CN112461058A - Integrated electronic system for controlling carrier rocket sublevel landing area and implementation method thereof - Google Patents
Integrated electronic system for controlling carrier rocket sublevel landing area and implementation method thereof Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
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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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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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Abstract
The invention relates to a comprehensive electronic system for controlling a carrier rocket sublevel landing area and an implementation method thereof, wherein the comprehensive electronic system comprises a satellite navigation module, a CPU (central processing unit) module, a power distribution module, a time sequence output module and a data acquisition, editing, synthesis and storage module; the electronic system is used for finishing rocket upper sub-level grid rudder control, fairing recovery umbrella control, booster recovery umbrella control and various carrying measurement requirements, and successively developing comprehensive tests, matching tests, delivery tests, launching field tests and flight tests, and finally obtaining satisfactory success through flight test examination.
Description
Technical Field
The invention relates to a comprehensive electronic system for controlling a sublevel landing area of a carrier rocket and an implementation method thereof, belonging to the technical field of carrier rocket electrical systems.
Background
With the increasing number of launching missiles of launch rockets in China, the falling area and the safety of the sub-level debris become key factors influencing model flight schemes and carrying capacity. The method aims to improve the safety of the sub-level debris landing area and improve the task adaptability of the carrier rocket. Development of a sub-stage reentry fixed point landing control carrier rocket sub-stage reentry fixed point landing control is required.
The traditional carrier rocket electrical system is divided into systems for control, measurement, respective ground measurement, launch and control and the like, and has the characteristics of long development period, high cost, heavy weight, complex interfaces among systems, difficult maintenance and the like. With the rapid development of microelectronic technology, chip integration technology is more and more mature, and a great deal of exploration is carried out in the fields of aerospace at home and abroad in distributed integrated electronic architecture and new generation power technology, for example, carrier rockets such as universe (Atlas), SLS, Falcon, Ariane6 and H-2A all obtain more remarkable achievements in the aspects of integrated electronics and novel energy.
In order to meet the functional requirements of one-level return section GNC control, flight time sequence control, power supply and distribution on the rocket, telemetering data acquisition, storage and sending and the like, and to verify the subsequent integrated architecture of the electric system on the rocket of the carrier rocket, a comprehensive electronic system for controlling the carrier rocket sublevel landing area is urgently needed to be developed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a comprehensive electronic system for controlling the landing area of the carrier rocket at the electron level.
Another object of the present invention is to provide a method for implementing an integrated electronic system for launch vehicle subdomain control.
The above purpose of the invention is mainly realized by the following technical scheme:
a synthesize electronic system for control of carrier rocket sublevel is distinguished, including satellite navigation module, CPU module, distribution module, time sequence output module and data collection and compile synthesis and storage module, wherein:
the satellite navigation module receives an external satellite navigation signal through an antenna, calculates position and speed information of the integrated electronic system, and simultaneously sends the position and speed information to the CPU module and the data acquisition, editing, integration and storage module; meanwhile, the number and the quality of the collected satellites and the working state information of the satellite navigation module are sent to a data collecting, editing, integrating and storing module;
the CPU module receives the position and speed information of the integrated electronic system from the satellite navigation module, performs combined navigation calculation, guidance calculation and attitude control calculation, and outputs the calculation result to an external servo mechanism for controlling the attitude of the rocket body; sending initiating explosive devices and electromagnetic valve action instructions to the time sequence output module; sending telemetering data to a data collecting, editing, integrating and storing module, wherein the telemetering data comprises running state parameters of a CPU module and calculation results of the integrated navigation calculation, guidance calculation and attitude control calculation; sending a power distribution instruction to a power distribution module;
the power distribution module receives a power distribution instruction sent by the CPU module, distributes power to external equipment, and sends telemetering data to the data acquisition, editing, synthesis and storage module, wherein the telemetering data comprises the running state parameters of the power distribution module;
the time sequence output module receives the initiating explosive device and the electromagnetic valve action instruction sent by the CPU module, amplifies the signal power after photoelectric isolation and drives the initiating explosive device and the electromagnetic valve;
the data collecting, editing, integrating and storing module is used for receiving the speed and position information of the integrated electronic system sent by the satellite navigation module, the quantity and quality of the received satellites and the working state information of the satellite navigation module, receiving the telemetering data sent by the CPU module, receiving the working state information sent by the power supply module, simultaneously collecting the analog quantity signal of an external sensor, uniformly coding and storing all the information, and simultaneously sending the information to an external telemetering transmitter.
In the integrated electronic system for controlling the launch vehicle sublevel landing area, the satellite navigation module, the CPU module, the power distribution module, the time sequence output module and the data acquisition, editing, integration and storage module are integrated in the same equipment in the form of independent boards to form a control combination; the cold plate of the independent plate card adopts a temperature equalizing plate.
The integrated electronic system for controlling the carrier rocket sublevel landing area also comprises a power supply module, wherein the power supply module provides a secondary power supply for the satellite navigation module, the CPU module, the power distribution module, the time sequence output module and the data acquisition, editing, integration and storage module, and sends the working state information of the power supply module to the data acquisition, editing, integration and storage module; and the data collecting, editing, integrating and storing module is used for uniformly coding the working state information of the power supply module and other received information.
In the integrated electronic system for controlling the landing zone of the launch vehicle, the satellite navigation module receives navigation signals of a GPS L1 or a BD 2B 1/B3; and sending the information to a data collecting, editing, integrating and storing module through an RS422 interface.
In the integrated electronic system for controlling the carrier rocket sublevel landing area, the CPU module sends telemetering data to the data collecting, editing and integrating and storing module through a synchronous serial port; the CPU module also includes a ground debugging module through the Ethernet interface.
In the integrated electronic system for controlling the carrier rocket sublevel area, the satellite navigation module, the CPU module, the power distribution module, the time sequence output module and the data collecting, editing, integrating and storing module firstly carry out self-testing after being electrified.
In the integrated electronic system for controlling the launch vehicle sublevel area, the power distribution module is an external device and comprises an inertial measurement unit, a servo controller and a current conversion switching unit for power distribution; and the power distribution module sends telemetering data to the data acquisition, editing, synthesis and storage module through an RS422 serial port.
In the integrated electronic system for controlling the carrier rocket sublevel landing area, the time sequence output module receives an initiating explosive device action instruction sent by the CPU module, and controls the solid-state relay of the time sequence output board card to amplify signal power after photoelectric isolation so as to drive the initiating explosive device and the electromagnetic valve.
In the integrated electronic system for controlling the carrier rocket sublevel area, the initiating explosive device channel adopts the parallel connection of double contacts, and the electromagnetic valve channel adopts the series-parallel connection of the contacts.
In the integrated electronic system for controlling the launch vehicle sublevel area, the data collecting, editing and storing module collects data information through an RS422 serial port.
An implementation method of an integrated electronic system for controlling a launch vehicle subdomain comprises the following steps:
the method comprises the following steps that (1) a satellite navigation module receives an external navigation signal, calculates position and speed information of a comprehensive electronic system, and simultaneously sends the position and speed information to a CPU module and a data acquisition, editing, comprehensive and storage module; meanwhile, the number and the quality of the collected satellites and the working state information of the satellite navigation module are sent to a data collecting, editing, integrating and storing module;
step (2), the CPU module receives the position and speed information of the integrated electronic system from the satellite navigation module, performs combined navigation calculation, guidance calculation or attitude control calculation, and outputs the calculation result to an external servo mechanism for controlling the attitude of the rocket body; sending an initiating explosive device action instruction to the time sequence output module; sending telemetering data to a data collecting, editing, integrating and storing module, wherein the telemetering data comprises running state parameters of a CPU module and calculation results of the integrated navigation calculation, guidance calculation or attitude control calculation; sending a power distribution instruction to a power distribution module;
step (3), the power distribution module receives a power distribution instruction sent by the CPU module, distributes power to external equipment, and sends telemetering data to the data acquisition, editing and storage module, wherein the telemetering data comprises the running state parameters of the power distribution module;
step (4), the time sequence output module receives an initiating explosive device action instruction sent by the CPU module, and performs signal power amplification after photoelectric isolation to drive the initiating explosive device and the electromagnetic valve;
and (5) receiving the speed and position information of the integrated electronic system sent by the satellite navigation module, the quantity and quality of the received satellites and the working state information of the satellite navigation module by the data collecting, editing and integrating and storing module, receiving the telemetering data sent by the CPU module, receiving the working state information sent by the power supply module, simultaneously collecting analog quantity signals of an external sensor, uniformly coding and storing all the information, and simultaneously sending the information to an external telemetering transmitter.
Compared with the prior art, the invention has the following beneficial effects:
the comprehensive electronic system for controlling the carrier rocket sublevel landing area comprises a satellite navigation module, a CPU (central processing unit) module, a power distribution module, a time sequence output module and a data acquisition, editing, comprehensive and storage module, adopts a modularized comprehensive electronic framework, adopts a universal functional module design for core equipment, optimally designs and integrally integrates rocket control and measurement functions, and effectively simplifies the equipment quantity, weight and power consumption; the electronic system is used for finishing rocket upper sub-level grid rudder control, fairing recovery umbrella control, booster recovery umbrella control and various carrying measurement requirements, and successively developing comprehensive tests, matching tests, delivery tests, launching field tests and flight tests, and finally obtaining satisfactory success through flight test examination.
According to the rocket self-testing system, the rocket self-testing scheme is adopted, all modules are subjected to self-testing after being powered on, other excitation sources are not required to be added, the testing efficiency is improved, the exploration is performed for reliability design based on low-cost components, integrated testing of integrated electronic equipment and subsequent module-level productization, and experience is accumulated for the subsequent integrated design of an electric system on a low-cost small carrier rocket.
Drawings
FIG. 1 is a schematic diagram of an integrated electronic system for rocket subcontract control in accordance with the present invention;
FIG. 2 is a schematic diagram of an integrated electronic system for launch vehicle subdomain control of the present invention;
fig. 3 is a rudder control electrical system architecture according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
fig. 1 is a schematic structural diagram of an integrated electronic system for controlling a rocket sublevel landing area, which is shown in the figure, and the integrated electronic system comprises a satellite navigation module, a CPU module, a power distribution module, a time sequence output module, a data acquisition, compilation, integration and storage module and a power supply module, wherein the functions of the modules are as follows:
the power supply module is used for providing a secondary power supply for the satellite navigation module, the CPU module, the power distribution module, the time sequence output module and the data acquisition, editing, synthesis and storage module, preventing instant surge during power-on and adopting a step-by-step delay power-on strategy; the working state information of the power supply module is sent to the data collecting, editing, integrating and storing module; and the data collecting, editing, integrating and storing module is used for uniformly coding the working state information of the power supply module and other received information.
The satellite navigation module receives an external navigation signal, calculates the position and speed information of the integrated electronic system, and simultaneously sends the position and speed information to the CPU module and the data acquisition, editing, integration and storage module; and meanwhile, the quantity and quality of the collected satellites and the working state information of the satellite navigation module are sent to the data collecting, editing, integrating and storing module. In an alternative embodiment of the present invention, the satellite navigation module receives navigation signals from a GPS L1 or a BD 2B 1/B3; and sending the information to a data collecting, editing, integrating and storing module through an RS422 interface.
The CPU module receives the position and speed information of the integrated electronic system from the satellite navigation module, performs combined navigation calculation, guidance calculation or attitude control calculation, and outputs the calculation result to an external servo mechanism for controlling the attitude of the rocket body; sending an initiating explosive device action instruction to the time sequence output module; sending telemetering data to a data collecting, editing, integrating and storing module, wherein the telemetering data comprises running state parameters of a CPU module and calculation results of the integrated navigation calculation, guidance calculation or attitude control calculation; and sending a power distribution instruction to the power distribution module. Meanwhile, the CPU module also carries out ground debugging through an Ethernet interface, and the main contents of the debugging comprise: the running states of all the devices of the integrated electronic system are downloaded through the Ethernet, and the flight software can be uploaded through the interface to update the flight parameters. In an optional embodiment of the invention, the CPU module sends the telemetering data to the data collecting, editing, integrating and storing module through the synchronous serial port.
And the power distribution module receives a power distribution instruction sent by the CPU module, distributes power to external equipment, and sends telemetering data to the data acquisition, editing and integration and storage module, wherein the telemetering data comprises the running state parameters of the power distribution module. In an optional embodiment of the invention, the power distribution module is an external device, comprises an inertial measurement unit, a servo controller and a current conversion switching unit for power distribution, and sends telemetering data to the data acquisition, editing, synthesis and storage module through an RS422 serial port.
And the time sequence output module is used for receiving the initiating explosive device action instruction sent by the CPU module, amplifying signal power after photoelectric isolation and driving the initiating explosive device and the electromagnetic valve. In an optional embodiment of the invention, the timing output module receives an initiating explosive device action instruction sent by the CPU module, and controls the solid-state relay of the timing output board card to amplify signal power after photoelectric isolation, so as to drive the initiating explosive device and the electromagnetic valve. The initiating explosive device channel adopts double contacts to be connected in parallel, and the electromagnetic valve channel adopts contacts to be connected in series and in parallel.
The data collecting, compiling and integrating and storing module is used for receiving speed and position information of an integrated electronic system sent by the satellite navigation module, the quantity and quality of collected satellites and working state information of the satellite navigation module, receiving telemetering data sent by the CPU module, receiving working state information sent by the power supply module, and simultaneously collecting analog quantity signals of an external sensor through the external sensor, such as collecting 0-5V voltage signals of the external vibration sensor and the temperature sensor. And uniformly coding all the information, storing the information and simultaneously sending the information to an external telemetering transmitter. In an optional embodiment of the invention, the data collecting, editing, integrating and storing module collects data information through the RS422 serial port.
The satellite navigation module, the CPU module, the power distribution module, the time sequence output module, the data acquisition, editing, integration and storage module and the power supply module are integrated in the same equipment in the form of independent board cards to form a control combination; the cold plate of the independent plate card adopts a temperature equalizing plate. The satellite navigation module, the CPU module, the power distribution module, the time sequence output module, the data acquisition, editing, synthesis and storage module and the power supply module firstly carry out self-testing after being electrified.
Fig. 2 is a schematic diagram of an integrated electronic system for controlling the landing zone of the launch vehicle of the present invention.
The invention relates to a method for realizing a comprehensive electronic system for controlling a carrier rocket sublevel area, which specifically comprises the following steps:
the method comprises the following steps that (1) a satellite navigation module receives an external navigation signal, calculates position and speed information of a comprehensive electronic system, and simultaneously sends the position and speed information to a CPU module and a data acquisition, editing, comprehensive and storage module; meanwhile, the number and the quality of the collected satellites and the working state information of the satellite navigation module are sent to a data collecting, editing, integrating and storing module;
step (2), the CPU module receives the position and speed information of the integrated electronic system from the satellite navigation module, performs combined navigation calculation, guidance calculation or attitude control calculation, and outputs the calculation result to an external servo mechanism for controlling the attitude of the rocket body; sending an initiating explosive device action instruction to the time sequence output module; sending telemetering data to a data collecting, editing, integrating and storing module, wherein the telemetering data comprises running state parameters of a CPU module and calculation results of the integrated navigation calculation, guidance calculation or attitude control calculation; sending a power distribution instruction to a power distribution module;
step (3), the power distribution module receives a power distribution instruction sent by the CPU module, distributes power to external equipment, and sends telemetering data to the data acquisition, editing and storage module, wherein the telemetering data comprises the running state parameters of the power distribution module;
step (4), the time sequence output module receives an initiating explosive device action instruction sent by the CPU module, and performs signal power amplification after photoelectric isolation to drive the initiating explosive device and the electromagnetic valve;
and (5) receiving the speed and position information of the integrated electronic system sent by the satellite navigation module, the quantity and quality of the received satellites and the working state information of the satellite navigation module by the data collecting, editing and integrating and storing module, receiving the telemetering data sent by the CPU module, receiving the working state information sent by the power supply module, simultaneously collecting analog quantity signals of an external sensor by the external sensor, uniformly coding and storing all the information, and simultaneously sending the information to an external telemetering transmitter.
Fig. 3 shows a rudder-controlled electrical system architecture according to the present invention, in which the integrated electronic system is located at the center of the rudder-controlled electrical system architecture, and the rudder-controlled electrical system is installed in a secondary stage of the launch vehicle, and the main devices include an optical fiber inertial measurement unit, an instrument battery, a servo battery, an integrated electronic system and GNSS antenna, a servo controller and servo mechanism, a recyclable data storage device, a telemetering transmitter and telemetering antenna, an environmental sensor and a commutation switching unit, and a camera.
And (3) adopting a fiber strapdown inertial navigation group as inertial navigation measurement, and carrying out combined navigation correction by GPS (L1)/BD2(B1 and B3) multimode satellite navigation. Meanwhile, the inertial measurement unit has a high-precision self-aiming function and realizes autonomous initial alignment.
The power supply on the arrow adopts 2 rechargeable lithium ion batteries which are respectively an instrument battery and a servo battery, wherein the instrument battery is responsible for supplying power for the equipment on the arrow such as the optical fiber inertial measurement unit, the integrated electronic system, the servo controller and the like for the first time; the servo battery is responsible for providing primary power supply for the servo mechanism, and meanwhile, a tapping mode is adopted for supplying power for the initiating explosive device and the electromagnetic valve.
The functions of a flight control computer, a distributor, an integrated controller, a data acquisition and compilation unit, a central programmer device and other devices of the traditional electrical system device are integrated by adopting a VPX 3U-based integrated electronic system (control combination), the functions are responsible for integrated navigation, guidance, attitude control calculation, electromagnetic valve/initiating explosive device control, the power distribution is carried out on optical fiber inertial units, sensors, servo drivers and other devices, and the acquisition, compilation and storage are carried out on environmental parameters such as grid rudder temperature, heat flow, arrow body vibration, noise and the like. And in the flight process, telemetering data is downloaded by a telemetering transmitter, key telemetering data is sent in a Beidou short message mode, the working state of the system is stored by using an internal memory, and the data is sent to a recoverable data memory through an RS422 serial port. The first-stage separation travel switch and the second-stage separation travel switch provide separation signals, and after the separation signals are received, the telemetering transmitter is controlled to be powered on, and Beidou short messages are started to be sent. And after the first-stage separation and the second-stage separation, a grid rudder unlocking initiating explosive device ignition instruction is output according to flight time sequence design, and after the grid rudder is unfolded, a servo control instruction is output according to a GNC calculation result and a servo output state is acquired. And after returning to the section and landing to the ground, the landing point is predicted and indicated through the Beidou short message, and searching personnel are guided to position.
During the test, the rocket ground adopts Ethernet communication, and ground measurement and control software sends test instructions and receives and displays test data on the rocket. And the ground telemetering data processing software reads the telemetering data file stored on the arrow through the USB interface to analyze and analyze.
The grid rudder is controlled by an electromechanical servo mechanism in a swinging way, and the servo mechanism is connected with a grid rudder shaft in a swinging guide rod way. The servo mechanism adopts electromechanical servo, a servo battery provides servo power for power supply, and 1 servo driver controls all the servo mechanisms to control the grid rudder at the same time. And the servo controller receives a position control instruction issued by the control combination through an RS422 serial port, realizes the follow-up control of the position of the steering engine, and feeds back rudder position feedback and telemetering parameters.
In addition, the high-definition camera device is used for recording images of the whole-course working condition of the ascending section and the returning section of the grid rudder.
Grid rudder control system
Integrated electronics
The VPX standard (VITA 46) is a military electronic equipment standard developed in the United states, is widely applied to aerospace electronic equipment at present, and has the advantages of strong environmental adaptability, high interface standardization degree, strong system expansibility, good module universality and the like. The method is applied to the field of European Ariane6 carrier rockets, China Jiulong I and other carrier rockets.
The comprehensive electronics of the rudder control system adopts VPX 3U standard, data interaction is carried out among all modules through a back plate, and the back plate mainly comprises a power supply line, an IO instruction, an RS422 serial port, an HDLC telemetering data interface, a self-testing bus and the like. The used modules comprise a power supply module, a satellite navigation module, a CPU module, a power distribution module, a time sequence output module and a data collecting, editing, synthesizing and storing module, the specific functions are described in detail in the foregoing, and are not described in detail herein.
Power distribution on arrow
And a power distribution module in the control combination is adopted to distribute power to the optical fiber inertial measurement unit, the current conversion switching unit, the servo controller and other equipment.
The power distribution module receives primary bus power supply from the instrument battery, and sends a power distribution instruction according to the CPU module to complete primary power supply power distribution output.
The power distribution module consists of a main control MCU and SSPC devices, and the MCU unit realizes the recording of SSPC state information and the forwarding through a synchronous serial port; the SSPC mainly comprises a control and logic part, a solid-state switch part and a current sensing part, and the SSPC unit independently receives an external control signal to realize the primary power output function of the electric equipment.
Data acquisition scheme
GNSS receiver
And obtaining information such as speed, position and the like in the rocket flight process through the high dynamic GNSS receiver.
Environmental sensor
Environmental parameters in the rocket flying process are obtained through environmental sensors such as force, heat and vibration.
Optical fiber inertial measurement unit
And information such as rocket aiming data and attitude angular velocity in the flight process is acquired through the optical fiber inertial measurement unit with the self-aiming function.
Big dipper short message
And the Beidou short message and the iridium satellite are adopted for communication. The method is mainly used for predicting the falling point and indicating the key state, can predict the falling point of the debris through the position and speed information in the short message, and indicates a searcher to search through the pre-displayed falling point.
Telemetry
And a set of telemetering transmitter is arranged on the first-stage rudder control system arrow. According to the flight trajectory and the geographical condition of a falling area, a set of telemetering data receiving equipment is deployed on the ground to receive the telemetering data of the falling section.
Recovery data acquisition validation
For the ground recovery data storage, the position of the landing point needs to be obtained in advance or an approximate range needs to be obtained through prediction. At present, the drop point indication is mainly obtained by means of Beidou short messages, a telemetering transmitter and the like, and the drop point indication is downloaded to indicate the drop point position in real time and speed in the flight process or continuously indicates the drop point position in the searching process after the drop point is fallen.
The GNSS module in the control combination continuously transmits Beidou short message information in the flight process and after landing, wherein the content comprises the current speed, position and attitude information, and the receiving success rate can reach 62%.
Image measurement
The image measurement adopts industrial high-definition camera shooting, is arranged on the outer side of a cabin wall and above a grid rudder shaft, and shoots the action of the grid rudder in the falling process. During the flight process, working images of all the grid rudders from take-off to landing can be acquired, and the working images comprise high-definition videos such as primary and secondary separation, grid rudder unlocking and unfolding, rotation and the like.
Self-test
The integrated electronic self-testing scheme adopts an independent third-party detection circuit, after the system is powered on, the board detection circuit detects key information of each module in real time, including current, voltage, temperature, satellite receiving state and the like, and the key information is uniformly downloaded to ground measurement and control software through an I2C bus by a CPU module, so that the rocket-borne autonomous testing is realized.
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 (11)
1. A synthesize electronic system for control of carrier rocket child landing zone, its characterized in that: including satellite navigation module, CPU module, distribution module, time sequence output module and data acquisition and compilation are synthesized and storage module, wherein:
the satellite navigation module receives an external satellite navigation signal through an antenna, calculates position and speed information of the integrated electronic system, and simultaneously sends the position and speed information to the CPU module and the data acquisition, editing, integration and storage module; meanwhile, the number and the quality of the collected satellites and the working state information of the satellite navigation module are sent to a data collecting, editing, integrating and storing module;
the CPU module receives the position and speed information of the integrated electronic system from the satellite navigation module, performs combined navigation calculation, guidance calculation and attitude control calculation, and outputs the calculation result to an external servo mechanism for controlling the attitude of the rocket body; sending initiating explosive devices and electromagnetic valve action instructions to the time sequence output module; sending telemetering data to a data collecting, editing, integrating and storing module, wherein the telemetering data comprises running state parameters of a CPU module and calculation results of the integrated navigation calculation, guidance calculation and attitude control calculation; sending a power distribution instruction to a power distribution module;
the power distribution module receives a power distribution instruction sent by the CPU module, distributes power to external equipment, and sends telemetering data to the data acquisition, editing, synthesis and storage module, wherein the telemetering data comprises the running state parameters of the power distribution module;
the time sequence output module receives the initiating explosive device and the electromagnetic valve action instruction sent by the CPU module, amplifies the signal power after photoelectric isolation and drives the initiating explosive device and the electromagnetic valve;
the data collecting, editing, integrating and storing module is used for receiving the speed and position information of the integrated electronic system sent by the satellite navigation module, the quantity and quality of the received satellites and the working state information of the satellite navigation module, receiving the telemetering data sent by the CPU module, receiving the working state information sent by the power supply module, simultaneously collecting the analog quantity signal of an external sensor, uniformly coding and storing all the information, and simultaneously sending the information to an external telemetering transmitter.
2. An integrated electronic system for launch vehicle subdomain control according to claim 1, characterised in that: the satellite navigation module, the CPU module, the power distribution module, the time sequence output module and the data acquisition, editing, synthesis and storage module are integrated in the same equipment in the form of independent board cards to form a control combination; the cold plate of the independent plate card adopts a temperature equalizing plate.
3. An integrated electronic system for launch vehicle subdomain control according to claim 1, characterised in that: the satellite navigation module, the CPU module, the power distribution module, the time sequence output module and the data acquisition, editing, synthesis and storage module are respectively connected with the power supply module and the data acquisition, editing, synthesis and storage module through a power supply module; and the data collecting, editing, integrating and storing module is used for uniformly coding the working state information of the power supply module and other received information.
4. An integrated electronic system for launch vehicle subdomain control according to claim 1, characterised in that: the satellite navigation module receives navigation signals of a GPS L1 or a BD 2B 1/B3; and sending the information to a data collecting, editing, integrating and storing module through an RS422 interface.
5. An integrated electronic system for launch vehicle subdomain control according to claim 1, characterised in that: the CPU module sends telemetering data to the data acquisition, editing, synthesis and storage module through a synchronous serial port; the CPU module also includes a ground debugging module through the Ethernet interface.
6. An integrated electronic system for launch vehicle subdomain control according to claim 1, characterised in that: the satellite navigation module, the CPU module, the power distribution module, the time sequence output module and the data acquisition, editing, synthesis and storage module firstly carry out self-testing after being electrified.
7. An integrated electronic system for launch vehicle subdomain control according to claim 1, characterised in that: the power distribution module is external equipment and comprises an inertial measurement unit, a servo controller and a current conversion switching unit for power distribution; and the power distribution module sends telemetering data to the data acquisition, editing, synthesis and storage module through an RS422 serial port.
8. An integrated electronic system for launch vehicle subdomain control according to claim 1, characterised in that: the time sequence output module receives an initiating explosive device action instruction sent by the CPU module, and controls the solid-state relay of the time sequence output board card to amplify signal power after photoelectric isolation so as to drive the initiating explosive device and the electromagnetic valve.
9. An integrated electronic system for launch vehicle subdomain control according to claim 8, characterised in that: the initiating explosive device channel adopts double contacts to be connected in parallel, and the electromagnetic valve channel adopts contacts to be connected in series and in parallel.
10. An integrated electronic system for launch vehicle subdomain control according to claim 1, characterised in that: and the data collecting, editing, integrating and storing module collects data information through an RS422 serial port.
11. A method for realizing an integrated electronic system for controlling a carrier rocket sublevel area is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps that (1) a satellite navigation module receives an external navigation signal, calculates position and speed information of a comprehensive electronic system, and simultaneously sends the position and speed information to a CPU module and a data acquisition, editing, comprehensive and storage module; meanwhile, the number and the quality of the collected satellites and the working state information of the satellite navigation module are sent to a data collecting, editing, integrating and storing module;
step (2), the CPU module receives the position and speed information of the integrated electronic system from the satellite navigation module, performs combined navigation calculation, guidance calculation or attitude control calculation, and outputs the calculation result to an external servo mechanism for controlling the attitude of the rocket body; sending an initiating explosive device action instruction to the time sequence output module; sending telemetering data to a data collecting, editing, integrating and storing module, wherein the telemetering data comprises running state parameters of a CPU module and calculation results of the integrated navigation calculation, guidance calculation or attitude control calculation; sending a power distribution instruction to a power distribution module;
step (3), the power distribution module receives a power distribution instruction sent by the CPU module, distributes power to external equipment, and sends telemetering data to the data acquisition, editing and storage module, wherein the telemetering data comprises the running state parameters of the power distribution module;
step (4), the time sequence output module receives an initiating explosive device action instruction sent by the CPU module, and performs signal power amplification after photoelectric isolation to drive the initiating explosive device and the electromagnetic valve;
and (5) receiving the speed and position information of the integrated electronic system sent by the satellite navigation module, the quantity and quality of the received satellites and the working state information of the satellite navigation module by the data collecting, editing and integrating and storing module, receiving the telemetering data sent by the CPU module, receiving the working state information sent by the power supply module, simultaneously collecting analog quantity signals of an external sensor, uniformly coding and storing all the information, and simultaneously sending the information to an external telemetering transmitter.
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| CN202011295597.9A CN112461058A (en) | 2020-11-18 | 2020-11-18 | Integrated electronic system for controlling carrier rocket sublevel landing area and implementation method thereof |
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| CN202011295597.9A CN112461058A (en) | 2020-11-18 | 2020-11-18 | Integrated electronic system for controlling carrier rocket sublevel landing area and implementation method thereof |
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| CN114780142A (en) * | 2022-04-01 | 2022-07-22 | 星河动力(北京)空间科技有限公司 | Rocket computer of carrier rocket and carrier rocket |
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