CN114879592A - Individual version unmanned aerial vehicle time sequence control method - Google Patents

Abstract

The invention provides a sequential control method of an individual version unmanned aerial vehicle, which realizes information transmission between an electronic safety and safety relief device and an unmanned aerial vehicle flight control center through an environment sensor interface and an ignition input interface, receives an electric signal converted from environment information acquired by an environment sensor of the unmanned aerial vehicle through the environment sensor interface, and comprises an unmanned aerial vehicle takeoff signal, an unmanned aerial vehicle detection target signal and a target attack range signal; receiving a detonation signal transmitted to the unmanned aerial vehicle by the ground station; when the two static switches and the dynamic switch are both in a closed condition, unlocking the safe detonation execution module, and transmitting a detonation signal sent by the ground station to the safe detonation execution module; when a detonation signal sent by the ground station is identified, the safe detonation execution module supplies power to complete detonation of the unmanned aerial vehicle warhead so as to achieve target striking.

Description

Individual version unmanned aerial vehicle time sequence control method

Technical Field

The invention belongs to the field of individual-soldier unmanned aerial vehicle control, and particularly relates to a sequential control method for an individual-soldier unmanned aerial vehicle.

Background

Unmanned aerial vehicles are also known as remote piloted aircraft, autoplane or drone, and in most cases we refer to unmanned aerial vehicles. The definition of unmanned aerial vehicles by the U.S. department of defense is: the aircraft is free of operators, takes off by using aerodynamic force, can fly autonomously or be driven by remote control, can be used once or recycled, and carries fatal or non-fatal effective loads. In view of the advantages of low cost, low loss, zero casualty, reusability, high maneuverability and the like, the application range of the composite material is widened to three fields of military, civil and scientific research. In military affairs, the method can be used for detection, monitoring, communication relay, electronic countermeasure, fire guidance, war fruit evaluation, harassment, temptation, attack on the ground (sea), target simulation, early warning and the like. In modern local wars mainly based on information technology, the unmanned aerial vehicle is used for carrying out tasks such as detection, monitoring, false target setting, harassment and temptation, electronic interference, enemy target hitting and the like, so that quite good battle effects are obtained, and people increasingly recognize the huge effects and potentials of the unmanned aerial vehicle.

As a future development trend of unmanned aerial vehicles, development of unmanned fighters is scheduled. The combat mission of the unmanned fighter is very clear, namely the prevention and control fire power of enemies is suppressed and the precise attack is implemented. Unmanned fighter's ability to carry various airborne sensors including active radars, and existing weaponry, can perform various combat missions in accordance with combat regulations, as well as respond to new targets and threats, as with manned tactical fighters. Since the unmanned fighter can be used as a combat aircraft and can carry weapons to perform combat missions, the research on the timing control of the take-off, target capture, target aiming and supply links of the unmanned aerial vehicle during combat becomes crucial to ensure the safety of the unmanned aerial vehicle during mission.

Disclosure of Invention

The invention aims to provide a sequential control method of an individual version unmanned aerial vehicle, which is used for realizing sequential control of take-off, target capture, target aiming and striking links of the individual version unmanned aerial vehicle and realizing safety control.

The technical solution for realizing the purpose of the invention is as follows:

a sequential control method for an individual version unmanned aerial vehicle is realized by the following modes:

the information transmission between the electronic safety and safety relief device and the unmanned aerial vehicle flight control center is realized through an environment sensor interface and an ignition input interface;

receiving an electric signal converted from environmental information acquired by an environmental sensor of the unmanned aerial vehicle through an environmental sensor interface, wherein the electric signal comprises an unmanned aerial vehicle takeoff signal, a target signal detected by the unmanned aerial vehicle and a target attack range signal;

receiving a detonation signal transmitted to the unmanned aerial vehicle by the ground station;

through above-mentioned environmental information of safe state control module discernment, adopt the compound mode of two static switches and a dynamic switch, realize individual soldier's version unmanned aerial vehicle's sequential control: when an environment signal of the unmanned aerial vehicle during takeoff is identified, an instruction for closing the first static switch is sent within set time, the first static switch is controlled to be closed within the set time, the closing signal is sent to a flight control system, and the action unlocking of the unmanned aerial vehicle during takeoff is completed; when an environment signal when the unmanned aerial vehicle detects a target is identified, an instruction for closing the second static switch is sent within a set time, so that the second static switch is controlled to be closed within the set time, a closing signal is sent to a flight control system, and the action unlocking of the unmanned aerial vehicle for tracking the target is completed; when an environment signal that the target is in an attack range is identified, a command of closing the dynamic switch is sent within set time, the dynamic switch is controlled to be closed within the set time, a closing signal is sent to a flight control system, and action unlocking of aiming the target by a warhead of the unmanned aerial vehicle is completed;

when the two static switches and the dynamic switch are both in a closed condition, unlocking the safe detonation execution module, and transmitting a detonation signal sent by the ground station to the safe detonation execution module; when a detonation instruction sent by the ground station is identified, the safe detonation execution module supplies power to complete detonation of the unmanned aerial vehicle warhead so as to achieve target striking.

Compared with the prior art, the invention has the following remarkable advantages:

the control function through programmable logic control chip can realize that static switch and dynamic switch are closed in order, environmental sensor interface receives the environmental information that unmanned aerial vehicle's environmental sensor gathered and the signal of telecommunication of conversion, including unmanned aerial vehicle signal of taking off, unmanned aerial vehicle detects the target signal, the target is in attack range signal, accomplishes the action unblock that unmanned aerial vehicle took off, the action unblock of tracking the target, the action unblock of aiming at the target, accomplish the detonation realization of unmanned aerial vehicle warhead and to the striking of target.

Drawings

Fig. 1 is a logic block diagram of a full electronic safety system of an individual version unmanned aerial vehicle.

Fig. 2 is a flow chart of the operation of the fuze electronic safety and arming device.

Fig. 3 is a diagram showing the structure of the control system.

FIG. 4 is a software algorithm flow chart.

Fig. 5 is a schematic diagram of a switching circuit of the static switch SW 1.

Fig. 6 is a schematic diagram of a switching circuit of the static switch SW 2.

Fig. 7 is a diagram of a detonation triggering circuit.

Detailed Description

The invention is further described with reference to the following figures and embodiments.

With reference to fig. 1, the method for controlling the timing sequence of the individual version unmanned aerial vehicle according to the embodiment is implemented in the following manner:

the signal adaptation module, environmental sensor interface and the input interface that fires among the signal adaptation module are the information transmission who realizes electron safety and remove safeties and unmanned aerial vehicle flight control center, and the environmental sensor interface is the signal of telecommunication that is used for receiving the environmental information that unmanned aerial vehicle's environmental sensor gathered and changes, and the input interface that fires is used for receiving the detonation signal that ground station transmitted for unmanned aerial vehicle.

The safety state control module comprises two parts of environment information identification and insurance removal logic control;

and the environment information identification part is used for receiving three independent environment signals transmitted by the environment adaptation module so as to fulfill the aim of relieving the insurance of the electronic safety system for the unmanned aerial vehicle. According to the requirement of GJB373A-97, the number of insurance components in the fuze safety system design is at least 2, the starting excitation signals of the fuze safety system design are independent from each other and are obtained from different environments, and any insurance component in an insurance state can ensure that the insurance state of the fuze safety system is not changed. Therefore, the invention adopts three independent environment signals experienced in the flight process of the unmanned aerial vehicle as the starting excitation of the safety piece in the electronic safety and safety release device, wherein the three environment signals are respectively an environment signal when the unmanned aerial vehicle takes off, namely a power supply signal generated when the unmanned aerial vehicle is started on the ground, an environment signal when the unmanned aerial vehicle captures a target at an altitude of more than 200 meters, namely an environment signal when the unmanned aerial vehicle reaches a height excitation signal of more than 200 meters and an environment signal when the unmanned aerial vehicle approaches the target and reaches the attack distance of the unmanned aerial vehicle after capturing the target. The invention adopts a combination mode of two static insurance pieces and one dynamic insurance piece, namely SW1, SW2 and DW, and three environment signals are transmitted to a safety control module to be used as starting excitation signals to open the insurance pieces one by one according to a control logic. The DW is a dynamic electrical fuse providing an energy cut-off function, which is in a dynamic operating state during the process of de-insurance.

The safety-removing logic control part adopts a redundancy design, two sets of completely independent ASIC modules are used for parallel operation, and any one module cannot independently remove the safety of the system, so that common failure is prevented. According to a judgment method of 'threshold value + time window + sequence', two static switches and one dynamic switch are controlled, so that the control of the device on safety logic, action time sequence and the detonation of the rear-stage exploding foil is realized.

The safe detonation execution module converts low-voltage direct current into high-voltage alternating current through an inverter booster circuit by utilizing a high-voltage pulse power device, charges a high-voltage capacitor, is in a state to be detonated after charging is finished, provides trigger voltage for a pulse trigger transformer by a triode switch circuit after a ground station sends a detonation signal, boosts through a winding to obtain pulse voltage meeting thyristor trigger voltage, switches on a circuit to discharge the high-voltage switch capacitor, switches on a high-voltage switch, and can discharge the high-voltage capacitor to detonate explosive foils after the high-voltage switch is switched on to finish detonation work.

And the power supply module is used for supplying power to the modules. The power module is directly supplied with power by An unmanned aerial vehicle power battery, the power supply voltage is 14V-16.8V, the voltage fluctuates slightly along with the different motor powers in the operation process, the current is less than 1An, and the required voltage is converted into by a fuse through the DCDC module.

As shown in fig. 2, after the power supply of the unmanned aerial vehicle is supplied, the unmanned aerial vehicle starts to take off when receiving a signal from the remote controller and the power supply of the unmanned aerial vehicle supplies required voltage to each module circuit of the fuze. The ASIC module is electrified to work, waits for receiving a static switch SW1 release signal in a time window, and unlocks the SW1 switch if the static switch SW1 release signal is normally received; waiting for receiving the static switch SW2 decryption signal in a time window, and unlocking the SW2 switch if the static switch SW2 decryption signal is normally received; waiting for receiving the dynamic switch DW signal in a time window, if the dynamic switch DW signal is normally received, unlocking the DW switch, outputting a pulse signal, triggering a high-voltage conversion circuit to start boosting, and starting charging a high-voltage capacitor; and when the detonation signal is received, the detonation trigger circuit switches on the high-voltage switch, and the high-voltage capacitor discharges to detonate the exploding foil, so that the detonation transfer sequence and the warhead charge are detonated.

The safety-relieving logic control part adopts double controllers which are respectively a programmable logic controller CPLD1 and a CPLD 2; the controller system structure adopted in this example is shown in fig. 3, and the working principle is as follows:

the controller starts to work by taking a timing signal as a reference after being electrified, detects whether a large current exists in the safe detonation execution module, then judges whether an environment excitation signal transmitted from the signal adaptation module to start the safety element meets the requirement, if so, sequentially closes the SW1, the SW2 and the DW to finish the solution and the process flow is shown in FIG. 4, the solution process is specifically explained below, and the excitation signals mentioned below are respectively a takeoff signal of the unmanned aerial vehicle, a target signal detected by the unmanned aerial vehicle and a signal that the target is in an attack range.

After the system is powered on, the two chips start to work by taking the timing signal as a time reference, and the CPLD1 detects the system state (such as the binding state, whether a large current exists in a high-voltage circuit, and the like). Under the normal condition of the system state, after the unmanned aerial vehicle takes off, the CPLD1 releases the locking of the static switch SW1 and allows the unmanned aerial vehicle to act. When the takeoff signal of the unmanned aerial vehicle arrives, the CPLD1 is responsible for identifying and judging whether the takeoff signal of the unmanned aerial vehicle meets the expectation, and after the takeoff signal meets the requirement, information allowing the static switch SW1 to be closed is sent to the CPLD 2. The CPLD2 receives an instruction of closing the SW1 sent by the CPLD1, completes the closing action of the SW1, sends a closing signal to the flight control system, and completes the action unlocking of the unmanned aerial vehicle during the takeoff. If the CPLD2 does not receive the CPLD1 allow SW1 signal to close within the pre-bound time node, the system enters a fault state. After SW1 is successfully closed, CPLD2 unlocks static switch SW2, simultaneously opens a detection time window when the drone detects a target signal, and sends information to CPLD1 that allows static switch SW2 to be closed if the target signal detected by the drone can be detected within the time window. Otherwise, the target signal detected by the unmanned aerial vehicle is not detected after the time window is over, and the system enters a fault state. The CPLD1 receives a closing SW2 instruction sent by the CPLD2, completes the closing action of the SW2, sends a closing signal to the flight control system, and completes the action unlocking of the unmanned aerial vehicle tracking target. If the CPLD1 does not receive the CPLD2 allowed close SW2 message within the pre-bound time node, the system enters a fault state. After the SW2 is successfully closed, the CPLD1 unlocks the dynamic switch DW, meanwhile, the target is in the detection time window of the attack range signal, and if the target can be detected to be in the attack range signal in the time window, a DW start instruction of the dynamic switch is sent to the CPLD 2. Otherwise, the target is not detected to be in the attack range signal after the time window is ended, and the system enters a fault state. The CPLD2 receives a dynamic switch DW starting instruction sent by the CPLD1, controls the dynamic switch DW to start working, completes charging of the high-voltage capacitor, enters an insurance release state, sends a closing signal to the flight control system, and completes action unlocking of aiming targets by the warhead of the unmanned aerial vehicle.

The safe detonation execution module comprises a high-voltage conversion circuit; when the safety elements SW1, SW2 and DW are all opened, the detonation signal can be smoothly transmitted to the safe detonation execution module. After the safe detonation execution module receives the detonation signal, the high-voltage conversion circuit starts to work, low-voltage direct current generated by a power supply module (an unmanned aerial vehicle power battery) is converted into high-voltage alternating current through the inversion booster circuit by using the high-voltage pulse power device, the high-voltage alternating current charges a high-voltage pulse capacitor, and the high-voltage pulse capacitor is in a state of waiting for detonation after charging is completed. When the initiation signal comes, the initiation trigger circuit switches on the high-voltage switch, the high-voltage capacitor discharges to the rear-stage exploding foil, and the exploding foil is detonated, so that the rear-stage explosive is detonated. The high-voltage conversion circuit adopts a high-voltage converter and a Volton quadruple voltage rectifying circuit, and converts low-voltage direct current provided by the power module into high-voltage alternating current through the inversion booster circuit by using the high-voltage pulse power device so as to charge the high-voltage pulse capacitor, and the high-voltage pulse capacitor is in a standby state after charging. The high-voltage converter adopts a single-end flyback converter and a Volton quadruple voltage rectifying circuit to invert the power supply voltage to be above 1120V, so that high voltage is provided for a high-voltage switch and explosion foil detonation.

The safe detonation execution module and the safe state control module are designed on different circuit boards; the safety initiation execution module has the working principle that the rear-stage exploding foil is initiated by charging and discharging of a large capacitor, the safety initiation execution module is in a high-voltage state during working, and components of the safety state control module are in a low-voltage state, so that the two modules are arranged on different circuit boards in an isolated mode during design. In order to ensure the safety and reliability of the system, the SW1 switch circuit and the SW2 switch circuit are respectively connected with the high voltage and the ground of the rear-stage safety execution module, the DW switch provides a boosting pulse control signal for the rear-stage safety execution module, and the rear-stage circuit can be started only when the three switches are in a closed working state.

The main functions of the safety state control module are divided into four aspects of environment signal identification, logic control, solution execution and ignition control. The unlocking execution circuit has two functions, namely unlocking the system insurance state according to the environment excitation signal, and providing working voltage for the post-stage safety detonation execution circuit. Therefore, in the design, the static switches SW1 and SW2 are respectively connected with the positive electrode and the negative electrode of the rear-stage safe detonation execution module, so that the rear-stage circuit cannot be boosted under the condition that the safety is not relieved and the static switches are not closed; the dynamic switch DW is connected with the drive of the rear-stage detonation execution module, so that the rear-stage circuit is prevented from being started under an unexpected condition, the charge and the discharge of a high-voltage capacitor are prevented, and the safety and the reliability of the circuit are ensured. The embodiment adopts a switch circuit to execute the system relief work, and the comprehensive requirement consideration is realized, the relief execution circuit adopts an MOS tube digital switch circuit which is the most common switch circuit and mainly comprises a transistor or an MOS tube, the digital switch circuit is widely applied to occasions such as a switch power supply, motor drive, relay drive and the like, and the on-off control of the circuit is realized by switching on and off the current between the drain electrode and the source electrode of the MOS tube to enable the MOS tube to work in a cut-off area or a constant current area. Because the MOS tube has no charge storage effect, the switching speed is higher compared with that of a transistor, and high-speed switching can be realized, so that the MOS tube is widely applied to a switching power supply circuit working at high frequency. In the present embodiment, the static switch SW1 circuit uses a PMOS transistor, because its gate is a high impedance terminal, if the gate is floating, the MOS transistor may be turned on by accidental interference, so the gate needs to be connected to a resistor to ground, and the PMOS transistor usually has a parasitic diode to prevent the source and drain from being connected in reverse, as shown in fig. 5, the static switch SW1 in the circuit design uses a P-channel logic enhancement power field effect transistor ST 2301. When the master control system judges that the SW1 switch allows unlocking and sends a release signal, the triode 2n3904 is turned on through judgment of the 1G08 exclusive-OR gate, so that the G pole of the static switch ST2301 is grounded; when the safety switch is disconnected under the action of the takeoff signal of the unmanned aerial vehicle, the circuit is switched on, so that the grid voltage of the PMOS is lower than the voltage of the source electrode, the switch is closed, and the anode of the rear-stage detonation execution module is switched on. The static switch SW2 circuit uses an NMOS transistor, since its gate is a high impedance terminal, if the gate is floating, the MOS transistor may be turned on by accidental interference, and therefore the gate needs to be connected to a resistor to ground, as shown in fig. 6. An N-channel logic enhancement type power field effect transistor ST2300 is adopted in the circuit design, and the high-density DMOS channel technology is adopted in the production of the N-channel logic enhancement type power field effect transistor ST2300, and the high-density process is particularly suitable for reducing conduction. When the master control system judges that the SW2 switch allows unlocking to send out a release signal, the signal is output after the judgment of the 1G08 AND gate, the voltage of the grid G of the NMOS is higher than the voltage of the source S and the drain D, and the switch is closed.

The detonation trigger circuit mainly comprises a pulse trigger transformer, a triode switch circuit, a high-voltage capacitor, a high-voltage switch, a thyristor and a high-voltage switch capacitor. As shown in fig. 7, when the high-voltage capacitor is charged and the ground station sends a detonation signal, the triode switch circuit provides a trigger voltage for the pulse trigger transformer, the pulse voltage meeting the trigger voltage of the thyristor is obtained by boosting through the winding, the circuit is turned on to discharge the high-voltage switch capacitor, the high-voltage switch is turned on, and the high-voltage capacitor can be discharged to detonate the exploding foil after the high-voltage switch is turned on, so that the detonation work is completed. The base electrode of the triode is connected with a low-current detonation signal end, the collector electrode of the triode is connected with the high-voltage capacitor, the emitter electrode of the triode is grounded, and the characteristic that a small amount of current is injected into the base electrode of the triode switch to enable the emitter electrode and the collector electrode to form a large current is utilized to charge the high-voltage capacitor. The primary coil of the pulse trigger transformer and the high-voltage capacitor are connected in series with the collector of the triode, the secondary coil is connected with the gate pole of the thyristor, the high-voltage switch capacitor is connected with the anode of the thyristor, and the high-voltage switch is connected with the cathode of the thyristor. When the high-voltage capacitor discharges, the pulse voltage meeting the trigger voltage of the thyristor is obtained through the pulse trigger transformer, then the detonation trigger circuit is conducted, the high-voltage switch capacitor discharges, the high-voltage switch is conducted, and the exploding foil is detonated.

The triode switch circuit can control a high-power system through a low-power signal and is suitable for a plurality of chips with weak I/O port driving capability. Thyristors are also called silicon controlled rectifiers, have small volume, high efficiency and low cost, and are widely applied to contactless switch circuits and controllable rectifying equipment. When reverse voltage exists between the cathode and the anode of the thyristor and the reverse voltage also exists between the cathode and the gate, the thyristor is triggered and conducted, the gate is in a saturation state, and the on-off state is not changed any more. Therefore, the thyristor can be conducted only by controlling the current of the gate pole to meet the triggering requirement instantly.

In order to ensure the safety and reliability of the system, the first static switch circuit and the second static switch circuit are respectively connected with the high voltage and the ground of the rear-stage safety execution module, the dynamic switch provides a boost pulse control signal for the rear-stage safety execution module, and the rear-stage circuit can be started only when the three switches are in a closed working state. The high-voltage conversion circuit charges a high-voltage capacitor, the output end of the high-voltage capacitor is connected with the anode of the thyristor, and when the voltage of the winding is boosted to reach the pulse voltage meeting the trigger voltage of the thyristor, the detonation trigger circuit is conducted to enable the high-voltage capacitor to discharge and detonate the exploding foil to complete detonation.

Claims (5)

1. A sequential control method for individual version unmanned aerial vehicle is characterized by being realized by the following mode:

the information transmission between the electronic safety and safety relief device and the unmanned aerial vehicle flight control center is realized through an environment sensor interface and an ignition input interface;

receiving an electric signal converted from environmental information acquired by an environmental sensor of the unmanned aerial vehicle through an environmental sensor interface, wherein the electric signal comprises an unmanned aerial vehicle takeoff signal, a target signal detected by the unmanned aerial vehicle and a target attack range signal;

receiving a detonation signal transmitted to the unmanned aerial vehicle by the ground station;

through the above-mentioned environmental information of safe state control module discernment, adopt two static switches and a dynamic switch's compound mode, realize individual soldier's version unmanned aerial vehicle's sequential control: when an environment signal of the unmanned aerial vehicle during takeoff is identified, an instruction for closing the first static switch is sent within set time, the first static switch is controlled to be closed within the set time, the closing signal is sent to a flight control system, and the action unlocking of the unmanned aerial vehicle during takeoff is completed; when an environment signal when the unmanned aerial vehicle detects a target is identified, an instruction for closing the second static switch is sent within a set time, so that the second static switch is controlled to be closed within the set time, a closing signal is sent to a flight control system, and the action unlocking of the unmanned aerial vehicle for tracking the target is completed; when an environment signal that the target is in an attack range is identified, a command of closing the dynamic switch is sent within set time, the dynamic switch is controlled to be closed within the set time, a closing signal is sent to a flight control system, and action unlocking of aiming the target by a warhead of the unmanned aerial vehicle is completed;

when the two static switches and the dynamic switch are both in a closed condition, unlocking the safe detonation execution module, and transmitting a detonation signal sent by the ground station to the safe detonation execution module; when a detonation signal sent by the ground station is identified, the safe detonation execution module supplies power to complete detonation of the unmanned aerial vehicle warhead so as to achieve target striking.

2. The individual soldier version unmanned aerial vehicle timing control method of claim 1, wherein the safe detonation execution module comprises:

the high-voltage conversion circuit is used for boosting direct current provided by the power supply, converting the direct current into alternating current and charging the high-voltage capacitor;

and the detonation trigger circuit is used for switching on the high-voltage switch to enable the high-voltage capacitor to discharge to the rear-stage exploding foil and explode the exploding foil, so that the rear-stage explosive is detonated.

3. The individual version unmanned aerial vehicle timing control method of claim 2,

the high-voltage conversion circuit adopts a high-voltage converter and a Volton quadruple voltage rectifying circuit, the power supply voltage is inverted and increased to be above 1120V to charge a high-voltage capacitor, and the high-voltage capacitor is in a standby state after charging is completed;

the detonation trigger circuit mainly comprises a pulse trigger transformer, a triode switch circuit, a high-voltage capacitor, a high-voltage switch, a thyristor and a high-voltage switch capacitor;

when the high-voltage capacitor is charged, the ground station sends out a detonation signal, the triode switch circuit provides trigger voltage for the pulse trigger transformer, the pulse voltage meeting the trigger voltage of the thyristor is obtained through the boosting of the winding, the circuit is conducted, the high-voltage switch capacitor is discharged, the high-voltage switch is conducted, and the high-voltage capacitor can be discharged to detonate the exploding foil after the high-voltage switch is conducted, so that the detonation work is completed.

4. The individual soldier version unmanned aerial vehicle timing control method of claim 1, wherein the first static switch adopts a PMOS tube.

5. The sequence control method of the individual version unmanned aerial vehicle of claim 1, wherein the second static switch is an NMOS transistor.

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