CN112129179A

CN112129179A - Laser beam-steering guided missile emitted by 40mm rocket tube

Info

Publication number: CN112129179A
Application number: CN201910549906.1A
Authority: CN
Inventors: 于剑桥; 蒋军
Original assignee: Beijing Hengxing Jianxiang Technology Co ltd
Current assignee: Beijing Hengxing Jianxiang Technology Co ltd
Priority date: 2019-06-24
Filing date: 2019-06-24
Publication date: 2020-12-25

Abstract

The invention provides a laser beam-steering guided missile emitted by a 40mm rocket launcher, wherein a single-channel steering engine, an on-missile control module and a laser receiver are added to the missile, and a guidance instrument is added to ground equipment; the missile upper control module is arranged in the middle of the missile, the laser receiver is arranged in the missile upper control module, and the installation shaft of the laser receiver forms a certain angle with the missile shaft of the missile; the single-channel steering engine is arranged on the front end face of the missile upper control module, and a rudder wing of the single-channel steering engine is connected to a single-channel steering engine body in a foldable and detachable manner; the laser receiver receives a laser information field signal transmitted by the guidance instrument, converts the laser information field signal into a missile position error signal and transmits the missile position error signal to the missile control module; the missile-mounted control module is used for resolving the received missile position error signal, generating a track correction control instruction to drive the single-channel steering engine to drive the unfolded rudder wing to rotate, and controlling the guided missile to fly at the center of the laser information field until the guided missile hits a target. The invention has long-distance accurate striking capability and can improve the firepower control range of a 40mm rocket tube.

Description

Laser beam-steering guided missile emitted by 40mm rocket tube

Technical Field

The invention relates to the technical field of guided rocket projectiles, in particular to a laser beam-steering guided missile emitted by a 40mm rocket tube.

Background

A40 mm individual rocket launcher is a conventional hard-attacking weapon platform for infantry short-distance anti-personnel, tanks, armors and workers, is favored due to the characteristics of low cost, light weight, simple operation and convenient carrying, is still greatly equipped and used by various countries at present, and the total equipment amount reaches more than one million doors. However, the ammunitions of the conventional shaping equipment of the platform are uncontrolled rocket projectiles, the farthest range of the platform to a static target is only 300 meters under the condition that the dispersion accuracy CEP (circular probability error) is 0.45 meter, and the range of the platform to a moving target is further reduced when the platform is shot. This greatly limits the operational effectiveness of the individual weapon platform and fails to meet the operational requirements of modern warfare. Therefore, there is a need to develop a precision guided missile with an effective range of over 1500 meters that has the capability of precisely hitting static and moving targets.

However, the special launching environment, the adaptive structure of the projectile tube and the operational use conditions of the 40mm rocket tube make the development of the accurate guided missile very difficult. The bore pressure in a 40mm rocket tube can be greater than 80 mpa when the rocket projectile is launched, which puts extremely strict requirements on the development of guidance control components on the projectile, particularly precise photoelectric components and the wiring of the overall electric system under the conventional structural layout condition. Meanwhile, the 40mm rocket tube is a single-soldier weapon, and the short-distance combat using conditions are very many, so that the missile must achieve the same hitting precision as the uncontrolled rocket projectile at the range within 300 meters. Generally, a guidance control system of a guidance cartridge has a start-control convergence section when the guidance control system starts to work, and the trajectory precision of the section is low, so that the requirement of near range on precision is difficult to meet. Meanwhile, as an individual weapon, the requirement for carrying convenience is very strict, and therefore, the ground guidance equipment must meet the requirements of small size and light weight. It is due to the above limitations that although 40mm rocket launchers began to be heavily equipped since the last 70 th century, no solution has been proposed for the precise guidance of missiles for their use.

Disclosure of Invention

In view of the above, the invention provides a laser beam-steering guided missile emitted by a 40mm rocket tube, which has long-distance accurate hitting capability and can improve the fire control range of the 40mm rocket tube.

The technical scheme adopted by the invention is as follows:

a laser beam-steering guided missile emitted by a 40mm rocket tube is characterized in that a single-channel steering engine, an on-missile control module and a laser receiver are added to the missile, and a guidance instrument is added to ground equipment;

the missile upper control module is arranged in the middle of the missile, the laser receiver is arranged in the missile upper control module, and a mounting shaft of the laser receiver forms a certain angle with a missile shaft of the missile; the single-channel steering engine is arranged on the front end face of the missile upper control module, and a rudder wing of the single-channel steering engine is connected to a single-channel steering engine body in a foldable and detachable manner;

the guidance instrument is used for transmitting coded laser information field signals and providing guidance information for the guided missile; the laser receiver is used for receiving the laser information field signal, converting the laser information field signal into a missile position error signal and transmitting the missile position error signal to the missile control module; the missile-mounted control module is used for resolving the received missile position error signal, generating a track correction control instruction to drive the single-channel steering engine to drive the unfolded rudder wing to rotate, and controlling the guided missile to fly at the center of the laser information field until the guided missile hits a target.

Furthermore, the guidance instrument adopts a whole-course fixed-focus guidance instrument, and meanwhile, a laser beam-steering variable gain coefficient is introduced into the missile-borne control module

x is the range of the guided missile, t is the flight time of the guided missile, and theta is the angle of the fixed focus beam.

Further, one or two laser receivers are adopted; if two laser receivers are adopted, the two laser receivers are symmetrically arranged in the cabin body relative to the missile axis.

Furthermore, the rudder wing comprises a rudder sheet, a rudder shaft, an upper cover plate, a lower cover plate, a connector I, a compression spring, a wing seat and a connector II;

the upper cover plate, the connector I, the lower cover plate and the connector II are fixedly connected in sequence, and the wing seat is arranged in a cavity formed by the upper cover plate, the connector I and the lower cover plate; the wing seat comprises a wing seat main body and a wing seat base, and the diameter and the length of the wing seat base are greater than the diameter of the wing seat main body; the rudder sheet is rotatably connected to the wing seat main body through a rudder shaft, the wing seat main body can penetrate through the mounting hole of the upper cover plate to slide along the direction vertical to the elastic shaft, and meanwhile, the wing seat base is in sliding fit with the inner wall of the connecting body I and is limited by the upper cover plate; a compression spring is sleeved outside the wing seat main body and limited by the end surface of the wing seat base and the bottom surface of the upper cover plate;

the upper surface of the upper cover plate is provided with a limit groove for limiting the rotation of the rudder sheet after the rudder sheet is unfolded;

the bottom surface of the wing seat base is provided with a positioning groove which is convexly matched with the upper surface of the lower cover plate and is used for positioning the rotating angle when the rudder sheet is unfolded; and the connector II is limited by a dismounting mechanism arranged on the steering engine.

Furthermore, the disassembling and assembling mechanism consists of two groups of rotating chuck seat assemblies which are symmetrically arranged; the rotary clamping seat assembly comprises a clamping seat, a clamping seat shaft and a spring;

the clamp seat is rotatably connected in the steering engine through a clamp seat shaft, the top of the clamp seat protrudes out of the steering engine cabin body, and the spring is limited between the bottom of the clamp seat and the inner wall of the steering engine; the clamp seat is provided with an inclined plane in limit fit with the connector II, when the rudder wing is installed on a steering engine, the bottom end of the inclined plane is used for limiting the connector II to move along the direction perpendicular to the elastic shaft, and meanwhile, a certain distance exists between the bottom end of the inclined plane and the connector II.

Further, the on-board control module adopts a single-channel rolling control method based on discontinuous error information: the missile-borne control module judges whether the received position error signal is effective or not, and if the received position error signal is ineffective, the missile-borne control module sends a control instruction produced according to the previous period to the single-channel steering engine; if the signal is effective, a new control instruction is generated by adopting the effective position error signal and sent to the single-channel steering engine.

Has the advantages that:

1. according to the invention, a single-channel steering engine, an on-missile control module and a laser receiver are added to form a guided missile, so that a long range is realized and the hit accuracy is improved; in order to enable the missile to have an aerodynamic shape close to that of an uncontrolled rocket projectile and not to have a structure which influences the static stability and the uncontrolled trajectory precision of the projectile body, such as an aerodynamic control surface extending out of the surface of the projectile body, the missile adopts a rudder wing and a dismounting mechanism which can be quickly dismounted, and when the target distance is close, a shooter quickly dismount the rudder wing before loading, so that the shape of the missile in the flying process is basically consistent with that of the uncontrolled rocket projectile, the precision under the uncontrolled condition of near range is well ensured, meanwhile, a control system scheme of a single-channel steering engine is adopted, the missile only has a pair of control rudder wings, the missile can be ensured to quickly finish the dismounting of the rudder wings to the utmost extent, and the rapidity of operational use is ensured. Moreover, the laser receiver is arranged in the middle of the missile body, so that when the missile is filled into the rocket barrel, the laser receiver is arranged outside the rocket barrel, and the influence of high chamber pressure on the receiver and the wiring of an electrical system can be well avoided.

2. The ground guidance of the invention adopts a whole-course fixed-focus guidance instrument, has small volume and light weight, can effectively reduce the volume and the weight of the weapon platform, and is convenient to carry.

3. The invention can adopt one laser receiver and also can adopt two symmetrically installed laser receivers, and the two laser receivers can reduce the randomness of effective error information and improve the control precision.

Drawings

FIG. 1 is a schematic view of the general structure of a guided rocket projectile;

FIGS. 2(a) and (b) are side and front views of the laser receiver mounting position;

FIGS. 3(a) and (b) are a side view and a front view of the folded rudder blade;

FIGS. 4(a), (b), and (c) are a side view, a front view, and a cross-sectional view of the unfolded rudder blade;

FIGS. 5(a), (b) and (c) are a side view, a front view and a cross-sectional view of the rudder wings in place;

FIG. 6 is a schematic view of the dismounting mechanism;

FIG. 7 is a three-dimensional schematic view of the structure of the disassembly and assembly mechanism;

FIGS. 8(a) and (b) are a side view and a front view of the upper cover plate structure, respectively;

FIG. 9 is a flow chart of single-channel roll control with non-continuous error information;

FIG. 10 is a front view of a global fixed focus guidance instrument and fixed focus beams;

FIG. 11 is a side view of the global fixed focus guidance instrument and fixed focus beams;

wherein, 1-a warfare system, 2-a single-channel steering engine, 3-a missile control module, 4-a flight engine, 5-a tail wing component, 6-a missile power supply, 7-a laser receiver, 8-a missile computer, 9-a rudder wing, 10-a disassembly and assembly mechanism, 11-a rudder sheet, 12-an upper cover plate, 13-a fixing screw, 14-a clamping seat, 15-a clamping seat shaft, 16-a spring, 17-a rolling angle measuring device, 18-a rudder shaft, 19-a compression spring, 20-a connector I, 21-a wing seat, 22-a connector II, 23-a lower cover plate, 24-a mounting hole, 25-a positioning groove, 26-a whole-course fixed focus guidance instrument, 27-a rocket cylinder, 28-a laser receiver mounting shaft and 29-a missile shaft, 30-trigger, 31-white light/infrared sighting module, 32-laser beam-driving guidance module.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

The embodiment provides a laser beam-steering guided missile launched by a 40mm rocket tube, wherein a single-channel steering engine 2, an on-missile control module 3 and a laser receiver 7 are added to the missile, and a whole-course fixed-focus guidance instrument 26 is added to ground equipment, as shown in figure 1, the guided missile system comprises a guided combat system 1, the single-channel steering engine 2, the on-missile control module 3, a flight engine 4 and an empennage assembly 5 which are sequentially connected.

The war induction system 1: the detonator is composed of a detonator, a security mechanism, a detonator and a warhead.

Single-channel steering wheel 2: and executing an instruction output by the missile-borne control module 3 to generate a control force and a moment to control the missile to fly, wherein the rudder wings 9 are detachably connected on the body of the single-channel steering engine 2.

As shown in fig. 3 to 6, the rudder wing 9 includes a rudder blade 11, a rudder shaft 18, an upper cover plate 12, a lower cover plate 23, a connector i 20, a compression spring 19, a wing seat 21, and a connector ii 22; the upper cover plate 12, the connecting body I20, the lower cover plate 23 and the connecting body II 22 are sequentially connected into a whole through the fixing screws 13, and the wing seat 21 is arranged in a cavity formed by the upper cover plate 12, the connecting body I20 and the lower cover plate 23.

As shown in fig. 8(a) and 8(b), the upper cover plate 12 is an incomplete circular ring, and the upper surface is provided with positioning grooves 25 along the radial direction, the opening direction is perpendicular to the direction of the positioning grooves 25, and the opening is communicated with the central hole of the circular ring to form a mounting hole 24. As shown in fig. 7, the wing seat 21 includes a wing seat main body and a wing seat base, and is cylindrical, and the length of the wing seat base diameter is greater than the wing seat main body diameter; the rudder sheet 11 is rotatably connected to the wing seat main body through a rudder shaft 18, the wing seat main body can pass through the mounting hole 24 of the upper cover plate 12 and slide along the direction vertical to the elastic shaft 29, and meanwhile, the wing seat base is in sliding fit with the inner wall of the connecting body I20 and is limited by the upper cover plate 12; a compression spring 19 is sleeved outside the wing seat main body, and the compression spring 19 is limited by the end surface of the wing seat base and the bottom surface of the upper cover plate 12; the upper surface of the upper cover plate 12 is provided with a limit groove for limiting the rotation of the rudder sheet 11 after being unfolded; meanwhile, the bottom surface of the wing seat base is provided with a positioning groove 25 which is used for matching with a positioning column on the upper surface of the lower cover plate 23 after the positioning column rotates to the position, namely, the positioning groove 25 and the positioning column can be aligned and clamped only after the rudder sheet 11 rotates to 90 degrees; the connector II 22 is limited by the dismouting mechanism 10 that sets up on the single channel steering wheel 2, and the connector II 22 bottom is equipped with the extension bar with 2 normal running fit of single channel steering wheel.

The working principle is as follows: the rudder sheet 11 is tightly attached to the body of the missile when in a folded state, the rudder shaft 18 is perpendicular to the missile shaft 29 at the moment, the wing seat 21 is positioned at the upper part of a cavity formed by sequentially connecting an upper cover plate 12, a connector I20, a lower cover plate 23 and a connector II 22 into a whole through a fixing screw 13, the rudder shaft 18 is positioned outside the upper cover plate 12, and a compression spring 19 is in a compressed state and is in a missile storage and transportation state; when the rudder wing 9 is unfolded, the rudder blade 11 is rotated upwards by 90 degrees around the rudder shaft 18, and at the moment, the states of the rudder shaft 18, the wing seat 21 and the compression spring 19 are unchanged and are the same as the states when the rudder wing 9 is folded; after the rudder sheet 11 rotates by 90 degrees, the rudder shaft 18 is parallel to the elastic shaft 29, at the moment, the positioning groove 25 on the bottom surface of the wing seat base is aligned with the positioning column of the lower cover plate 23, the positioning column enters the positioning groove 25 under the tension of the compression spring 19, meanwhile, the bottom of the rudder sheet 11 is clamped into the limiting groove of the upper cover plate 12, the rotation locking of the rudder sheet 11 is realized, and the rudder sheet 11 is opened in place. When the rudder sheet 11 is folded, the rudder sheet 11 is lifted upwards, so that the positioning groove 25 of the wing seat base is separated from the positioning column on the lower cover plate 23, the rudder shaft 18 is rotated by 90 degrees and is perpendicular to the elastic shaft 29, and the rudder sheet 11 is folded by rotating by 90 degrees towards the direction of the bullet head.

The disassembling and assembling mechanism 10 consists of two groups of rotating chuck seat assemblies which are symmetrically arranged; the rotary clamping seat assembly comprises a clamping seat 14, a clamping seat shaft 15 and a spring 16; the clamping seat 14 is rotatably connected in the single-channel steering engine 2 through a clamping seat shaft 15, the top of the clamping seat 14 protrudes out of the cabin of the single-channel steering engine 2, and the spring 16 is limited between the bottom of the clamping seat 14 and the inner wall of the single-channel steering engine 2; be equipped with on the cassette 14 with the spacing complex inclined plane of connector II 22, when rudder wing 9 was installed on single channel steering wheel 2, the bottom on inclined plane was used for restricting connector II 22 and plays 29 directions removals of axle along the perpendicular to, had the determining deviation simultaneously between the bottom on inclined plane and the connector II 22.

The working principle is as follows: when the rudder wing 9 is installed, an extension rod at the bottom of a connecting body II 22 of the rudder wing 9 enters a guide groove of the single-channel steering engine 2, the diameter of the upper end face of the connecting body II 22 is larger than that of a lower cover plate 23, a step matched with the bottom end of the inclined plane of a clamping seat 14 is arranged outside the upper end face in an annular mode, when the connecting body II 22 completely slides to a position below the inclined plane of the clamping seat 14, the clamping seat 14 rotates along a clamping seat shaft 15 under the action force of a spring 16, the clamping seat 14 is clamped at the step of the connecting body II 22; during the dismantlement, pull the 2 cabin body parts of single channel steering wheel of 14 bulges in both sides cassette simultaneously to the inboard, because there is the determining deviation between the bottom on inclined plane and the II 22 connectors for cassette 14 rotates along cassette axle 15 under the exogenic action, when the inclined plane motion of two cassettes 14 was to the parallel state, relieved the spacing to II 22 connectors, outwards shifted out rudder wing 9, accomplished the dismantlement of rudder wing 9.

The pop-up control module 3: including roll angle measurement device 17, onboard computer 8 and onboard power supply 6. The missile-borne control module 3 is arranged in the middle of the missile, as shown in fig. 2(a) and 2(b), the laser receiver 7 is arranged below the inner part of the missile-borne control module 3, and a laser receiver mounting shaft 28 and a missile shaft 29 form a certain angle in order to avoid interference of the rear part of a missile body and reduce laser shielding. Two laser receivers 7 can be adopted and are symmetrically arranged in the cabin body about the missile axis 29. The roll angle measuring device 17 consists of a Hall geomagnetic sensitive sensor and a signal resolving circuit and is used for outputting a roll attitude angle of the rocket projectile in the flight process; the missile-borne computer 8 is used for resolving space position information given by the laser receiver 7 and generating a control instruction by combining a missile body rolling angle given by the rolling angle measuring device 17; the pop-up power supply 6 adopts a thermal battery, is activated by launching overload and is used for supplying power to a pop-up electrical system; the laser receiver 7 is arranged in the middle of the projectile body, namely the rear part of the super-caliber section, the center line of the view field of the laser receiver forms a certain angle with the axis of the projectile body, and the part installation mode can reduce the shielding of the rear projectile body on the view field of the receiver in nutation motion as much as possible.

The flight engine 4: used for accelerating the rocket projectile after the rocket projectile is launched.

The tail assembly 5: the rocket projectile consists of a tail rod, a tail wing and a rotation guide turbine and is used for stabilizing the flying state of the rocket projectile.

Full-range fixed focus guidance instrument 26: the system consists of a white light/infrared sighting module 31 and a laser beam steering and guiding module 32, wherein the white light/infrared sighting module is used for sighting and tracking a target, and the laser beam steering and guiding module 32 is used for emitting coded laser beams to a space and providing guiding information for a guided missile. As shown in fig. 10 and 11, the global focus positioning guidance instrument 26 is fixedly connected to the launch tube.

In order to match with a whole-course fixed-focus laser beam-driving guidance scheme, a laser beam-driving variable gain coefficient is introduced into the missile-borne control module 3 so as to compensate the change of the gain of a laser beam-driving link caused by the fact that a beam is not zoomed. Assuming that the change rule of the missile range along with time is x (t) and the angle of the fixed focus wave beam is theta, the diameter of the laser section where the missile is positioned in the flight process is

Gain of laser beam-driving link is proportional to

Therefore, when the control system corrects the network design, a scaling factor is introduced

The gain compensation method is used for compensating the gain change of the steering loop under the condition of fixed focus, thereby ensuring that the gain of the whole guidance loop is kept stable.

Meanwhile, in order to be matched with the middle of the laser receiver 7, the missile-borne control module 3 adopts a single-channel rolling control method based on discontinuous error information. Different from a conventional single-channel control system, due to the fact that the back of a missile body shields laser information, error information in the guided missile is possibly discontinuous, effective error information is random relative to missile rolling motion, and a corresponding relation of updating the position information error of the missile and the rolling angle phase for one time such as 180 degrees or 360 degrees does not exist, so that the guided missile adopts a strategy that the effective error information is updated immediately, and the error information in the previous period is maintained. As shown in fig. 9, the whole-course fixed-focus guidance instrument 26 emits a laser signal, and the laser receiver 7 outputs a missile position error signal according to the received laser signal and transmits the missile position error signal to the missile-borne control module 3; the missile-borne computer 8 judges whether the received error signal is effective or not, and if the received error signal is ineffective, the missile-borne computer 8 sends a control instruction generated according to the position error signal of the previous period to the single-channel steering engine 2; if the position error signal is valid, a new position error signal is adopted to combine with a rolling phase generated control command given by the rolling angle measuring device 17 to send the control command to the single-channel steering engine 2; the single-channel steering engine 2 executes the control instruction to control the position of the missile.

The working principle of the guided missile is as follows:

and (3) visually observing the target after the shooter enters a position, and determining whether the missile adopts a controlled flight mode or an uncontrolled flight mode according to the target distance. Selecting an 'uncontrolled' flight mode within 300 meters of range, and quickly disassembling the rudder wing 9 assembly by a shooter; when the shooting distance exceeds 300 meters, a 'controlled' flight mode is selected, and a shooter opens a pair of rudder wings 9 in place. After the above judgment and operation are completed, the shooter loads the missile into the rocket tube 27, places the rocket tube 27 on the shoulder, searches and aims the target through the white light/infrared aiming channel of the whole-course fixed-focus guidance instrument 26, and after stable aiming, the shooter pulls the trigger 30 to ignite the propellant powder of the rocket. The high pressure gas generated after the propellant powder is ignited acts on the projectile body to push the guided rocket projectile out of the rocket tube 27. At the same time, the thermal battery in the pop-up control module 3 is activated under the action of the firing overload. If the missile works in an 'uncontrolled' mode, the missile flies according to an uncontrolled trajectory because the rudder wings 9 are detached, if the missile works in a 'controlled' mode, the guidance instrument works to emit laser beams, a shooter always aims at a target, the missile flies away from the rocket tube 27 and enters the laser beams, the missile-mounted control system converts laser information field signals received by a laser receiver into position error signals for resolving, a track correction control instruction is formed to drive the single-channel steering engine 2 to drive the unfolded rudder wings 9 to rotate, control force and control torque are formed, and the missile is controlled to fly at the center of the laser beams until the missile hits the target.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A laser beam-steering guided missile emitted by a 40mm rocket tube is characterized in that a single-channel steering engine, an on-missile control module and a laser receiver are added to the missile, and a guidance instrument is added to ground equipment;

2. The 40mm rocket launcher emitting laser beam-guided missile of claim 1, wherein said missile seeker employs a full-range fixed focus missile, and said on-missile control module incorporates a laser beam-varying gain factor

3. The 40mm rocket launcher emitting laser steering guided missile of claim 1, wherein one or two of said laser receivers are employed; if two laser receivers are adopted, the two laser receivers are symmetrically arranged in the cabin body relative to the missile axis.

4. The 40mm rocket launcher emitting laser beam steering guided missile of claim 1, wherein said rudder wing comprises a rudder blade, a rudder shaft, an upper cover plate, a lower cover plate, a connector i, a compression spring, a wing seat and a connector ii;

5. The 40mm rocket launcher emitting laser beam steering guided missile of claim 4, wherein said disassembly and assembly mechanism consists of two sets of symmetrically disposed rotating cartridge assemblies; the rotary clamping seat assembly comprises a clamping seat, a clamping seat shaft and a spring;

6. The 40mm rocket launcher emitting laser beam-steering guided missile of claim 1, wherein said on-missile control module employs a single-channel roll control method based on non-continuous error information: the missile-borne control module judges whether the received position error signal is effective or not, and if the received position error signal is ineffective, the missile-borne control module sends a control instruction produced according to the previous period to the single-channel steering engine; if the signal is effective, a new control instruction is generated by adopting the effective position error signal and sent to the single-channel steering engine.