CN113865447B - Motor-driven gas rudder servo control mechanism test device - Google Patents
Motor-driven gas rudder servo control mechanism test device Download PDFInfo
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- CN113865447B CN113865447B CN202110988726.0A CN202110988726A CN113865447B CN 113865447 B CN113865447 B CN 113865447B CN 202110988726 A CN202110988726 A CN 202110988726A CN 113865447 B CN113865447 B CN 113865447B
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- rudder
- shaft
- bevel gear
- piece
- motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B35/00—Testing or checking of ammunition
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/60—Steering arrangements
- F42B10/62—Steering by movement of flight surfaces
- F42B10/64—Steering by movement of flight surfaces of fins
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention provides a motor-driven servo control mechanism test device, which comprises an electric steering engine fixing frame, an angle sensor, a sensor bracket, a shell sleeve, a rudder shaft mounting frame and a transmission assembly, and has the following advantages: the structural layout of the steering engine is optimized, so that the parallelism between a motor shaft and a projectile body shaft is realized, and the cross-sectional area of the projectile body is effectively saved. The angle sensor is directly connected with the rudder piece shaft, and the rudder piece deflection angle is accurately acquired and feedback control is performed. The spacing relation is introduced between the sensor bracket and the bevel gear plate, so that the rudder piece can only move within a preset angle. The sensor support and the rudder shaft placing table are designed in a split mode, and installation of the angle sensor and the bevel gear plate is facilitated. The whole test device has simple structure, safety and reliability and is convenient for daily operation and maintenance.
Description
Technical Field
The invention belongs to the spacecraft control technology, and particularly relates to a motor-driven test device for a gas rudder servo control mechanism.
Background
The gas rudder can quickly adjust the attitude rotation of the projectile body in the initial section of the projectile body, and is widely applied to guided rocket weapons such as various warship anti-missiles, air-to-air missiles and the like. The gas rudder realizes thrust vector control of the projectile solid rocket engine through a rudder deflection servo system. The rudder deflection servo system consists of a steering engine, a transmission device, a gas rudder piece, a feedback device and an on-bullet solid rocket engine. The steering engine is used as a core mechanism of a gas rudder servo control system and can be classified into: pneumatic steering wheel, hydraulic steering wheel and electric steering wheel because pneumatic steering wheel and hydraulic steering wheel have the disadvantage such as the structure is complicated, technical difficulty is big, consequently adopts electric steering wheel as its control machine to constitute as a trend in aerospace field.
The existing electric steering engine mostly adopts a vertical matching mode of a motor steering engine shaft and an elastomer, is limited by the requirement of the size of the elastomer, the volume of the steering engine needs to be controlled, and the corresponding torque and the volume of a gearbox of a transmission can be compressed, so that the angle control precision is affected to a certain extent.
Disclosure of Invention
The invention aims to provide a motor-driven gas rudder servo control mechanism test device, which optimizes the structural layout of an electric steering engine and realizes closed-loop feedback control of rudder piece deflection angles through an angle sensor at the tail end of a rudder piece shaft.
The technical solution for realizing the purpose of the invention is as follows: a test device for a motor-driven gas rudder servo control mechanism comprises an electric steering engine fixing frame, an angle sensor, a sensor bracket, a shell sleeve, a rudder shaft mounting frame and a transmission assembly, wherein the electric steering engine fixing frame is fixed on the outer side wall of the shell sleeve, a motor is fixed on the electric steering engine fixing frame, a spray pipe is fixed in the shell sleeve, a central shaft of the spray pipe is parallel to a rotating shaft of the motor and is in a horizontal state, the rudder shaft mounting frame is fixedly connected with the tail end of the shell sleeve, the rear end of a rudder piece shaft sequentially penetrates through the transmission assembly and the rudder shaft mounting frame and then is connected with a rudder piece, meanwhile, the rudder piece shaft is rotationally connected with the rudder shaft mounting frame, and the rudder piece is fixed at the rear end of the rudder piece shaft; the sensor bracket is L-shaped, one end of the sensor bracket is fixed at the tail end of the rudder shaft mounting frame, the other end of the sensor bracket is fixedly connected with an angle sensor, and a rotating shaft of the angle sensor is fixedly connected with the front end of the rudder piece shaft; the motor drives the rudder blade shaft to rotate through the transmission assembly.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The structural layout of the steering engine is optimized, so that the parallelism of the motor steering engine shaft and the spray pipe shaft is realized, and the cross-sectional area of the projectile body is effectively saved.
(2) The angle sensor is directly connected with the rudder piece shaft, and the deflection angle precision of the rudder piece is accurately acquired and feedback control is carried out.
(3) The lining of the spray pipe adopts a replaceable structure, so that the subsequent replacement is convenient.
(4) The spacing relation is introduced between the sensor bracket and the bevel gear plate, so that the rudder piece can only move within a preset angle.
(5) The sensor bracket and the rudder shaft mounting table are designed in a split mode, and the angle sensor and the bevel gear are convenient to install.
(6) The whole test device has simple structure, safety and reliability and is convenient for daily operation and maintenance.
Drawings
Fig. 1 is a schematic diagram of a motor-driven test apparatus for a gas rudder servo control mechanism according to the present invention.
Fig. 2 is an assembled view of the spout.
FIG. 3 is a diagram of the spacing relationship between a sensor mount and a bevel gear plate.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
With reference to fig. 1, the test device for the motor-driven gas rudder servo control mechanism optimizes the structural layout of an electric steering engine in a projectile body, and realizes closed-loop feedback control of the deflection angle of a rudder piece through an angle sensor at the tail end of the rudder piece shaft; meanwhile, the force moment of the projectile body can be measured and estimated by matching with a six-component force test bed.
The motor-driven gas rudder servo control mechanism test device comprises an electric steering engine fixing frame 1, an angle sensor 2, a sensor support 3, a shell sleeve 4, a rudder shaft mounting frame 6 and a transmission assembly, wherein the electric steering engine fixing frame 1 is fixed on the outer side wall of the shell sleeve 4, a motor 10 is fixed on the electric steering engine fixing frame 1, a spray pipe is fixed in the shell sleeve 4, the central shaft of the spray pipe is parallel to the rotating shaft of the motor 10 and is in a horizontal state, the structural layout of the electric steering engine in a projectile body is optimized, and the cross section area of the projectile body is effectively saved. The rudder shaft mounting frame 6 is fixedly connected with the tail end of the shell sleeve 4, the rear end of the rudder piece shaft 5 penetrates through the rudder shaft mounting frame 6 and then is connected with the rudder piece 9, meanwhile, the rudder piece shaft 5 is rotationally connected with the rudder shaft mounting frame 6 through a bearing, the rudder piece shaft 5 is perpendicular to the rotating shaft of the motor 10, and the rudder piece 9 is fixed at the rear end of the rudder piece shaft 5. The sensor support 3 is L-shaped, one end is fixed at the tail end of the rudder shaft mounting frame 6, the installation of the angle sensor 2 and the bevel gear is facilitated, the other end of the sensor support 3 is fixedly connected with the angle sensor 2, the rotating shaft of the angle sensor 2 is fixedly connected with the front end of the rudder piece shaft 5, and the deflection angle of the rudder piece 9 can be accurately acquired and feedback control is carried out through the direct connection of the angle sensor 2 and the rudder piece shaft 5. The transmission assembly comprises a bevel gear 7 and a bevel gear 8, the bevel gear 8 comprises a bevel gear plate and a mounting cylinder, one side edge of the bevel gear plate is arc-shaped and provided with bevel teeth, the mounting cylinder is arranged on the bottom surface of the bevel gear plate, the bevel gear 8 is positioned on the top surface of the rudder shaft mounting frame 6 and positioned between the electric steering engine fixing frame 1 and the sensor bracket 3, the bevel gear 7 is fixed on an output shaft of the motor 10, the bevel gear 7 is meshed with the bevel teeth of the bevel gear plate, the rear end of the rudder piece shaft 5 penetrates through the bevel gear 8 and then stretches out of the rudder shaft mounting frame 6, and the rudder piece shaft 5 is fixedly connected with the mounting cylinder through a pin.
Further, a plane is arranged on the outer side wall of the shell sleeve 4 in a turning mode and is used for installing the electric steering engine fixing frame 1.
Further, the spray pipe comprises a spray pipe front section 11, a spray pipe rear section 12 and a spray pipe lining 13, limiting bosses are respectively arranged in the spray pipe front section 11 and the spray pipe rear section 12, the spray pipe front section 11 is fixedly connected with the spray pipe rear section 12 through threads to form a shell, and the spray pipe lining 13 is arranged in the shell and is located between the two limiting bosses. The front section 11 of the spray pipe is connected with a six-component force test bed through threads, and the six-component force test bed is used for measuring torsional moment generated after the rudder piece 9 deflects.
Further, a nitrogen pipe is connected to the six-component test bench, nitrogen flows through the nozzle liner 13 through the nozzle front section 11, the structure of the nozzle liner 13 is shown in fig. 2, and the nozzle liner is convenient to replace when the throat surface is damaged.
Further, the electric steering engine fixing frame 1, the sensor bracket 3, the shell sleeve 4, the rudder shaft mounting frame 6, the transmission component, the spray pipe and the rudder piece 9 are all made of 45# steel.
Further, there is a limit relationship between the sensor holder 3 and the bevel gear plate, as shown in fig. 3, the width of the bevel gear plate is larger than the width of the sensor holder 3, and the width of the sensor holder 3 isaThe distance between the center of a circle and the top end of the gear plate isbThe distance between the circle center and the top end of the rudder shaft mounting tablecThe following mathematical relationship exists among the three components: wherein the method comprises the steps ofβThe maximum deflection angle of rudder piece isβTypically 20 °):
the rudder deflection angle can only be moved within a limited number of degrees under this relationship constraint.
The motor 10 starts to act after receiving the instruction, the angle sensor 2 acquires the angle of the rudder piece 9, the angle is resolved, an angle error is obtained, the output rotation angle of the motor 10 is controlled according to the angle error, and closed-loop feedback control is realized.
When the angle value acquired by the angle sensor 2 is consistent with the preset deflection angle, the motor 10 is not regulated any more; when the angle value acquired by the angle sensor 2 is inconsistent with the preset deflection angle, the motor 10 is adjusted according to the deviation by calculating the deviation between the acquired angle value and the preset angle value, so that the actual deflection angle of the rudder piece 9 is consistent with the preset value.
Claims (1)
1. A motor-driven gas rudder servo control mechanism test device is characterized in that: the steering engine comprises an electric steering engine fixing frame (1), an angle sensor (2), a sensor bracket (3), a shell sleeve (4), a rudder shaft mounting frame (6) and a transmission assembly; the electric steering engine fixing frame (1) is fixed on the outer side wall of the shell sleeve (4), the motor (10) is fixed on the electric steering engine fixing frame (1), the spray pipe is fixed in the shell sleeve (4), the central shaft of the spray pipe is parallel to the rotating shaft of the motor (10) and is in a horizontal state, the rudder piece shaft mounting frame (6) is fixedly connected with the tail end of the shell sleeve (4), the rear end of the rudder piece shaft (5) sequentially penetrates through the transmission assembly and the rudder piece shaft mounting frame (6) to be connected with the rudder piece (9), meanwhile, the rudder piece shaft (5) is rotationally connected with the rudder piece shaft mounting frame (6), and the rudder piece (9) is fixed at the rear end of the rudder piece shaft (5); the sensor bracket (3) is L-shaped, one end of the sensor bracket is fixed at the tail end of the rudder shaft mounting frame (6), the other end of the sensor bracket (3) is fixedly connected with the angle sensor (2), and the rotating shaft of the angle sensor (2) is fixedly connected with the front end of the rudder sheet shaft (5); the motor (10) drives the rudder blade shaft (5) to rotate through the transmission assembly;
the transmission assembly comprises a bevel gear (7) and a bevel gear piece (8), the bevel gear piece (8) comprises a bevel gear plate and an installation cylinder, one side edge of the bevel gear plate is arc-shaped and provided with bevel teeth, the installation cylinder is arranged on the bottom surface of the bevel gear plate, the bevel gear piece (8) is positioned on the top surface of the rudder shaft mounting frame (6) and between the electric steering engine mounting frame (1) and the sensor bracket (3), the bevel gear (7) is fixed on an output shaft of the motor (10), the bevel gear (7) is meshed with the bevel teeth of the bevel gear plate, the rear end of the rudder piece shaft (5) penetrates through the bevel gear piece (8) and then stretches out of the rudder shaft mounting frame (6), and the rudder piece shaft (5) is fixedly connected with the installation cylinder through a pin;
the rudder piece shaft (5) is perpendicular to the rotating shaft of the motor (10);
there is a spacing relation between the sensor support (3) and the bevel gear plate, the width of the bevel gear plate is larger than that of the sensor support (3), and the width of the sensor support (3) is as followsaThe distance between the circle center and the tail end of the bevel gear plate isbThe distance between the circle center and the tail end of the rudder shaft mounting frame (6) iscThe following mathematical relationship exists among the three components: wherein the method comprises the steps ofβFor the maximum deflection angle of the rudder piece,β20 °:
the rudder deflection angle can only be moved within a limited number of degrees under this relationship constraint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110988726.0A CN113865447B (en) | 2021-08-26 | 2021-08-26 | Motor-driven gas rudder servo control mechanism test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110988726.0A CN113865447B (en) | 2021-08-26 | 2021-08-26 | Motor-driven gas rudder servo control mechanism test device |
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| Publication Number | Publication Date |
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| CN113865447A CN113865447A (en) | 2021-12-31 |
| CN113865447B true CN113865447B (en) | 2023-05-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114838629A (en) * | 2022-04-18 | 2022-08-02 | 南京理工大学 | Ball screw type gas rudder servo mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106507758B (en) * | 2009-04-03 | 2013-08-28 | 中国航天科技集团公司第一研究院第十八研究所 | A kind of miniaturization, fast-response, the electric steering engine of self-locking |
| CN106976550B (en) * | 2017-03-09 | 2019-07-12 | 南京理工大学 | A kind of aircraft gas rudder and airvane linkage mechanism |
| CN107525676B (en) * | 2017-08-31 | 2019-05-07 | 南京理工大学 | The simple fictitious load of thrust vectoring engine gas rudder and test device |
| CN108286918A (en) * | 2017-12-29 | 2018-07-17 | 中国航天空气动力技术研究院 | A kind of how shaft-driven annular rudder control unit |
| RU2689663C1 (en) * | 2018-03-07 | 2019-05-28 | АО "Пространственные системы информации" (АО "ПСИ") | Electric jet propulsor |
| CN110530211B (en) * | 2019-09-04 | 2022-02-15 | 南京理工大学 | Steering engine transmission mechanism of ballistic correction projectile |
| CN112319826B (en) * | 2021-01-04 | 2021-05-04 | 成都云鼎智控科技有限公司 | Tailstock type vertical take-off and landing unmanned aerial vehicle control system |
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