CN114879592A - A kind of single-soldier version UAV timing control method - Google Patents

Abstract

The invention proposes a time sequence control method of a single-soldier version of an unmanned aerial vehicle, which realizes the information transmission between the electronic safety and disarming device and the unmanned aerial vehicle flight control center through the environmental sensor interface and the ignition input interface, and receives the unmanned aerial vehicle through the environmental sensor interface. The electrical signal converted from the environmental information collected by the environmental sensor, including the take-off signal of the UAV, the signal of the target detected by the UAV, and the signal that the target is in the attack range; the detonation signal transmitted by the ground station to the UAV; When both the static switch and a dynamic switch are closed, the unlocking of the safety detonation execution module is completed, and the detonation signal sent by the ground station can be transmitted to the safety detonation execution module; when the detonation signal from the ground station is identified, the safety detonation execution module The power supply completes the detonation of the UAV warhead to achieve the strike against the target.

Description

A kind of single-soldier version UAV timing control method

technical field

The invention belongs to the field of individual soldier unmanned aerial vehicle control, in particular to a time sequence control method of an individual soldier unmanned aerial vehicle.

Background technique

Drones are also known as remotely piloted aerial vehicles, autonomous aircraft or unmanned aircraft, etc. In most cases, we call them drones. The U.S. Department of Defense defines a drone as an aircraft that does not carry an operator, uses aerodynamic takeoff, can fly autonomously or remotely, can be used once or can be recycled, and carries a lethal or non-lethal payload. In view of its unique advantages such as low cost, low loss, zero casualties, reusability and high mobility, its use has been expanded to three major fields of military, civilian and scientific research. In the military, it can be used for reconnaissance, surveillance, communication relay, electronic countermeasures, fire guidance, war result assessment, harassment, temptation, ground (sea) attack, target simulation and early warning, etc. In modern local wars dominated by information technology, drones are used to perform tasks such as reconnaissance, surveillance, setting false targets, harassment and temptation, electronic interference, and attacking enemy targets, and have achieved quite good results. Recognize its enormous role and potential.

As a development trend of unmanned aerial vehicles in the future, the development of unmanned combat aircraft has been put on the agenda. The combat mission of the unmanned fighter jet is very clear, that is to suppress the enemy's prevention and control firepower and implement precision strikes. Unmanned fighter jets can carry various airborne sensors, including active radar, and various existing weapons and equipment. Like manned tactical fighter jets, they can perform various combat missions according to operational regulations, and can target new targets. respond to threats. Since unmanned fighter jets can be used as combat aircraft and can carry weapons to carry out combat missions, in order to ensure the safety of unmanned aircraft when performing tasks, the UAV takes off, target capture, target targeting, and supply chain timing control during combat. research has become crucial.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a time sequence control method of the individual soldier version UAV, so as to realize the time sequence control of the individual soldier version UAV taking off, target capture, target aiming, and strike, and realize safety control.

The technical solution that realizes the object of the present invention is:

A single-soldier version UAV timing control method is realized by the following methods:

Through the environmental sensor interface and the ignition input interface, the information transmission between the electronic safety and release safety device and the UAV flight control center is realized;

The electrical signals converted from the environmental information collected by the environmental sensor of the drone are received through the environmental sensor interface, including the take-off signal of the drone, the signal of the target detected by the drone, and the signal that the target is in the attack range;

Receive the detonation signal transmitted by the ground station to the UAV;

The above environmental information is identified through the safety state control module, and a combination of two static switches and one dynamic switch is used to realize the sequence control of the individual version of the UAV: when the environmental signal when the UAV takes off is recognized, it will be set in the setting Send the command to close the first static switch within the set time to control the closing of the first static switch within the set time, and send the closing signal to the flight control system to complete the unlocking of the UAV taking off; when the UAV is identified to detect When the environmental signal of the target is reached, the command to close the second static switch is sent within the set time, so as to control the second static switch to close within the set time, and send the closing signal to the flight control system to complete the UAV tracking. The action of the target is unlocked; when the environmental signal when the target is in the attack range is recognized, the command to close the dynamic switch is sent within the set time, so as to control the dynamic switch to close within the set time, and send the closing signal to the flight control system , complete the action of the drone warhead aiming at the target to unlock;

When the two static switches and one dynamic switch are both closed, the unlocking of the safety detonation execution module is completed, and the detonation signal sent by the ground station can be transmitted to the safety detonation execution module; when the detonation command issued by the ground station is recognized, the safety The detonation execution module supplies power to complete the detonation of the UAV warhead to strike the target.

Compared with the prior art, the present invention has the following significant advantages:

Through the control function of the programmable logic control chip, the static switch and dynamic switch can be closed in an orderly manner, and the environmental sensor interface receives the electrical signals converted from the environmental information collected by the environmental sensor of the drone, including the take-off signal of the drone, the unmanned When the drone detects the target signal and the target is in the attack range, it completes the action of taking off the drone, unlocking the action of tracking the target, and unlocking the action of aiming at the target, and completes the detonation of the drone warhead to strike the target.

Description of drawings

Figure 1 is the logic block diagram of the all-electronic security system of the single-soldier version of the UAV.

Fig. 2 is the working flow chart of the fuze electronic safety and release safety device.

Figure 3 is a structural diagram of the control system.

Figure 4 is a flowchart of the software algorithm.

FIG. 5 is a schematic diagram of the switch circuit of the static switch SW1.

FIG. 6 is a schematic diagram of the switch circuit of the static switch SW2.

Fig. 7 is the circuit diagram of detonation triggering.

Detailed ways

The present invention will be further introduced below with reference to the accompanying drawings and specific embodiments.

In conjunction with Fig. 1, a kind of individual soldier version unmanned aerial vehicle timing control method of the present embodiment, this method is realized by the following means:

The signal adaptation module, the environmental sensor interface and the ignition input interface in the signal adaptation module are to realize the information transmission between the electronic safety and release safety device and the UAV flight control center, and the environmental sensor interface is used to receive the environmental sensor acquisition of the UAV. The electrical signal converted from the received environmental information, the ignition input interface is used to receive the detonation signal transmitted by the ground station to the UAV.

The safety state control module includes two parts: environmental information identification and safety release logic control;

The environmental information identification part is used to receive three independent environmental signals from the environmental adaptation module, so as to achieve the purpose of removing the insurance of the electronic safety system for drones. According to the requirements of GJB373A-97, the number of fuses in the design of the fuze safety system should be at least 2, the start excitation signals must be independent of each other and obtained from different environments, and any fuse in the insurance state can ensure the safety of the fuze release system. Insurance status is not changed. Therefore, the present invention uses three independent environmental signals experienced during the flight of the drone as the activation excitation of the safety piece in the electronic safety and release safety device. These three environmental signals are the environmental signals when the drone takes off, that is, the unmanned The power supply signal generated when the drone is turned on on the ground, the environmental signal when the drone captures the target at an altitude of more than 200 meters, that is, the excitation signal is generated when the drone reaches an altitude of more than 200 meters, and the drone captures the target in the process of approaching the target. And the environmental signal when reaching the UAV attack distance. The invention adopts the combination of two static safety parts and one dynamic safety part, which are SW1, SW2 and DW respectively. Three kinds of environmental signals are transmitted to the safety control module as starting excitation signals to open the safety parts one by one according to the control logic. DW is a dynamic electrical fuse that provides energy isolation, and the fuse is in a dynamic working state during the release of the insurance.

The unsafe logic control part adopts redundant design and uses two sets of completely independent ASIC modules to work in parallel. According to the judgment method of "threshold value + time window + sequence", two static switches and one dynamic switch are controlled, so as to realize the device's control of safety logic, action sequence and detonation of the subsequent explosion foil.

The safety detonation execution module uses a high-voltage pulse power device to convert the low-voltage direct current into a high-voltage alternating current through the inverter booster circuit to charge the high-voltage capacitor. The pulse trigger transformer provides the trigger voltage, which is boosted by the winding to obtain the pulse voltage that meets the trigger voltage of the thyristor, turns on the circuit, discharges the high-voltage switch capacitor, turns on the high-voltage switch, and only after the high-voltage switch is turned on can the high-voltage capacitor discharge and detonate the explosion foil. Detonation work.

The power module is used to supply power to the above modules. The power module is directly powered by the power battery of the drone. The power supply voltage is 14V~16.8V. During the operation, the voltage will fluctuate slightly with the different motor power. The current is less than 1An, and the fuze will automatically convert it to the required voltage through the DCDC module.

As shown in Figure 2, after the UAV is powered, it starts to take off after receiving the signal from the remote control, and the UAV power supply provides the required voltage for each module circuit of the fuze. The ASIC module is powered on, and waits to receive the static switch SW1 release signal within the time window. If it is received normally, the SW1 switch will be unlocked; within the time window, it will wait to receive the static switch SW2 release signal, and if it is received normally, the SW2 switch will be unlocked; Wait for the dynamic switch DW signal to be received within the time window, if received normally, unlock the DW switch, output a pulse signal, trigger the high-voltage conversion circuit to start boosting, and start charging the high-voltage capacitor; after receiving the detonation signal, the detonation trigger circuit turns on the high-voltage switch, The high-voltage capacitor discharge detonates the detonating foil, thereby detonating the booster sequence and the warhead charge.

The de-assurance logic control part adopts dual controllers, which are programmable logic controllers CPLD1 and CPLD2 respectively; this example adopts the controller system structure as shown in Figure 3, and its working principle is:

After the controller is powered on, it starts to work based on the timing signal, detects whether there is a large current in the safety initiation execution module, and then judges whether the environmental excitation signal transmitted from the signal adaptation module to activate the fuse meets the requirements. Close SW1, SW2, and DW to complete the release. The flowchart is shown in Figure 4. The following is a detailed description of the release process. The excitation signals mentioned below are the take-off signal of the drone and the target signal detected by the drone. , the target is in the attack range signal.

After the system is powered on, the two chips start to work with the timing signal as the time reference, and CPLD1 detects the system state (such as the binding state, whether there is a large current in the high-voltage circuit, etc.). When the system status is normal, after the drone takes off, CPLD1 unlocks the static switch SW1 and allows it to act. When the take-off signal of the drone arrives, CPLD1 is responsible for identifying and judging whether the take-off signal of the drone meets the expectations. After meeting the requirements, it sends information to CPLD2 to allow the closing of the static switch SW1. CPLD2 receives the command to close SW1 from CPLD1, completes the closing action of SW1, and sends the closing signal to the flight control system to complete the unlocking of the drone's take-off action. If the CPLD2 does not receive the allow-to-close SW1 signal from the CPLD1 within the pre-stapled time node, the system enters a fault state. After SW1 is successfully closed, CPLD2 releases the lock of static switch SW2, and opens the detection time window of the target signal detected by the drone. If the target signal detected by the drone can be detected within the time window, it will send to CPLD1 to allow closing. Information on static switch SW2. Otherwise, the target signal detected by the drone is still not detected at the end of the time window, and the system enters a fault state. CPLD1 receives the closing SW2 command from CPLD2, completes the closing action of SW2, and sends the closing signal to the flight control system to complete the action unlocking of the UAV tracking the target. If the CPLD1 does not receive the information of the allowable closing SW2 of the CPLD2 within the pre-stapled time node, the system enters a fault state. After SW2 is successfully closed, CPLD1 releases the lock of the dynamic switch DW, and the target is in the detection time window of the attack range signal. If the target is in the attack range signal can be detected within the time window, it will send the dynamic switch DW start command to CPLD2. Otherwise, when the time window expires, the target is still in the attack range and the signal is still not detected, and the system enters the fault state. CPLD2 receives the dynamic switch DW start command sent by CPLD1, controls the dynamic switch DW to start working, completes the charging of the high-voltage capacitor, enters the insurance release state, and sends the closing signal to the flight control system to complete the UAV warhead aiming at the target. Action unlocked.

The safe detonation execution module includes a high-voltage conversion circuit; when the safety parts SW1, SW2, and DW are all opened, the detonation signal can be successfully 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, and uses the high-voltage pulse power device to convert the low-voltage direct current generated by the power module (UAV power battery) into the high-voltage alternating current through the inverter booster circuit. Charge the high-voltage pulse capacitor, and it will be in the standby state after charging is completed. When the detonation signal comes, the detonation trigger circuit turns on the high-voltage switch, and the high-voltage capacitor discharges to the rear-stage explosion foil to detonate the explosion foil, thereby detonating the rear-stage charge. The high-voltage conversion circuit adopts a high-voltage converter, a Walton quadruple-voltage rectifier circuit, and uses a high-voltage pulse power device to convert the low-voltage DC power provided by the power module into a high-voltage alternating current through an inverter booster circuit to charge the high-voltage pulse capacitor. It is in the standby state after charging is completed. The high-voltage converter adopts a single-ended flyback converter and a Walton quadruple-voltage rectifier circuit to invert the power supply voltage to more than 1120V, providing high-voltage for the high-voltage switch and the detonation of the explosive foil.

The safe detonation execution module and the safe state control module are designed on different circuit boards; since the working principle of the safe detonation execution module is to detonate the post-stage explosion foil by charging and discharging a large capacitor, it is in a high voltage state during operation, while the safe state control module The components are in a low voltage state, so the two modules should be isolated and arranged on different circuit boards 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 to the high voltage and ground of the post-stage safety execution module, and the DW switch provides the post-stage safety execution module with a boost pulse control signal. When it is in a closed working state, the subsequent circuit will start.

The main functions of the safety state control module are divided into four aspects: environmental signal recognition, logic control, release execution and ignition control. The release execution circuit has two functions, one is to complete the unlocking of the system's insurance state according to the environmental excitation signal, and the other is to provide the working voltage for the post-level safety detonation execution circuit. Therefore, in the design, the static switches SW1 and SW2 are respectively connected to the positive and negative poles of the post-stage safety detonation execution module to ensure that the post-stage circuit will not boost the voltage when the fuse is not released and the static switch is not closed; after the dynamic switch DW is connected It is driven by the first-stage detonation execution module to prevent accidental activation of the latter-stage circuit to charge and discharge the high-voltage capacitor, ensuring the safety and reliability of the circuit. In this example, a switch circuit is used to perform the system protection work. Considering the comprehensive needs, the release protection execution circuit adopts a MOS tube digital switch circuit, which is the most commonly used switching circuit. It is mainly composed of transistors or MOS tubes, and is widely used in switching power supplies, In occasions such as motor drive and relay drive, by turning on and off the current between the drain and source of the MOS tube, the MOS tube works in the cut-off region or the constant current region to realize the on-off control of the circuit. Since the MOS tube does not have a charge storage effect, it has a faster switching speed than a transistor and can achieve high-speed switching, so it is widely used in switching power supply circuits that operate at high frequencies. In this example, the static switch SW1 circuit uses a PMOS transistor. Since its gate is a high-impedance terminal, if the gate is floating, the MOS transistor may be turned on due to accidental interference. Therefore, the gate needs to be connected to the ground with a resistor, and the PMOS transistor usually has a parasitic diode. To prevent the reverse connection between the source and the drain, as shown in Figure 5, the static switch SW1 in the circuit design adopts a P-channel logic enhancement type power field effect transistor ST2301. When the main control system judges that the SW1 switch is allowed to be unlocked and sends out the release signal, the 1G08 XOR gate judges that the transistor 2n3904 is turned on, so that the G pole of the static switch ST2301 is grounded; when the safety switch is released under the action of the drone take-off signal, the The circuit makes the gate voltage of the PMOS lower than the source voltage, the switch is closed, and the positive electrode of the post-stage detonation execution module is turned 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 tube may be turned on due to accidental interference, so the gate needs to be connected to the ground with a resistor, as shown in Figure 6. The N-channel logic enhancement type power field effect transistor ST2300 is used in the circuit design, and its production adopts high-density, DMOS channel technology. This high-density process is especially suitable for reducing conduction. When the main control system judges that the SW2 switch is allowed to unlock and sends out a release signal, after 1G08 and gate judgment, it outputs a signal, so that the gate G voltage of the NMOS is higher than the source S and drain D voltages, and the switch is closed.

The detonation trigger circuit mainly includes a pulse trigger transformer, a triode switch circuit, a high-voltage capacitor, a high-voltage switch, a thyristor, and a high-voltage switch capacitor. The schematic diagram is shown in Figure 7. When the high-voltage capacitor is charged and the ground station sends out the detonation signal, the triode switch circuit provides the trigger voltage for the pulse-triggered transformer, and the pulse voltage that meets the trigger voltage of the thyristor is obtained through the winding boost, and the circuit is turned on to make the high-voltage After the switch capacitor is discharged, the high-voltage switch is turned on. Only after the high-voltage switch is turned on can the high-voltage capacitor discharge and detonate the explosion foil to complete the detonation work. The base of the triode is connected to the low-current detonation signal terminal, the collector is connected to a high-voltage capacitor, and the emitter is grounded. Using a triode switch to inject a small amount of current into the base can form a larger current between the emitter and the collector. Charges high voltage capacitors. The primary coil of the pulse-triggered transformer is connected in series with the high-voltage capacitor to the collector of the triode, the secondary coil is connected to the gate of the thyristor, the high-voltage switch capacitor is connected to the anode of the thyristor, and the high-voltage switch is connected to the cathode of the thyristor. When the high voltage capacitor is discharged, the pulse voltage that meets the trigger voltage of the thyristor is obtained through the pulse trigger transformer. At this time, the detonation trigger circuit is turned on, the high voltage switch capacitor is discharged, the high voltage switch is turned on, and the explosion foil is detonated.

The triode switch circuit can control high-power systems through low-power signals, and is suitable for many chips with weak I/O port driving capabilities. Thyristor, also known as silicon controlled rectifier, is small in size, high in efficiency and low in cost, and is widely used in non-contact switch circuits and controlled rectifier equipment. When there is a reverse voltage between the cathode and the anode of the thyristor, and there is also a reverse voltage between the cathode and the gate, the thyristor is triggered to conduct, the gate is in a saturated state, and the on-off state does not change. Therefore, the thyristor only needs to control the gate current to satisfy its triggering momentarily to be turned on.

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 to the high voltage and ground of the post-stage safety execution module, and the dynamic switch provides the post-stage safety execution module with a boost pulse control signal. When all three switches are in the closed working state, the post-stage circuit will start. The post-stage circuit is composed of a high-voltage conversion circuit and an initiation trigger circuit. The high-voltage conversion circuit charges the high-voltage capacitor, and the output end of the high-voltage capacitor is connected to the positive electrode of the thyristor. The high-voltage capacitor discharge detonates the explosion foil to complete the detonation.

Claims (5)

1. a single-soldier version unmanned aerial vehicle timing control method, is characterized in that, realizes in the following manner: Through the environmental sensor interface and the ignition input interface, the information transmission between the electronic safety and release safety device and the UAV flight control center is realized; The electrical signals converted from the environmental information collected by the environmental sensor of the drone are received through the environmental sensor interface, including the take-off signal of the drone, the signal of the target detected by the drone, and the signal that the target is in the attack range; Receive the detonation signal transmitted by the ground station to the UAV; The above environmental information is identified through the safety state control module, and a combination of two static switches and one dynamic switch is used to realize the sequence control of the individual version of the UAV: when the environmental signal when the UAV takes off is recognized, it will be set in the setting Send the command to close the first static switch within the set time to control the closing of the first static switch within the set time, and send the closing signal to the flight control system to complete the unlocking of the UAV taking off; when the UAV is identified to detect When the environmental signal of the target is reached, the command to close the second static switch is sent within the set time, so as to control the second static switch to close within the set time, and send the closing signal to the flight control system to complete the UAV tracking. The action of the target is unlocked; when the environmental signal when the target is in the attack range is recognized, the command to close the dynamic switch is sent within the set time, so as to control the dynamic switch to close within the set time, and send the closing signal to the flight control system , complete the action of the drone warhead aiming at the target to unlock; When the two static switches and one dynamic switch are both closed, the unlocking of the safety detonation execution module is completed, and the detonation signal sent by the ground station can be transmitted to the safety detonation execution module; when the detonation signal sent by the ground station is recognized, the safety The detonation execution module supplies power to complete the detonation of the UAV warhead to strike the target. 2. individual soldier version unmanned aerial vehicle timing control method according to claim 1, is characterized in that, described safety detonation execution module comprises: The high-voltage conversion circuit is used to boost the DC power provided by the power supply, convert it into AC power, and charge the high-voltage capacitor; The detonation trigger circuit is used to turn on the high-voltage switch, so that the high-voltage capacitor discharges to the post-stage explosion foil, detonates the explosion foil, and then detonates the post-stage charge. 3. individual soldier version unmanned aerial vehicle timing control method according to claim 2 is characterized in that, The high-voltage conversion circuit adopts a high-voltage converter and a Walton quadruple-voltage rectifier circuit, which inverts the power supply voltage to more than 1120V, charges the high-voltage capacitor, and is in a standby state after charging is completed; Detonation trigger circuit mainly includes pulse trigger transformer, triode switch circuit, high voltage capacitor, high voltage switch, thyristor, high voltage switch capacitor; When the high-voltage capacitor is charged and the ground station sends out the detonation signal, the triode switch circuit provides the trigger voltage for the pulse-triggered transformer, which is boosted by the winding to obtain a pulse voltage that meets the trigger voltage of the thyristor, and the circuit is turned on to discharge the high-voltage switch capacitor and turn on the high-voltage switch. , after the high-voltage switch is turned on, the high-voltage capacitor can be discharged to detonate the explosion foil to complete the detonation work. 4. The method for controlling the sequence of the individual soldier version unmanned aerial vehicle according to claim 1, wherein the first static switch adopts a PMOS tube. 5. The method for controlling the sequence of a single-soldier version of an unmanned aerial vehicle according to claim 1, wherein the second static switch adopts an NMOS tube.

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