor 6, and controls the flying direction and the flying angle of the rocket model by controlling the horizontal rotating motor 5 and the vertical rotating motor 6.
Referring to fig. 1, a fairing cone 9 is disposed at the front end of a rocket model body 1, and a braking mechanism is disposed at the end of the fairing cone 9. In the embodiment, the rectifying nose cone 9 is a conical mechanism, so that the flight resistance of the rocket model can be reduced, the braking device is arranged at the end part of the rectifying nose cone, and the braking device is started through the descent of the rocket model to control the rocket model to be stable.
Referring to fig. 1, as a specific embodiment of a rocket model using coaxial counter-propellers provided by the present invention, a brake mechanism is a thimble switch 10, and the thimble switch 10 is used to control the coaxial counter-propeller motor 3 to stop running. In this embodiment, the thimble switch 10 has a reset function, when the rocket model contacts the ground, the thimble switch 10 contacts the ground before the rocket model, and under the action of the gravity of the rocket model, the thimble switch 10 controls the coaxial counter-propeller motor 3 to be switched off, so that the coaxial counter-propeller motor 3 stops operating, the two propellers 4 do not rotate any more, and the rocket model is kept stable after landing.
Referring to fig. 1, a parachute is disposed at the end of a rocket model body 1. In the embodiment, the parachute is positioned at the rear side of the electric control cabin 2 and is popped up when the rocket model lands to buffer the landing speed of the rocket model, so that the damage caused by overlarge inertia when the rocket model lands can be avoided, and meanwhile, enough time can be provided for the rocket model to adjust the flight direction and angle.
The invention also provides a fixed-point landing method of a rocket model, which uses the rocket model adopting coaxial counter propellers, please refer to fig. 2, and comprises the following steps:
s1: inputting the coordinates (x, y, z) of the target point into the single chip microcomputer;
s2: after the rocket model body 1 is launched and opened, the GPS module senses the coordinates (X, Y and Z) of the current position;
s3: the single chip microcomputer calculates a required pitching angle A and a required yawing angle B of the rocket model body 1 through the current position coordinates (X, Y, Z) and the target point coordinates (X, Y, Z);
s4: the gyroscope module reads current pitch angle data a and current course angle data b at any time;
s5: the single chip microcomputer calculates the rotation direction F of the motor by comparing A with a or B with B, and calculates the rotation speed V of the motor according to the rotation direction F of the motor;
s6: after the rocket model touches the ground, the thimble switch 10 is triggered, and all the motors stop rotating.
Calculating a required pitch angle A:
wherein X is the longitude of the target point, Y is the latitude of the target point, Z is the height of the target point, X is the longitude of the position where the current rocket model is located, Y is the latitude of the position where the current rocket model is located, and Z is the height of the position where the current rocket model is located.
Calculating a required yaw angle B:
firstly, taking the position of the current rocket model as an original point, taking the direction with the zero course angle as the positive direction of a Y axis, clockwise rotating the rocket model by 90 degrees as the positive direction of an X axis, establishing a horizontal coordinate system, and judging that a target point is positioned in the quadrant IV.
When the target point is located at the first and second boundaries:
when the target point is located in the third, fourth quadrant:
wherein X is the longitude of the target point, Y is the latitude of the target point, X is the longitude of the position of the current rocket model, and Y is the latitude of the position of the current rocket model.
Calculating the motor rotation direction F:
SΔ＝A-a,
wherein, A can be replaced by B, a can be replaced by B, and the A and the B must be replaced simultaneously; sΔIs the difference between the current angle and the desired angle.
Calculating the rotating speed V of the motor:
e(t)difference between actual value of motor speed and predetermined value of motor speed, V(1)Motor speed predetermined value per unit time, V(2)Actual motor speed, K, per unit timePIs a proportionality coefficient, TiIntegral coefficient, TdA differential coefficient.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A fixed point landing method of a rocket model comprises the rocket model adopting coaxial counter-propellers, wherein the rocket model adopting the coaxial counter-propellers comprises a rocket model body, and a power mechanism and a direction adjusting mechanism are arranged on the rocket model body;
an electric control cabin is arranged in the rocket model body, and is used for sensing the position of the rocket model body and controlling the driving direction of the power mechanism through the direction adjusting mechanism;
the front end of the rocket model body is provided with a braking mechanism, and the braking mechanism is used for controlling the power mechanism to stop running;
the method is characterized by comprising the following steps:
s1: inputting the coordinates (x, y, z) of the target point into the single chip microcomputer;
s2: after the rocket model body is launched and the parachute is opened, the GPS module senses the current position coordinates (X, Y and Z);
s3: the single chip microcomputer calculates a pitching angle A and a yawing angle B required by the rocket model body through the current position coordinates (X, Y, Z) and the target point coordinates (X, Y, Z);
s4: the gyroscope module reads current pitch angle data a and current course angle data b at any time;
s5: the single chip microcomputer calculates the rotation direction F of the motor by comparing A with a or B with B, and calculates the rotation speed V of the motor according to the rotation direction F of the motor;
s6: after the rocket model touches the ground, triggering a thimble switch, and stopping the rotation of each motor;
in steps S3 to S5,
calculating a required pitch angle A:
wherein X is the longitude of a target point, Y is the latitude of the target point, Z is the height of the target point, X is the longitude of the position where the current rocket model is located, Y is the latitude of the position where the current rocket model is located, and Z is the height of the position where the current rocket model is located;
calculating a required yaw angle B: firstly, taking the position of a current rocket model as an original point, taking the direction with a zero course angle as the positive direction of a Y axis, clockwise rotating by 90 degrees as the positive direction of an X axis, establishing a horizontal coordinate system, and judging that a target point is positioned in the quadrant IV;
when the target point is located at the first and second boundaries:
when the target point is located in the third, fourth quadrant:
wherein X is the longitude of the target point, Y is the latitude of the target point, X is the longitude of the position where the current rocket model is located, and Y is the latitude of the position where the current rocket model is located;
calculating the motor rotation direction F: sΔ＝A-a,
Wherein, A can be replaced by B, a can be replaced by B, and the A and the B must be replaced simultaneously; sΔThe difference between the current angle and the required angle;
calculating the rotating speed V of the motor:
e(t)＝V(2)-V(1),
e(t)difference between actual value of motor speed and predetermined value of motor speed, V(1)Predetermined motor speed value per unit time, V(2)Actual motor speed, K, per unit timePIs a proportionality coefficient, TiIntegral coefficient, TdA differential coefficient.
2. A rocket model fixed point landing method as recited in claim 1, wherein said power mechanism comprises a coaxial counter-blade motor and two propellers sequentially arranged on a driving shaft of said coaxial counter-blade motor, and said brake mechanism is used for controlling said coaxial counter-blade motor to stop running.
3. A rocket model fixed point landing method as recited in claim 2, wherein said direction adjustment mechanism comprises a horizontal rotation motor and a vertical rotation motor, said horizontal rotation motor is mounted on said rocket model body, said vertical rotation motor is connected with said horizontal rotation motor and said power mechanism through a connecting device, said horizontal rotation motor and said vertical rotation motor are used for adjusting the driving direction of said power mechanism by receiving the induction signal of said electric control cabin.
4. A rocket model fixed point landing method as recited in claim 3, wherein said connecting means comprises a first connecting member and a second connecting member, said first connecting member being connected to a driving end of said horizontal rotation motor and a fixed end of said vertical rotation motor, said second connecting member being connected to a driving end of said vertical rotation motor and a fixed end of said coaxial counter-paddle motor.
5. A rocket model fixed-point landing method as recited in claim 4, wherein said electric control cabin comprises a GPS module, a gyroscope module and a single chip microcomputer, said single chip microcomputer is used for recording the coordinates of a target point, said GPS module is used for sensing the position coordinates of said rocket model body from time to time, said gyroscope module is used for sensing the deviation angle between said position coordinates and said target point coordinates, and the driving directions of said two propellers are controlled by said horizontal rotating motor and said vertical rotating motor.
6. A rocket model fixed point landing method as recited in claim 5, wherein a fairing cone is provided at the front end of said rocket model body, and said braking mechanism is provided at the end of said fairing cone.
7. A rocket model fixed point landing method as recited in claim 6, wherein said braking mechanism is a thimble switch, said thimble switch is used to control said coaxial counter-rotating motor to stop running.
8. A method of landing a rocket model at a fixed point as recited in any one of claims 1-7, wherein a parachute is provided at the end of the rocket model body.
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