CN112595173A - Stable launching platform for small naval vessel modular rocket and control method thereof - Google Patents
Stable launching platform for small naval vessel modular rocket and control method thereof Download PDFInfo
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- CN112595173A CN112595173A CN202011421179.XA CN202011421179A CN112595173A CN 112595173 A CN112595173 A CN 112595173A CN 202011421179 A CN202011421179 A CN 202011421179A CN 112595173 A CN112595173 A CN 112595173A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F3/00—Rocket or torpedo launchers
- F41F3/04—Rocket or torpedo launchers for rockets
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Abstract
The invention discloses a stable launching platform of a small naval vessel modularized rocket and a control method thereof. The multi-mode control device adopts a plurality of sets of transmission mechanisms, can perform multi-mode control according to different sea conditions, has a fault-tolerant control mechanism, high flexibility, strong wind and wave resistance and other excellent performances, and has high application value in the field of launching of small naval vessels; in order to deal with the high overload and vibration environment at the moment of launching, the instantaneous supporting device and a specific driving control method thereof are adopted, the electromagnetic field drives the instantaneous supporting device to play a role only in a tiny time domain at the moment of launching the rocket so as to counteract the high overload of weapon launching, and a special driving circuit enables a small naval vessel launching system to have high dynamic property and higher launching supporting rigidity and shock resistance under the condition of low power.
Description
Technical Field
The invention relates to the field of weapon launching platforms, in particular to a small naval vessel modular rocket stable launching platform and a control method thereof.
Background
The launching of small naval vessel weapons on the sea has very big degree of difficulty compared with land and large naval vessel launching, because the weapon needs steady launching environment when launching, but can receive the influence of sea wave sea wind when the marine launching, lead to launching platform along with the sea body produces irregular rocking, compare in large naval vessel moreover, marine small naval vessel because the volume, the tonnage can produce bigger rocking, this kind of irregular rocking will directly lead to the decline of weapon launch precision, sometimes even loses the transmitting power. However, the existing stable launching platform of the small-sized naval vessel does not deviate from the influence of the traditional weapon launching platform of the large-sized naval vessel, the occupied space is large, the power is large, and the factors can cause that the stable launching device of the large-sized naval vessel weapon is difficult to adapt to the small-sized naval vessel, particularly small-sized offshore vehicles such as unmanned ships. Therefore, the stable launching platform which is small, flexible and modularized is designed, and the stable launching platform has important practical significance for the actual combat of small ships.
Disclosure of Invention
Aiming at the problems that the launching difficulty of small naval vessel weapons at sea is high, the traditional ship weapon launching platform is not suitable and the like, the invention provides the small naval vessel modularized rocket stable launching platform and the control method thereof, which can realize the stable launching of weapons under the complex sea surface environment, can fully exert the small and flexible operational advantages of small naval vessels and other small offshore vehicles, and improve the operational performance of the weapons.
One object of the present invention is to provide a stable launch platform for a small naval vessel modular rocket.
The stable launching platform of the small-sized ship modularized rocket is arranged on the small-sized ship and used for stably launching the modularized rocket.
The invention relates to a stable launching platform of a small naval vessel modularized rocket, which comprises: the fire control system comprises a stable platform, a shooting platform, a modular rocket, a microprocessor and a fire control system; a shooting platform is arranged on the stable platform; installing a modular rocket on a shooting platform; the stable platform, the shooting platform and the modular rocket are connected to a microprocessor, and the microprocessor is connected to a fire control system; wherein the content of the first and second substances,
the stabilization platform includes: the device comprises a mounting base, an instantaneous supporting device, a transmission unit, a driver, a stable table top and a three-axis accelerometer; the mounting base and the stable table-board are both flat-shaped, and a vertical instantaneous supporting device is arranged between the mounting base and the stable table-board and positioned in the center; n groups of transmission units which are centrosymmetric are arranged between the mounting base and the stable table top and around the instantaneous supporting device, wherein N is a natural number more than or equal to 3; each group of transmission units comprises M sets of transmission mechanisms, and M is a natural number more than or equal to 2; each set of transmission mechanism comprises a stepping motor, a fixed revolute pair and a lower connecting rod, the stepping motor drives the rotating shaft of the fixed rotating pair to rotate, the fixed rotating pair only rotates and has no space displacement, the fixed rotating pair drives the lower connecting rod to rotate around the shaft of the fixed rotating pair, the rotating pair realizes the connection of the lower connecting rod and the upper connecting rod, the rotating pair rotates around the shaft of the fixed rotating pair, and the upper connecting rod can move and rotate around the ball hinge; m stepping motors in the same group of transmission units are connected to the same driver, and N drivers are connected to the microprocessor; the instantaneous supporting device comprises an outer barrel, a ball head ejector rod, a spring, an armature and an electromagnetic coil, wherein the ball head ejector rod comprises a hemispherical head end, a connecting rod and a piston which are sequentially connected into a whole from top to bottom, the outer barrel is of a hollow tubular structure, the bottom end of the outer barrel is vertically arranged at the center of the upper surface of a mounting base, the electromagnetic coil is wound outside the upper part of the outer barrel and is connected to a special driving circuit, the special driving circuit is connected to a microprocessor, the ball head ejector rod, the spring and the armature are sequentially connected from top to bottom, the piston, the spring and the armature at the bottom end of the ball head ejector rod are positioned in the outer barrel, the hemispherical head end at the top end of the ball head ejector rod penetrates through a through hole in the center of the top of the outer barrel and extends out of the outer barrel, a matching groove with the, the top end of the ball head ejector rod is spaced from the matching groove on the lower surface of the stabilizing table board; a three-axis accelerometer is arranged on the stable table top, the X-O-Y surface of the three-axis accelerometer is parallel to the stable table top, and the Z axis is vertical to the stable table top and faces downwards; the three-axis accelerometer is connected to the microprocessor;
the shooting platform comprises an outer servo motor, an outer rotating shaft system, a support, an inner servo motor, an inner rotating shaft system, a shooting table top and an image acquisition unit; an outer servo motor is fixedly arranged on the upper surface of the stable table top, an output shaft of the outer servo motor is connected with an input shaft of an outer rotating shaft system, a tail end output shaft of the outer rotating shaft system is perpendicular to the stable table top and points to the center of the stable table top, a support is arranged on the tail end output shaft of the outer rotating shaft system, and the outer rotating shaft system can drive the support to rotate by 360 degrees; an inner servo motor is arranged on a support and connected with an input shaft of a rotating shaft system, an outer rotating shaft system is perpendicular to an output shaft of the rotating shaft system, and the outer servo motor drives the outer rotating shaft system and the inner servo motor drives the rotating shaft system to form a cross series servo system; a shooting table top is arranged on a tail end output shaft of the inner rotating shaft system, the inner rotating shaft system drives the shooting table top to take the tail end output shaft of the inner rotating shaft system as a rotating shaft, and the shooting angle of the inner rotating shaft system is adjusted within a pitch angle range of 0-90 degrees; an image acquisition unit is arranged on the shooting table; the outer servo motor, the inner servo motor and the image acquisition unit are connected to the microprocessor;
a modular rocket is installed on the shooting table top;
when the small naval vessel arrives at a target sea area, the stable launching platform is automatically electrified to enter a working state, the three-axis accelerometer sensor detects a pose signal of the stable table board in real time, the microprocessor reads the pose signal, after reading, the pose information of the stable table board is obtained through pose calculation, the driving angle of the stepping motor required for adjusting the stable table board to the horizontal level is calculated according to the pose information of the stable table board, meanwhile, the sea wave and sea wind levels are judged according to the fluctuation size of the pose information, the stepping motors of the corresponding number of transmission mechanisms in each group of transmission units are correspondingly started to work according to the sea wave and sea wind levels, and the corresponding number of stepping motors are controlled to the preset driving angle through the drivers according to the calculated rotation angle; meanwhile, under the condition that all the stepping motors are not started, the angle encoder of each stepping motor returns the actual rotating angle of each stepping motor to the microprocessor, the microprocessor judges whether the actual rotating angle of each stepping motor reaches the range of a preset driving angle interval within the appointed time or not, if the actual rotating angle of each stepping motor does not reach the range of the preset driving angle interval, the microprocessor judges that the stepping motor is abnormal, and the other stepping motor in the group is started to work through a driver; the stepping motor rotates to drive the lower connecting rod to rotate through the fixed rotating pair, the lower connecting rod drives the upper connecting rod to move through the movable rotating pair, and the upper connecting rod pulls the stable table top to move, so that the deflection and the vertical movement of the stable table top in the two directions of the rolling and the pitching are realized, and the isolation of the upper loading load of the stable table top and the rolling, pitching and heaving movements of the small carrier is realized; the stable platform provides a good horizontal reference for an upper loading load, namely the shooting platform, the image acquisition unit on the shooting platform surface has good monitoring conditions under the isolation action of the stable platform, and the external servo motor slowly rotates to drive the image acquisition unit to horizontally sweep and image for 360 degrees and transmit the image to the microprocessor; after the target is found, the microprocessor processes the target information and obtains the position information of the target, and the microprocessor drives the outer servo motor to rotate according to the position information of the target to track the target; when shooting conditions are met, the microprocessor immediately controls the inner servo motor to pitch the shooting table board to an optimal launching angle, after the microprocessor receives a pre-launching instruction of the fire control system about the modular rocket, the power-on time of the instantaneous support device is set according to the launching time of ammunition in the pre-launching instruction, after the power-on time is reached, the microprocessor sends an electromagnetic coil starting instruction to the special drive circuit, the special drive circuit drives the electromagnetic coil to be powered on after receiving the electromagnetic coil starting instruction, an electromagnetic field is generated, the armature rapidly pushes the spring to move upwards and compresses the spring under the action of the electromagnetic force, the ball head ejector rod pushes the ball head ejector rod into a matching groove on the lower surface of the stable table board under the action of the spring, the stable table board is rapidly pushed upwards, and the spring is compressed under the pushing action of the armature during launching, so that enough rigidity and damping can be added to the system in a short time, the high overload impact and vibration brought by the launching moment of the rocket are greatly buffered; after the modular rocket is launched, the microprocessor controls the special driving circuit to cut off power supply to the electromagnetic coil, the ball head ejector rod falls back, the special driving circuit is provided with an energy storage element, and when the electromagnetic coil is cut off, the energy storage element finishes energy storage again and is used for power-on driving of the electromagnetic coil next time.
The center of the upper surface of the mounting base is provided with a mounting structure which is a cylindrical boss, the outer diameter of the cylindrical boss is not larger than the inner diameter of the outer cylinder, and the bottom of the outer cylinder with a hollow tubular structure is sleeved on the cylindrical boss; or the mounting structure is a cylindrical groove, the diameter of the cylindrical groove is not smaller than the outer diameter of the outer barrel, and the bottom of the outer barrel is embedded in the cylindrical groove, so that the bottom end of the outer barrel is vertically mounted in the center of the upper surface of the mounting base through the mounting structure.
The external rotating shaft system adopts a two-stage reduction gear set; the inner rotary shaft system adopts a two-stage reduction gear set.
The top of urceolus is provided with limit function's shrink-fit mouth, and the diameter of shrink-fit mouth is less than the diameter of the piston of bulb ejector pin bottom, restricts the stroke of bulb ejector pin.
The shooting table top is designed with standard mechanical and electrical installation interfaces, and can meet the installation and plugging of various task loads.
The modular rocket adopts a box-type multi-tube rocket, and rockets with specific calibers, tube numbers and types can be selected according to specific application requirements to form the box-type multi-tube rocket, so that the rocket can be continuously and automatically launched for multiple times by one-time installation and is installed on a standard installation interface of a shooting table board.
The special driving circuit comprises a direct-current power supply, an inverter circuit, a transformer, a rectifying circuit and an energy storage element which are sequentially connected, wherein the energy storage element adopts a super capacitor and has the working principle: when the electromagnetic coil is disconnected, the special driving circuit is in a charging state, and the direct-current power supply charges the super capacitor through inversion, transformation and rectification; when the electromagnetic coil is electrified, the special driving circuit is in a discharging state, and the super capacitor completes instantaneous heavy current discharge to drive the electromagnetic coil to be electrified by utilizing the characteristics of high voltage and small resistance. The electrifying current of the electromagnetic coil is 10-50A.
Setting an M-1 level threshold value according to the grades of sea waves and sea winds, correspondingly starting the stepping motors of i sets of transmission mechanisms in each set of transmission units to work when the grade is greater than the i-1 level threshold value and does not exceed the i-1 level threshold value, wherein i is greater than or equal to 1 and is less than or equal to M-1, and when the grade is greater than the M-1 level threshold value, all the stepping motors of all the M sets of transmission mechanisms in each set of transmission units are started to work.
If a certain motor fails under the condition of good sea conditions, the control of the stable platform fails, and the parallel motors are started immediately after the system detects the failure signal, so that the failure is automatically repaired, and the novel stable supporting mechanism and the corresponding control method thereof enable the system to have the advantages of intelligence, flexibility, high fault tolerance rate and the like in the face of various uncertain factors on the sea.
The invention also aims to provide a method for realizing the stable launching platform of the small-sized naval vessel modular rocket.
The invention discloses a method for realizing a stable launching platform of a small naval vessel modularized rocket, which comprises the following steps:
1) when the rocket is not launched, the spring is in a natural state only under the action of the gravity of the ball head ejector rod, and the distance is reserved between the top end of the ball head ejector rod and the matching groove on the lower surface of the stable table top;
2) when the small naval vessel arrives at a target sea area, the stable launching platform is automatically electrified to enter a working state, the three-axis accelerometer sensor detects a pose signal of the stable table board in real time, the microprocessor reads the pose signal, after reading, the pose information of the stable table board is obtained through pose calculation, the driving angle of the stepping motor required for adjusting the stable table board to the horizontal level is calculated according to the pose information of the stable table board, meanwhile, the sea wave and sea wind levels are judged according to the fluctuation size of the pose information, the stepping motors of the corresponding number of transmission mechanisms in each group of transmission units are correspondingly started to work according to the sea wave and sea wind levels, and the corresponding number of stepping motors are controlled to the preset driving angle through the drivers according to the calculated rotation angle; meanwhile, under the condition that all the stepping motors are not started, the angle encoder of each stepping motor returns the actual rotating angle of each stepping motor to the microprocessor, the microprocessor judges whether the actual rotating angle of each stepping motor reaches the preset driving angle or not, if the actual rotating angle of each stepping motor does not reach the preset driving angle, the microprocessor judges that the stepping motor is abnormal, and the driver starts the other stepping motor in the group to work; the stepping motor rotates to drive the lower connecting rod to rotate through the fixed rotating pair, the lower connecting rod drives the upper connecting rod to move through the movable rotating pair, and the upper connecting rod pulls the stable table top to move, so that the deflection and the vertical movement of the stable table top in the two directions of the rolling and the pitching are realized, and the isolation of the loading on the stable table top and the rolling, the pitching and the heaving movements of the small carrier is realized;
3) the stable platform provides a good horizontal reference for loading, namely the shooting platform, the image acquisition unit on the shooting platform surface has good monitoring conditions under the isolation action of the stable platform, and the external servo motor slowly rotates to drive the image acquisition unit to horizontally sweep and image for 360 degrees and transmit the image to the microprocessor;
4) when a target is found, the microprocessor processes target information and obtains position information of the target, the microprocessor drives the outer servo motor to rotate according to the position information of the target to track the target, and when shooting conditions are met, the microprocessor immediately controls the inner servo motor to pitch the shooting table top to the optimal launching angle;
5) after the microprocessor receives a pre-launching command of the fire control system about the modular rocket, the power-on time of the instantaneous launching supporting device is set according to the launching time of the ammunition in the pre-launching command, when the power-on time is up, the microprocessor sends a solenoid coil starting instruction to the special driving circuit, the special driving circuit drives the solenoid coil to be powered on after receiving the solenoid coil starting instruction to generate an electromagnetic field, the armature iron pushes the spring to move upwards and compress the spring under the action of the electromagnetic force, the ball head ejector rod pushes the ball head ejector rod into the matching groove on the lower surface of the stable table top under the action of the spring, and the stable table top is quickly pushed upwards, because the spring is compressed and stores energy under the pushing action of the armature during launching, enough rigidity and damping can be added to the system in a short time of launching the ammunition, and high overload impact and vibration caused at the moment of launching the rocket are greatly buffered;
6) after the modular rocket finishes launching, the microprocessor controls the special driving circuit to cut off power supply to the electromagnetic coil, the ball head ejector rod falls back, the special driving circuit is provided with the energy storage element, and when the electromagnetic coil is cut off, the energy storage element finishes energy storage again and is used for power-on driving of the electromagnetic coil next time.
In the step 2), an M-1 level threshold value is set according to the grades of sea waves and sea winds, when the grade is larger than the i-1 level threshold value and does not exceed the i-level threshold value, the stepping motors of i sets of transmission mechanisms in each set of transmission units are correspondingly started to work, i is larger than or equal to 1 and smaller than or equal to M-1, and when the grade is larger than the M-1 level threshold value, all the stepping motors of M sets of transmission mechanisms in each set of transmission units are started to work.
In step 5), the electrifying time of the instantaneous supporting device is earlier than the firing time of the ammunition by 0.5-1 second, so that the instantaneous supporting device is ready to support sufficient rigidity and damping required by firing when the ammunition is fired.
The invention adopts a plurality of stepping motors in parallel, under the condition that all the stepping motors are not started, the stepping motor which is not started is used as a standby stepping motor, and once the started stepping motor is abnormal, the standby stepping motor is started, thereby increasing the fault tolerance of the system.
The invention has the advantages that:
(1) different from a conventional stable platform, the novel nested series-parallel single-point double-drive mechanism and the corresponding control method thereof are designed, multi-mode control can be performed according to different sea conditions, and the novel nested series-parallel single-point double-drive mechanism has excellent performances such as a fault-tolerant control mechanism, high flexibility, strong wind wave resistance and the like, and has a high application value in the field of launching of small naval vessels;
(2) in order to deal with the high overload and vibration environment at the moment of launching, the invention designs the instantaneous support device and the specific drive control method thereof, the electromagnetic drive instantaneous support device only plays the role in a tiny time domain at the moment of launching a rocket so as to counteract the high overload of weapon launching, and the special drive circuit enables the small naval vessel launching system to have high dynamic property and higher launching support rigidity and shock resistance under the condition of low power.
Drawings
FIG. 1 is a schematic view of one embodiment of a small vessel modular rocket stabilized launch platform of the present invention;
FIG. 2 is a schematic view of an instantaneous support device of one embodiment of the small vessel modular rocket stabilized launch platform of the present invention;
fig. 3 is a control block diagram of the stable launch platform of the small naval vessel modular rocket of the present invention.
Detailed Description
The invention will be further elucidated by means of specific embodiments in the following with reference to the drawing.
As shown in fig. 1 to 3, the stable launching platform of the small-sized naval vessel modularized rocket of the embodiment includes: the fire control system comprises a stable platform, a shooting platform, a modular rocket, a microprocessor and a fire control system; a shooting platform is arranged on the stable platform; installing a modular rocket on a shooting platform; the stable platform, the shooting platform and the modular rocket are connected to a microprocessor, and the microprocessor is connected to a fire control system; wherein the content of the first and second substances,
the stabilization platform includes: the device comprises a mounting base 1, an instantaneous supporting device, a transmission unit, a driver, a stable table top 8 and a three-axis accelerometer 17; a vertical instantaneous supporting device is arranged between the mounting base and the stable table top and is positioned in the center; four groups of transmission units which are centrosymmetric are arranged between the mounting base and the stable table top and around the instantaneous supporting device; each group of transmission units comprises two sets of transmission mechanisms; each set of transmission mechanism comprises a stepping motor 2, a fixed revolute pair 3, a lower connecting rod 4, a movable revolute pair 5, an upper connecting rod 6 and a ball hinge 7, the stepping motor 2 is fixedly arranged on the upper surface of the stable platform, an output shaft of the stepping motor 2 is coaxially connected with a rotary shaft of the fixed revolute pair 3 arranged on the upper surface of the mounting base 1, the bottom end of the lower connecting rod 4 is vertically and fixedly connected with the rotary shaft of the fixed revolute pair 3, the top end of the lower connecting rod 4 is connected with the bottom end of the upper connecting rod 6 in a movable revolute pair 5 mode, the shaft of the movable revolute pair 5 is parallel to the shaft of the fixed revolute pair 3, the top end of the upper connecting rod 6 is connected with the ball hinge 7, the ball hinge 7 is arranged on the lower surface of the stable platform surface 8, the stepping motor 2 drives the rotary shaft of the fixed revolute pair 3 to rotate, the fixed revolute pair 3 has no space displacement, the fixed revolute pair 3, the movable rotating pair 5 rotates around a shaft and has space displacement, and the upper connecting rod 6 is driven by the rotation of the lower connecting rod 4 to move and rotate around the ball hinge 7; two stepping motors 2 in the same group of transmission units are connected to the same driver, and four drivers are connected to the microprocessor; the instantaneous supporting device comprises an outer cylinder 22, a ball head ejector rod 18, a spring 19, an armature 20 and an electromagnetic coil 21, wherein the ball head ejector rod 18 comprises a hemispherical head end, a connecting rod and a piston which are sequentially and fixedly connected into a whole from top to bottom, the outer cylinder 22 is of a hollow tubular structure, the bottom end of the outer cylinder 22 is vertically installed at the center of the upper surface of the mounting base 1, the electromagnetic coil 21 is wound outside the upper part of the outer cylinder 22, the electromagnetic coil 21 is connected to a special driving circuit, the special driving circuit is connected to a microprocessor, the ball head ejector rod 18, the spring 19 and the armature 20 are sequentially connected from top to bottom, the piston, the spring 19 and the armature 20 at the bottom end of the ball head ejector rod 18 are positioned in the outer cylinder 22, the top end of the ball head ejector rod 18 is hemispherical, the top end of the ball head ejector rod 18 penetrates through a through, when the rocket is not launched, the spring 19 is in a natural state only under the action of the gravity of the ball head ejector rod 18, and a distance is reserved between the top end of the ball head ejector rod 18 and the matching groove on the lower surface of the stabilizing table top 8; a three-axis accelerometer 17 is arranged on the stabilizing table top 8, the X-O-Y surface of the three-axis accelerometer 17 is parallel to the stabilizing table top 8, and the Z axis is vertical to the stabilizing table top 8 and faces downwards; the three-axis accelerometer 17 is connected to the microprocessor;
the shooting platform comprises an outer servo motor 9, an outer rotating shaft system 10, a support 11, an inner servo motor 12, an inner rotating shaft system 13, a shooting table top 14 and an image acquisition unit 16; an outer servo motor 9 is fixedly installed on the upper surface of the stable table top, an output shaft of the outer servo motor 9 is connected with an input shaft of an outer rotating shaft system 10, a tail end output shaft of the outer rotating shaft system 10 is perpendicular to the stable table top and points to the center of the stable table top, a support 11 is arranged on the tail end output shaft of the outer rotating shaft system 10, and the outer rotating shaft system 10 can drive the support 11 to rotate by 360 degrees; an inner servo motor 12 is arranged on a support 11, the inner servo motor 12 is connected with an input shaft of an inner rotating shaft system 13, an outer rotating shaft system 10 is perpendicular to an output shaft of the inner rotating shaft system 13, and the outer servo motor drives the outer rotating shaft system and the inner servo motor drives the inner rotating shaft system to form a cross series servo system; a shooting table top 14 is arranged on a tail end output shaft of the inner rotating shaft system 13, the inner rotating shaft system 13 drives the shooting table top 14 to adjust the emission angle of the inner rotating shaft system within a pitch angle range of 0-90 degrees by taking the tail end output shaft of the inner rotating shaft system as a rotating shaft; an image acquisition unit 16 is arranged on the shooting table 14; the outer servo motor 9, the inner servo motor 12 and the image acquisition unit 16 are connected to the microprocessor;
and a modular rocket is arranged on the shooting table board.
The implementation method of the stable launching platform of the small naval vessel modularized rocket comprises the following steps:
1) when the rocket is not launched, the spring is in a natural state only under the action of the gravity of the ball head ejector rod, and the distance is reserved between the top end of the ball head ejector rod and the matching groove on the lower surface of the stabilizing table top 8;
2) when the small naval vessel arrives at a target sea area, the stable launching platform is automatically powered on to enter a working state, the three-axis accelerometer 17 sensor detects the pose signal of the stable table top 8 in real time, the microprocessor reads the pose signal, the pose signal is subjected to pose calculation after being read to obtain the pose information of the stable table top 8, the driving angle of the stepping motor 2 required for adjusting the stable table 8 to the horizontal is solved and calculated according to the pose information of the stable table 8, meanwhile, the levels of sea waves and sea wind are judged according to the fluctuation of the pose information, a first-level threshold value is set in the embodiment, when the grade is less than the threshold value, the step motor 2 of one set of transmission mechanism in each set of transmission unit is started to work, when the grade is larger than the threshold value, the stepping motors 2 of the two sets of transmission mechanisms in each set of transmission unit are all started to work, controlling the corresponding number of stepping motors 2 to a preset driving angle through a driver according to the calculated rotating angle; meanwhile, under the condition that one stepping motor 2 is started, the angle encoder of each stepping motor 2 returns the actual rotating angle of the stepping motor to the microprocessor, the microprocessor judges whether the actual rotating angle of the angle encoder reaches a preset driving angle or not, if the actual rotating angle of the angle encoder does not reach the preset driving angle, the microprocessor judges that the stepping motor 2 is abnormal, and the driver starts the other stepping motor 2 in the group to work; the stepping motor 2 rotates to drive the lower connecting rod 4 to rotate through the fixed revolute pair 3, the lower connecting rod 4 drives the upper connecting rod 6 to move through the movable revolute pair 5, and the upper connecting rod 6 pulls the stable table top 8 to move, so that the deflection and the vertical movement of the stable table top 8 in the two directions of the rolling and the pitching are realized, and the isolation of the loading on the stable table top 8 from the rolling, the pitching and the heaving movements of the small carrier is realized;
3) the stable platform provides a good horizontal reference for loading, namely the shooting platform, the image acquisition unit on the shooting platform surface has good monitoring conditions under the isolation action of the stable platform, and the external servo motor slowly rotates to drive the image acquisition unit to horizontally sweep and image for 360 degrees and transmit the image to the microprocessor;
4) when a target is found, the microprocessor processes target information and obtains position information of the target, the microprocessor drives the outer servo motor to rotate according to the position information of the target to track the target, and when shooting conditions are met, the microprocessor immediately controls the inner servo motor to pitch the shooting table top to the optimal launching angle;
5) after the microprocessor receives a pre-launching command of the fire control system about the modular rocket, the power-on time of the instantaneous launching supporting device is set according to the launching time information of the ammunition in the pre-launching command, when the power-on time is up, the microprocessor sends a solenoid coil starting instruction to the special driving circuit, the special driving circuit drives the solenoid coil to be powered on after receiving the solenoid coil starting instruction to generate an electromagnetic field, the armature iron pushes the spring to move upwards and compress the spring under the action of the electromagnetic force, the ball head ejector rod pushes the ball head ejector rod into the matching groove on the lower surface of the stabilizing table top 8 under the action of the spring, the stabilizing table top 8 is quickly pushed upwards tightly, because the spring is compressed and stores energy under the pushing action of the armature during launching, enough rigidity and damping can be added to the system in a short time of launching the ammunition, and high overload impact and vibration caused at the moment of launching the rocket are greatly buffered;
6) after the modular rocket finishes launching, the microprocessor controls the special driving circuit to cut off power supply to the electromagnetic coil, the ball head ejector rod falls back, the special driving circuit is provided with the energy storage element, and when the electromagnetic coil is cut off, the energy storage element finishes energy storage again and is used for current power-on driving of the next coil.
Finally, it is noted that the disclosed embodiments are intended to aid in further understanding of the invention, but those skilled in the art will appreciate that: various substitutions and modifications are possible without departing from the spirit and scope of the invention and the appended claims. Therefore, the invention should not be limited to the embodiments disclosed, but the scope of the invention is defined by the appended claims.
Claims (10)
1. A small vessel modular rocket stabilized launch platform, the small vessel modular rocket stabilized launch platform comprising: the fire control system comprises a stable platform, a shooting platform, a modular rocket, a microprocessor and a fire control system; a shooting platform is arranged on the stable platform; installing a modular rocket on a shooting platform; the stable platform, the shooting platform and the modular rocket are connected to a microprocessor, and the microprocessor is connected to a fire control system; wherein the content of the first and second substances,
the stabilization platform includes: the device comprises a mounting base, an instantaneous supporting device, a transmission unit, a driver, a stable table top and a three-axis accelerometer; the mounting base and the stable table-board are both flat-shaped, and a vertical instantaneous supporting device is arranged between the mounting base and the stable table-board and positioned in the center; n groups of transmission units which are centrosymmetric are arranged between the mounting base and the stable table top and around the instantaneous supporting device, wherein N is a natural number more than or equal to 3; each group of transmission units comprises M sets of transmission mechanisms, and M is a natural number more than or equal to 2; each set of transmission mechanism comprises a stepping motor, a fixed revolute pair and a lower connecting rod, the stepping motor drives the rotating shaft of the fixed rotating pair to rotate, the fixed rotating pair only rotates and has no space displacement, the fixed rotating pair drives the lower connecting rod to rotate around the shaft of the fixed rotating pair, the rotating pair realizes the connection of the lower connecting rod and the upper connecting rod, the rotating pair rotates around the shaft of the fixed rotating pair, and the upper connecting rod can move and rotate around the ball hinge; m stepping motors in the same group of transmission units are connected to the same driver, and N drivers are connected to the microprocessor; the instantaneous supporting device comprises an outer barrel, a ball head ejector rod, a spring, an armature and an electromagnetic coil, wherein the ball head ejector rod comprises a hemispherical head end, a connecting rod and a piston which are sequentially connected into a whole from top to bottom, the outer barrel is of a hollow tubular structure, the bottom end of the outer barrel is vertically arranged at the center of the upper surface of a mounting base, the electromagnetic coil is wound outside the upper part of the outer barrel and is connected to a special driving circuit, the special driving circuit is connected to a microprocessor, the ball head ejector rod, the spring and the armature are sequentially connected from top to bottom, the piston, the spring and the armature at the bottom end of the ball head ejector rod are positioned in the outer barrel, the hemispherical head end at the top end of the ball head ejector rod penetrates through a through hole in the center of the top of the outer barrel and extends out of the outer barrel, a matching groove with the, the top end of the ball head ejector rod is spaced from the matching groove on the lower surface of the stabilizing table board; a three-axis accelerometer is arranged on the stable table top, the X-O-Y surface of the three-axis accelerometer is parallel to the stable table top, and the Z axis is vertical to the stable table top and faces downwards; the three-axis accelerometer is connected to the microprocessor;
the shooting platform comprises an outer servo motor, an outer rotating shaft system, a support, an inner servo motor, an inner rotating shaft system, a shooting table top and an image acquisition unit; an outer servo motor is fixedly arranged on the upper surface of the stable table top, an output shaft of the outer servo motor is connected with an input shaft of an outer rotating shaft system, a tail end output shaft of the outer rotating shaft system is perpendicular to the stable table top and points to the center of the stable table top, a support is arranged on the tail end output shaft of the outer rotating shaft system, and the outer rotating shaft system can drive the support to rotate by 360 degrees; an inner servo motor is arranged on a support and connected with an input shaft of a rotating shaft system, an outer rotating shaft system is perpendicular to an output shaft of the rotating shaft system, and the outer servo motor drives the outer rotating shaft system and the inner servo motor drives the rotating shaft system to form a cross series servo system; a shooting table top is arranged on a tail end output shaft of the inner rotating shaft system, the inner rotating shaft system drives the shooting table top to take the tail end output shaft of the inner rotating shaft system as a rotating shaft, and the shooting angle of the inner rotating shaft system is adjusted within a pitch angle range of 0-90 degrees; an image acquisition unit is arranged on the shooting table; the outer servo motor, the inner servo motor and the image acquisition unit are connected to the microprocessor;
a modular rocket is installed on the shooting table top;
when the small naval vessel arrives at a target sea area, the stable launching platform is automatically electrified to enter a working state, the three-axis accelerometer sensor detects a pose signal of the stable table board in real time, the microprocessor reads the pose signal, after reading, the pose information of the stable table board is obtained through pose calculation, the driving angle of the stepping motor required for adjusting the stable table board to the horizontal level is calculated according to the pose information of the stable table board, meanwhile, the sea wave and sea wind levels are judged according to the fluctuation size of the pose information, the stepping motors of the corresponding number of transmission mechanisms in each group of transmission units are correspondingly started to work according to the sea wave and sea wind levels, and the corresponding number of stepping motors are controlled to the preset driving angle through the drivers according to the calculated rotation angle; meanwhile, under the condition that all the stepping motors are not started, the angle encoder of each stepping motor returns the actual rotating angle of each stepping motor to the microprocessor, the microprocessor judges whether the actual rotating angle of each stepping motor reaches the range of a preset driving angle interval within the appointed time or not, if the actual rotating angle of each stepping motor does not reach the range of the preset driving angle interval, the microprocessor judges that the stepping motor is abnormal, and the other stepping motor in the group is started to work through a driver; the stepping motor rotates to drive the lower connecting rod to rotate through the fixed rotating pair, the lower connecting rod drives the upper connecting rod to move through the movable rotating pair, and the upper connecting rod pulls the stable table top to move, so that the deflection and the vertical movement of the stable table top in the two directions of the rolling and the pitching are realized, and the isolation of the upper loading load of the stable table top and the rolling, pitching and heaving movements of the small carrier is realized; the stable platform provides a good horizontal reference for an upper loading load, namely the shooting platform, the image acquisition unit on the shooting platform surface has good monitoring conditions under the isolation action of the stable platform, and the external servo motor slowly rotates to drive the image acquisition unit to horizontally sweep and image for 360 degrees and transmit the image to the microprocessor; after the target is found, the microprocessor processes the target information and obtains the position information of the target, and the microprocessor drives the outer servo motor to rotate according to the position information of the target to track the target; when shooting conditions are met, the microprocessor immediately controls the inner servo motor to pitch the shooting table board to an optimal launching angle, after the microprocessor receives a pre-launching instruction of the fire control system about the modular rocket, the power-on time of the instantaneous support device is set according to the launching time of ammunition in the pre-launching instruction, after the power-on time is reached, the microprocessor sends an electromagnetic coil starting instruction to the special drive circuit, the special drive circuit drives the electromagnetic coil to be powered on after receiving the electromagnetic coil starting instruction, an electromagnetic field is generated, the armature rapidly pushes the spring to move upwards and compresses the spring under the action of the electromagnetic force, the ball head ejector rod pushes the ball head ejector rod into a matching groove on the lower surface of the stable table board under the action of the spring, the stable table board is rapidly pushed upwards, and the spring is compressed under the pushing action of the armature during launching, so that enough rigidity and damping can be added to the system in a short time, buffering high overload impact and vibration brought by the moment of rocket launching; after the modular rocket is launched, the microprocessor controls the special driving circuit to cut off power supply to the electromagnetic coil, the ball head ejector rod falls back, the special driving circuit is provided with an energy storage element, and when the electromagnetic coil is cut off, the energy storage element finishes energy storage again and is used for power-on driving of the electromagnetic coil next time.
2. The stable rocket launching platform of small naval vessel modular rockets as recited in claim 1 wherein, the center of the upper surface of said mounting base is provided with a mounting structure, the mounting structure is a cylindrical boss, the outer diameter of the cylindrical boss is not larger than the inner diameter of the outer cylinder, the bottom of the outer cylinder of the internal hollow tubular structure is sleeved on the cylindrical boss; or the mounting structure is a cylindrical groove, the diameter of the cylindrical groove is not smaller than the outer diameter of the outer barrel, and the bottom of the outer barrel is embedded in the cylindrical groove, so that the bottom end of the outer barrel is vertically mounted in the center of the upper surface of the mounting base through the mounting structure.
3. A small naval vessel modular rocket stabilized launch platform according to claim 1, wherein the outer rotating shafting employs a secondary reduction gear set; the inner rotary shaft system adopts a two-stage reduction gear set.
4. A small naval vessel modular rocket stabilized launch platform according to claim 1 wherein said firing deck is designed with standard mechanical and electrical mounting interfaces.
5. A small vessel modular rocket stabilized launch platform according to claim 1 wherein said modular rocket employs a box-type multi-tube rocket mounted above a standard mounting interface of a shooting deck.
6. The stable launch platform of a small naval vessel modular rocket of claim 1, wherein the dedicated drive circuit comprises a direct current power supply, an inverter circuit, a transformer, a rectifier circuit and an energy storage element which are connected in sequence, the energy storage element adopts a super capacitor; when the electromagnetic coil is disconnected, the special driving circuit is in a charging state, and the direct-current power supply charges the super capacitor through inversion, transformation and rectification; when the electromagnetic coil is electrified, the special driving circuit is in a discharging state, and the super capacitor discharges to drive the electromagnetic coil to be electrified.
7. The stabilized rocket launching platform for small naval vessels as recited in claim 1, wherein a threshold of M-1 level is set according to the levels of sea waves and sea winds, when the level is greater than the threshold of i-1 level and does not exceed the threshold of i level, the stepping motors of i sets of transmission mechanisms in each set of transmission units are correspondingly started to work, i is greater than or equal to 1 and less than or equal to M-1, and when the level is greater than the threshold of M-1 level, all the stepping motors of M sets of transmission mechanisms in each set of transmission units are started to work.
8. A method of controlling a small vessel modular rocket stabilized launch platform according to claim 1, wherein said method of controlling comprises the steps of:
1) when the rocket is not launched, the spring is in a natural state only under the action of the gravity of the ball head ejector rod, and the distance is reserved between the top end of the ball head ejector rod and the matching groove on the lower surface of the stable table top;
2) when the small naval vessel arrives at a target sea area, the stable launching platform is automatically electrified to enter a working state, the three-axis accelerometer sensor detects a pose signal of the stable table board in real time, the microprocessor reads the pose signal, after reading, the pose information of the stable table board is obtained through pose calculation, the driving angle of the stepping motor required for adjusting the stable table board to the horizontal level is calculated according to the pose information of the stable table board, meanwhile, the sea wave and sea wind levels are judged according to the fluctuation size of the pose information, the stepping motors of the corresponding number of transmission mechanisms in each group of transmission units are correspondingly started to work according to the sea wave and sea wind levels, and the corresponding number of stepping motors are controlled to the preset driving angle through the drivers according to the calculated rotation angle; meanwhile, under the condition that all the stepping motors are not started, the angle encoder of each stepping motor returns the actual rotating angle of each stepping motor to the microprocessor, the microprocessor judges whether the actual rotating angle of each stepping motor reaches the preset driving angle or not, if the actual rotating angle of each stepping motor does not reach the preset driving angle, the microprocessor judges that the stepping motor is abnormal, and the driver starts the other stepping motor in the group to work; the stepping motor rotates to drive the lower connecting rod to rotate through the fixed rotating pair, the lower connecting rod drives the upper connecting rod to move through the movable rotating pair, and the upper connecting rod pulls the stable table top to move, so that the deflection and the vertical movement of the stable table top in the two directions of the rolling and the pitching are realized, and the isolation of the loading on the stable table top and the rolling, the pitching and the heaving movements of the small carrier is realized;
3) the stable platform provides a good horizontal reference for loading, namely the shooting platform, the image acquisition unit on the shooting platform surface has good monitoring conditions under the isolation action of the stable platform, and the external servo motor slowly rotates to drive the image acquisition unit to horizontally sweep and image for 360 degrees and transmit the image to the microprocessor;
4) when a target is found, the microprocessor processes target information and obtains position information of the target, the microprocessor drives the outer servo motor to rotate according to the position information of the target to track the target, and when shooting conditions are met, the microprocessor immediately controls the inner servo motor to pitch the shooting table top to the optimal launching angle;
5) after the microprocessor receives a pre-launching command of the fire control system about the modular rocket, the power-on time of the instantaneous launching supporting device is set according to the launching time of the ammunition in the pre-launching command, when the power-on time is up, the microprocessor sends a solenoid coil starting instruction to the special driving circuit, the special driving circuit drives the solenoid coil to be powered on after receiving the solenoid coil starting instruction to generate an electromagnetic field, the armature iron pushes the spring to move upwards and compress the spring under the action of the electromagnetic force, the ball head ejector rod pushes the ball head ejector rod into the matching groove on the lower surface of the stable table top under the action of the spring, and the stable table top is quickly pushed upwards, because the spring is compressed and stores energy under the pushing action of the armature during launching, enough rigidity and damping can be added to the system in a short time of launching the ammunition, and high overload impact and vibration brought by the moment of launching the rocket are buffered;
6) after the modular rocket finishes launching, the microprocessor controls the special driving circuit to cut off power supply to the electromagnetic coil, the ball head ejector rod falls back, the special driving circuit is provided with the energy storage element, and when the electromagnetic coil is cut off, the energy storage element finishes energy storage again and is used for power-on driving of the electromagnetic coil next time.
9. The control method according to claim 8, wherein in step 2), an M-1 level threshold is set according to the levels of sea waves and sea winds, when the level is greater than the i-1 level threshold and does not exceed the i-th level threshold, the stepping motors of i sets of transmission mechanisms in each set of transmission units are correspondingly started to work, i is greater than or equal to 1 and less than or equal to M-1, and when the level is greater than the M-1 level threshold, all the stepping motors of M sets of transmission mechanisms in each set of transmission units are started to work.
10. The control method according to claim 8, wherein in the step 5), the power-on time of the instantaneous support device is earlier than the firing time of the ammunition by 0.5-1 second.
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