CN115468459A - Rudder timing unfolding micro rudder system only based on angle instruction - Google Patents
Rudder timing unfolding micro rudder system only based on angle instruction Download PDFInfo
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- CN115468459A CN115468459A CN202211055416.4A CN202211055416A CN115468459A CN 115468459 A CN115468459 A CN 115468459A CN 202211055416 A CN202211055416 A CN 202211055416A CN 115468459 A CN115468459 A CN 115468459A
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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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- 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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- 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
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Abstract
A rudder piece timing unfolding micro rudder system only based on an angle instruction belongs to the technical field of micro missile servo steering engines. The rudder angle deflection driving unit sends out an initial rotation angle and moment according to a rudder deflection angle instruction sent out by the controller, and finally drives the rudder sheet to deflect in an angle through the steering speed reduction transmission unit; triggering a rudder sheet timing unfolding unit to work, and unfolding the folded rudder sheet in place and locking; the position feedback unit monitors and feeds back the motion position of the system in real time, and the motion position and the controller form a servo system control loop; the rudder piece can deflect at different angles in an unfolded state, and the servo control function of the flying attitude of the missile is realized. The rudder sheet unfolding action of the invention is totally based on rudder angle deflection under an angle instruction, and the rudder sheet unfolding device has compact volume and light weight; the rudder sheet can be unfolded at the time of selection according to the angle command sent at different occasions; the rudder piece unfolding and the rudder piece deflection are simultaneously carried out, so that the flight control effect of the guided missile is optimized.
Description
Technical Field
The invention relates to a rudder piece time-selecting unfolding micro rudder system only based on an angle instruction, and belongs to the technical field of micro missile servo steering engines.
Background
In the accurate guided weapons such as miniature missiles, a servo rudder system is an important control device for flight attitude and trajectory. The rudder piece is used as a pneumatic control component of the micro missile and is an important component of a missile servo system. The missile rudder system is used as a servo driver for outputting angle deflection motion, can receive a rudder deflection angle instruction sent by a micro missile, overcomes the hinge moment of a rudder piece and quickly realizes angle position tracking deflection. According to a series of requirements of current miniature missile box (cylinder) type launching, narrow space limitation and portable transportation, a folding rudder sheet mode is often adopted, so that the rudder sheet can be kept folded according to a control requirement, and once an unfolding action instruction is received, the rudder sheet can be automatically unfolded and kept locked.
However, most of the existing folding rudder blade type servo rudder systems have the following disadvantages: (1) The rudder piece unfolding action needs an independent driving part and an action instruction, so that the size and the weight of a rudder system are greatly increased, the requirements of miniaturization and integration of a miniature missile cannot be met, the control mode is more complex, and the requirements of accurate and controllable rudder piece unfolding and deflection actions cannot be met; (2) The unfolding action of the rudder piece is generally triggered at the moment that the missile goes out of the box (barrel), high launching overload exists, the launching overload cannot be completed in subsequent flight, the action opportunity cannot be artificially controlled, and higher requirements on the stability and the overload resistance of a missile servo steering engine system are provided; (3) The rudder piece unfolding and the rudder piece deflection are separated, and the rudder piece deflection can be implemented only after the rudder piece is unfolded in place, so that the invalid time of the missile servo rudder system in flight control is invisibly increased, and further requirements are provided for the simultaneous double actions of the rudder piece unfolding and the rudder piece deflection.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the rudder piece time-selecting unfolding micro rudder system only based on the angle instruction is provided, so that rudder angle deflection of rudder piece unfolding actions based on the angle instruction is realized, a driving unit and an action instruction which are independently used for unfolding the rudder piece are not needed, and the rudder piece time-selecting unfolding micro rudder system is compact in size and light in weight; the system can select different occasions to send angle instructions in the flight phase according to requirements, complete the time-selecting unfolding action of the rudder piece and achieve higher rudder control precision; the rudder piece unfolding and the rudder piece deflection are carried out simultaneously, so that the flight control effect of the missile is optimized; the whole device is convenient to disassemble and assemble, has a stable structure and can bear the high overload working condition of emission.
The technical solution of the invention is as follows:
a rudder piece timing unfolding micro rudder system only based on an angle instruction comprises a rudder angle deflection driving unit, a position feedback unit, a steering and decelerating transmission unit, a rudder piece timing unfolding unit, a controller and a support base body;
the supporting seat body is of a hollow columnar structure, and the controller is arranged below the supporting seat body; the four rudder angle deflection driving units are arranged in the support base body and are symmetrically arranged along the axial line of the support base body; the four steering speed reduction transmission units are arranged on the top surface of the support base body and are symmetrically arranged along the axial line of the support base body; the four rudder angle deflection driving units correspond to the four steering speed reduction transmission units one by one, and the corresponding rudder angle deflection driving units are rigidly connected with the steering speed reduction transmission units; each steering speed reduction transmission unit is connected with a rudder piece, and a rudder piece time selection unfolding unit is arranged above each steering speed reduction transmission unit;
when in a furled state, the rudder sheet is furled in the rudder sheet time-selecting unfolding unit;
when the rudder needs to be unfolded, the controller sends a rudder deflection angle instruction to the rudder angle deflection driving unit, and the rudder angle deflection driving unit generates a rotation angle and a rotation moment according to the rudder deflection angle instruction and rotates under the action of the rotation moment; the rotation is transmitted to the rudder piece through the steering speed reduction transmission unit, and the rudder piece is driven to generate angle deflection; when the rudder sheet deflects at an angle, the rudder sheet time-selecting unfolding unit is triggered to act, so that the rudder sheet folded in the rudder sheet time-selecting unfolding unit is unfolded by 90 degrees and locked;
in the unfolding process, each steering and speed reducing transmission unit corresponds to one position feedback unit; the position feedback unit monitors the motion position of the corresponding steering and speed reducing transmission unit in real time and feeds the motion position back to the controller, and the position feedback unit and the controller form a servo system control loop.
Preferably, the rudder angle deflection driving unit includes a driving motor and a reducer, the driving motor is rigidly connected to the reducer, and an output shaft of the driving motor extends out of the reducer for outputting a reduced rotation angle and a reduced torque.
Preferably, the four position feedback units share one angle sensor mounting plate, and the angle sensor mounting plate is mounted on the top surface of the support base body;
each position feedback unit comprises an angle sensor;
the four angle sensors are welded on the angle sensor mounting plate in a pasting mode, and the four angle sensors are symmetrically arranged along the center of the angle sensor mounting plate; the four angle sensors correspond to the four rudder angle deflection driving units one by one, through holes are correspondingly processed on each angle sensor and the angle sensor mounting plate, an output shaft of a driving motor in the rudder angle deflection driving unit penetrates through the through holes of the corresponding angle sensors and the angle sensor mounting plates, and the angle sensors can accurately measure the rotation angle of the penetrating output shaft and feed back the rotation angle to the controller.
Preferably, the support base body comprises a mounting base, a mounting main body and a plurality of support columns;
the mounting base is connected with the mounting main body through a plurality of support columns, the support columns penetrate through the mounting base downwards and then are fixedly connected with the controller, and the support columns penetrate through the mounting main body upwards and then are fixedly connected with the position feedback unit and the steering and speed reducing transmission unit; the rudder angle deflection driving unit is positioned in an inner space formed by the mounting base, the mounting body and the support columns and is fixedly connected with the mounting body.
Preferably, the lower surface of the mounting main body is provided with four mounting bosses which are uniformly distributed along the circumferential direction of the outer circle of the lower surface of the mounting main body, and a rudder piece furling locking mechanism is mounted on the side wall of each mounting boss.
Preferably, the steering and decelerating transmission unit comprises a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a rudder piece connecting shaft and a transmission support frame;
the first bevel gear is meshed with the second bevel gear, and the third bevel gear is meshed with the fourth bevel gear; the first bevel gear is rigidly connected with the output shaft, the second bevel gear is rigidly connected with the third bevel gear through a second bevel gear connecting rotating shaft, a third bevel gear connecting rotating shaft and a fourth bevel gear are rigidly connected with the rudder blade through a rudder blade connecting shaft;
the second bevel gear, the third bevel gear, the connecting rotating shaft and the rudder sheet connecting shaft are arranged on the transmission support frame.
Preferably, the rudder piece timing unfolding unit comprises a bilateral torsion spring, a rudder piece unfolding frame, a torsion spring shaft and a rudder piece unfolding locking mechanism;
the rudder piece unfolding frame is provided with a notch matched with the width of the rudder piece, and the rudder piece can completely penetrate through the notch;
when the rudder sheet passes through the notch, the rudder sheet unfolding frame is rigidly connected with the rudder sheet connecting shaft after the rudder sheet unfolding frame is contacted with the rudder sheet connecting shaft; the upper part of the rudder piece unfolding frame is provided with a U-shaped groove, a bilateral torsion spring is placed in the U-shaped groove, through holes are formed in two sides of the U-shaped groove, a torsion spring shaft penetrates through the U-shaped groove, the bilateral torsion spring and corresponding through holes in the upper end of the rudder piece, and the rudder piece unfolding frame, the bilateral torsion spring and the rudder piece are fixedly connected through the pretightening force of the bilateral torsion spring; under the pretightening force of the bilateral torsion spring, the rudder piece can be naturally unfolded for 90 degrees;
the rudder piece unfolding locking mechanism is embedded in the rudder piece unfolding frame and is provided with a contact capable of providing elasticity;
the rudder piece furling and locking mechanism is arranged at the lower end of the rudder piece unfolding frame, and when the rudder piece furling and locking mechanism is initially installed, the rudder piece is pressed to be tightly pressed on the rudder piece unfolding frame by the rudder piece furling and locking mechanism, at the moment, the unfolding angle of the rudder piece is 0 degree, and the rudder piece is furled in the rudder piece timing and unfolding unit;
when the rudder sheet needs to be unfolded, under the action of a rudder deflection angle instruction of the controller, the rudder sheet deflects to the outside of the rudder sheet furling locking mechanism, the rudder sheet is rapidly unfolded by 90 degrees under the pretightening force of the bilateral torsion spring, and after the rudder sheet is unfolded in place, the contact extends into the locking groove at the root part of the rudder sheet, so that the rudder sheet is kept in a 90-degree locking state.
Preferably, the deflection angle of each rudder blade ranges from-25 degrees to +25 degrees.
Preferably, the angular deviation precision of the rudder sheet is less than or equal to 5 percent.
Preferably, a rudder angle deflection driving unit, a position feedback unit, a steering speed reduction transmission unit, a rudder sheet time-selecting unfolding unit and a controller form a rudder system; the four rudder angle deflection driving units, the four position feedback units, the four steering and deceleration transmission units, the four rudder sheet time-selecting and unfolding units and the controller form a four-way cross-shaped and orthogonally-distributed rudder system, and the four-way rudder system can independently control the corresponding rudder sheet to act.
The invention has the beneficial effects that:
(1) The rudder angle deflection driving unit, the steering deceleration transmission unit and the rudder sheet time-selecting unfolding unit are designed to jointly act, so that the rudder sheet unfolding action is triggered completely based on rudder angle deflection under an angle instruction, a driving unit and an action instruction which are independently used for rudder sheet unfolding are not needed, a driving transmission chain and an instruction information chain of a rudder system in the prior rudder sheet unfolding mode are greatly simplified, and the rudder sheet time-selecting unfolding system has a good active time-selecting unfolding function. The maximum outer diameter of the whole four-way integrated micro-rudder system is not more than 38mm, the length of the whole machine is not more than 50mm, the weight of the whole machine is less than 80g, the integrated design is realized, the volume is compact, the weight is light, and the requirements of the micro guided missile on stricter space and performance are well met.
(2) The rudder piece unfolding action of the invention is not required to be triggered at the time when the missile goes out of the box (barrel), so that the high overload working condition at the launching time is effectively avoided, angle instructions can be sent at different moments in the flight stage according to the requirement, the rudder piece unfolding action at the time of selecting the rudder piece is completed, and the stability, the overload resistance and the rudder control precision of a missile servo steering engine system are effectively improved.
(3) The invention enables the rudder piece unfolding and rudder piece deflection double actions to be carried out simultaneously through the coupling of the steering speed reduction transmission unit and the rudder piece timing unfolding unit, eliminates the invalid time of a missile servo rudder system in flight control, and optimizes the flight control effect of a missile
(4) The invention can meet the requirements of various complex working condition environments, has stable and reliable structure, can bear larger impact and overload, is convenient to disassemble and assemble the whole device, has relatively longer service life, and has good environmental adaptability and quality reliability.
Drawings
FIG. 1 is a schematic perspective view of the apparatus of the present invention;
FIG. 2 is a schematic view of a rudder angle yaw drive unit;
FIG. 3 is a schematic view of a position feedback unit;
FIG. 4 is a schematic view of a steering and reduction transmission unit;
FIG. 5 is a schematic view of a rudder piece timing unfolding unit, wherein (a) is a whole schematic view and (b) is a partial schematic view;
FIG. 6 is a schematic view of a mounting support base;
FIG. 7 is a schematic view of the operation of the apparatus of the present invention;
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides a rudder piece time-selecting unfolding micro rudder system only based on an angle instruction, and the system composition is shown in figures 1-6. The rudder piece time-selecting unfolding micro rudder system only based on the angle instruction comprises a rudder angle deflection driving unit 1, a position feedback unit 2, a steering speed reduction transmission unit 3, a rudder piece time-selecting unfolding unit 4, a controller 5 and a support base 6.
The support base 6 is a hollow columnar structure, and the controller 5 is arranged below the support base 6; the four rudder angle deflection driving units 1 are arranged inside the support base body 6, and the four rudder angle deflection driving units 1 are symmetrically arranged along the axis of the support base body 6; the four steering and decelerating transmission units 3 are arranged on the top surface of the support base 6, and the four steering and decelerating transmission units 3 are symmetrically arranged along the axis of the support base 6; the four rudder angle deflection driving units 1 correspond to the four steering deceleration transmission units 3 one by one, and the corresponding rudder angle deflection driving units 1 are rigidly connected with the steering deceleration transmission units 3; each steering reduction transmission unit 3 is connected with a rudder piece 38, and a rudder piece timing unfolding unit 4 is arranged above each steering reduction transmission unit 3.
In the stowed state, the rudder blade 38 is stowed inside the rudder timing deployment unit 4.
When the rudder needs to be unfolded, the controller 5 sends a rudder deflection angle instruction to the rudder angle deflection driving unit 1, and the rudder angle deflection driving unit 1 generates a rotation angle and a rotation moment according to the rudder deflection angle instruction and rotates under the action of the rotation moment; the rotation is transmitted to the rudder blade through the steering speed reduction transmission unit 3, and the rudder blade is driven to generate angle deflection; when the rudder sheet deflects at an angle, the rudder sheet time-selecting unfolding unit 4 is triggered to act, so that the rudder sheet folded in the rudder sheet time-selecting unfolding unit 4 is unfolded by 90 degrees and locked.
During the unfolding process, each steering reduction transmission unit 3 corresponds to one position feedback unit 2. The position feedback unit 2 monitors the motion position of the corresponding steering and speed reducing transmission unit 3 in real time and feeds the motion position back to the controller 5, and the position feedback unit 2 and the controller 5 form a servo system control loop.
A rudder angle deflection driving unit 1, a position feedback unit 2, a steering deceleration transmission unit 3, a rudder piece timing unfolding unit 4 and a controller 5 form a rudder system; the four rudder angle deflection driving units 1, the four position feedback units 2, the four steering speed reduction transmission units 3, the four rudder sheet time-selecting unfolding units 4 and the controller 5 form four-way cross orthogonally-distributed rudder systems, and the four-way rudder systems can independently control corresponding rudder sheets to act.
The support base body 6 is used as a rudder system structure matrix and is rigidly connected with the rudder angle deflection driving unit 1, the position feedback unit 2, the steering and deceleration transmission unit 3, the rudder piece timing unfolding unit 4 and the controller 5, and a firm, stable and compact-space whole body is formed through the integrated design of a four-way rudder system.
As shown in fig. 2, the rudder angle yaw driving unit 1 includes a driving motor 11 and a speed reducer 12, the driving motor 11 is rigidly connected to the speed reducer 12, the rotation and the torque can be transmitted between the two without difference, and an output shaft 13 extends out of the speed reducer 12, and can output the rotation and the torque after speed reduction.
As shown in fig. 3, the four angle sensors 21 are attached to the angle sensor attachment plate 22, and the four angle sensors 21 are arranged symmetrically along the center of the angle sensor attachment plate 22; the four angle sensors 21 correspond to the four rudder angle deflection driving units 1 one by one, through holes are correspondingly processed on each angle sensor 21 and the angle sensor mounting plate 22, the output shaft 13 of the driving motor 11 in the rudder angle deflection driving unit 1 penetrates through the through holes of the corresponding angle sensor 21 and the angle sensor mounting plate 22, the angle sensor 21 can accurately measure the rotation angle of the penetrating output shaft 13 and feed back the rotation angle to the controller 5, and a servo system control loop is formed by the angle sensor 21 and the controller 5. An angle sensor forms a position feedback unit 2.
As shown in fig. 4, the steering reduction transmission unit 3 includes a first bevel gear 31, a second bevel gear 32, a third bevel gear 33, a fourth bevel gear 34, a second-third bevel gear connecting shaft 35, a fourth bevel gear rotating shaft 36, a rudder blade connecting shaft 37, a rudder blade 38, and a transmission support frame 39.
The first bevel gear 31 is meshed with the second bevel gear 32, the third bevel gear 33 is meshed with the fourth bevel gear 34, and the two gear transmission pairs can steer and decelerate to transmit the rotation angle and the torque in the transmission chain; the first bevel gear 31 is rigidly connected with the output shaft 13, the second bevel gear 32 is rigidly connected with the third bevel gear 33 through a second bevel gear connecting rotating shaft 35 and a third bevel gear connecting rotating shaft 35, the fourth bevel gear 34 is rigidly connected with the rudder blade 38 through a rudder blade connecting shaft 37, and the three rigid connections can directly transmit the rotation angle and the moment in the transmission chain; finally, the rotation angle and the torque input in the steering and speed reducing transmission unit 3 can be finally output to the rudder blade 38 through a two-stage steering transmission mechanism, so that the accurate swinging of the rudder blade is realized.
The second-third bevel gear connecting rotating shaft 35 and the rudder piece connecting shaft 37 are arranged on the transmission support frame 39, so that the first bevel gear 31, the second bevel gear 32, the third bevel gear 33 and the fourth bevel gear 34 can be accurately positioned and arranged on the transmission support frame 39 to transmit movement and moment.
As shown in fig. 5 (a) and (b), the rudder piece timing deployment unit 4 includes a double-sided torsion spring 41, a rudder piece deployment bracket 42, a torsion spring shaft 43, a rudder piece retraction locking mechanism 44, and a rudder piece deployment locking mechanism 45.
The double torsion spring 41 provides sufficient rotational torque for the deployment action of the rudder blade 38. The rudder sheet unfolding frame 42 is used as a main body supporting structure of the rudder sheet time selecting and unfolding unit 4 and is fixedly connected with the rudder sheet connecting shaft 37.
The rudder sheet spreading frame 42 is provided with a notch which is matched with the width of the rudder sheet 38, so that the rudder sheet 38 can completely pass through the notch until the rudder sheet spreading frame 42 is installed on the rudder sheet connecting shaft 37 and is rigidly connected. The bilateral torsion spring 41 is arranged on the rudder piece unfolding frame 42, and the torsion spring shaft 43 sequentially passes through corresponding through holes of the rudder piece unfolding frame 42, the bilateral torsion spring 41 and the rudder piece 38 and is fixedly connected with the rudder piece unfolding frame 42, the bilateral torsion spring 41 and the rudder piece 38 through the pretightening force of the bilateral torsion spring 41.
Therefore, the bilateral torsion spring 41, the rudder piece spreading frame 42 and the torsion spring shaft 43 are integrated with the rudder piece connecting shaft 37 and the rudder piece 38, and the rudder piece 38 drives the bilateral torsion spring 41, the rudder piece spreading frame 42 and the torsion spring shaft 43 to synchronously swing with the structures while swinging accurately.
Meanwhile, the rudder blade 38 can rotate around the torsion spring shaft 43 within a range of 90 degrees, the natural unfolding angle of the rudder blade 38 is 90 degrees under the action of the pretightening force of the bilateral torsion spring 41, and the artificial folding angle of the rudder blade 38 is 0 degree after being pressed by external force. Before the rudder system normally acts, the rudder sheet 38 needs to be folded to 0 degree by artificially resisting the pretightening force of the bilateral torsion spring 41 and is folded inside the rudder sheet folding and locking mechanism 44, so that the rudder sheet 38 is completely folded inside the missile body before the rudder system receives no angle instruction. When the rudder system receives an angle instruction of the controller, the rudder sheet 38 deflects to the outside of the rudder sheet furling locking mechanism 44, is quickly unfolded in place under the pretightening force of the bilateral torsion spring 41 and is pressed against the rudder sheet furling locking mechanism 45, so that the rudder sheet is kept in a 90-degree locking state. The rudder piece unfolding locking mechanism 45 is embedded in the rudder piece unfolding frame 42 and is provided with a contact 451 capable of providing elasticity, so that the contact 451 extends into the corresponding locking groove 381 at the root of the rudder piece 38 when the rudder piece 38 is in the unfolded position, and the unfolding of the rudder piece 38 is firmly locked.
As shown in fig. 6, the support base body 6 includes a mounting base 61, a mounting main body 62, and a plurality of support posts 63. The mounting support base body 6 is used as a rudder system structure matrix, and forms a whole body with reliable strength and compact space. The bottom surface of the installation base 61 is fixedly connected with the controller 5 through a plurality of support columns 63, the rudder angle deflection driving unit 1 is wrapped and supported by the top surface of the installation base 61, the bottom surface of the installation body 62 is fixedly connected with the rudder angle deflection driving unit 1, the top surface of the installation body 62 is fixedly connected with the position feedback unit 2, the top surface of the installation body 62 is fixedly connected with the steering and speed reduction driving unit 3 through a plurality of support columns 63, then, the unfolding unit 4 is fixedly connected with the rudder piece indirectly in time selection, and the installation base 61 is fixedly connected with the installation body 62 through a plurality of support columns 63.
The mounting body 62 is provided with four mounting bosses 621 for mounting the rudder piece furling and locking mechanism 44, and the rudder piece furling and locking mechanism 44 is embedded in the side wall of the mounting boss 621 and is horizontally blocked on the unfolding front edge of the rudder piece 38, so that the rudder piece 38 is furled in the missile before receiving no corner instruction, and the effect of firmly locking the rudder piece 38 to furl is achieved.
The four sets of rudder angle deflection driving units 1, the position feedback unit 2, the steering and deceleration transmission unit 3, the rudder piece timing and unfolding unit 4 and the one set of controller 5 are integrally installed on the installation support base body 6, the same four-way cross-orthogonally-distributed rudder systems are formed through the accurate positioning of the installation support base body 6, and the four sets of rudder systems can independently control various actions of the corresponding rudder pieces 38 to control the flying attitude and the flying trajectory of the missile.
The rudder sheet of the invention takes the unfolding time not more than 0.2ms when receiving the angle instruction and reaching the position of completely unfolding by 90 degrees.
The maximum outer diameter of the whole four-way integrated miniature rudder system is not more than 38mm, the length of the whole machine is not more than 50mm, and the weight of the whole machine is less than 80g. The four-way integrated miniature rudder system provides enough torque for each rudder sheet, the deflection angle range of each rudder sheet is large, and the angle deviation precision is high.
The micro rudder system provides a torque of 0.1 nm-1 nm for the rudder shaft 5; the deflection angle range of each rudder sheet is-25 degrees to +25 degrees; the angular deviation precision of the rudder sheet is less than or equal to 5 percent.
The working process of the invention is as follows:
after the four sets of rudder systems are assembled and debugged, the four sets of rudder systems can work normally according to the use requirements, and the rudder pieces can stably and quickly respond to the angle instruction sent by the controller and drive the rudder pieces to act; the four sets of rudder systems are respectively and fixedly connected with the support base body, the zero position of the rudder piece is accurately adjusted by using a positioning tool, and the electric connector is inserted into the corresponding wiring hole to complete the electric communication between the controller and the position feedback unit; then the whole micro rudder system is arranged in a missile launching box (cylinder) to be launched. When the micro missile is launched out of the box (barrel) at a certain moment, the controller sends a rudder deflection angle instruction to the rudder angle deflection driving unit according to flight control requirements, the rudder angle deflection driving unit rotates, the rudder piece generates a certain rotation angle through the steering speed reduction transmission unit, and when the rudder piece rotates and is separated from the rudder piece furling locking mechanism, the rudder piece is completely unfolded to a 90-degree position under the action of the bilateral torsion springs and is kept locked through the rudder piece unfolding locking mechanism; finally, the rudder piece can deflect at different angles in an unfolded state, and the servo control function of the flying attitude of the missile is realized.
As shown in fig. 7, which is a schematic view of the working process of the device of the present invention, the micro rudder system is initially in an initial folded state, after receiving an angle deflection instruction, the rudder sheet is in the folded state, and is unfolded and kept in the unfolded state, and when receiving a normal working instruction, the micro rudder system acts.
The invention provides an example, a rudder piece time-selecting unfolding micro rudder system only based on an angle instruction is utilized to realize rudder angle deflection of rudder piece unfolding actions based on the angle instruction, the angle instruction can be sent at different time selected in a missile flight stage, the rudder piece time-selecting unfolding action is completed, and the missile flight control effect is optimized.
The specific application test result shows that the system can effectively realize the time-selecting unfolding action of the rudder piece only based on the angle instruction, and optimize the servo control function of the flying attitude of the missile.
The rudder angle deflection driving unit of the invention sends out an initial rotation angle and moment by the driving motor and the reducer according to a rudder deflection angle instruction sent out by the controller, and then finally drives the rudder sheet to deflect by the angle through a two-stage transmission mechanism in the steering and speed reducing transmission unit; the angle deflection movement based on the angle instruction triggers the rudder sheet timing unfolding unit to work, so that the folded rudder sheet is unfolded in place and keeps a locking state; an angle sensor in the position feedback unit monitors and accurately feeds back the motion position of the system in real time, and forms a servo system control loop with the controller; finally, the rudder piece can deflect at different angles in an unfolded state, and the servo control function of the flying attitude of the missile is realized. The rudder piece unfolding action realized by the invention is totally based on rudder angle deflection under an angle instruction, and a driving unit and an action instruction which are independently used for unfolding the rudder piece are not needed, so that the rudder piece unfolding device is compact in size and light in weight; the system can select different occasions to send angle instructions according to needs, complete the time-selecting unfolding action of the rudder sheet and achieve higher rudder control precision; the rudder piece unfolding and the rudder piece deflection are carried out simultaneously, so that the flight control effect of the missile is optimized; the whole device is convenient to disassemble and assemble, has a stable structure and can bear the high overload working condition of emission.
The invention is not described in detail and is within the knowledge of a person skilled in the art.
Claims (10)
1. A rudder timing unfolding micro rudder system only based on an angle instruction is characterized by comprising a rudder angle deflection driving unit (1), a position feedback unit (2), a steering deceleration transmission unit (3), a rudder timing unfolding unit (4), a controller (5) and a support base body (6);
the support base body (6) is of a hollow columnar structure, and the controller (5) is arranged below the support base body (6); the four rudder angle deflection driving units (1) are arranged in the support base body (6), and the four rudder angle deflection driving units (1) are symmetrically arranged along the axis of the support base body (6); the four steering and decelerating transmission units (3) are arranged on the top surface of the support base body (6), and the four steering and decelerating transmission units (3) are symmetrically arranged along the axis of the support base body (6); the four rudder angle deflection driving units (1) correspond to the four steering speed reduction transmission units (3) one by one, and the corresponding rudder angle deflection driving units (1) are rigidly connected with the steering speed reduction transmission units (3); each steering speed reduction transmission unit (3) is connected with a rudder sheet (38), and a rudder sheet time selection unfolding unit (4) is arranged above each steering speed reduction transmission unit (3);
in a folded state, the rudder sheet (38) is folded in the rudder sheet time selecting unfolding unit (4);
when the rudder needs to be unfolded, the controller (5) sends a rudder deflection angle instruction to the rudder deflection driving unit (1), and the rudder deflection driving unit (1) generates a rotation angle and a rotation moment according to the rudder deflection angle instruction and rotates under the action of the rotation moment; the rotation is transmitted to the rudder sheet through the steering speed reduction transmission unit (3) to drive the rudder sheet to generate angle deflection; when the rudder sheet deflects by an angle, the rudder sheet time-selecting unfolding unit (4) is triggered to act, so that the rudder sheet folded in the rudder sheet time-selecting unfolding unit (4) is unfolded by 90 degrees and locked;
in the unfolding process, each steering and speed reducing transmission unit (3) corresponds to one position feedback unit (2); the position feedback unit (2) monitors the motion position of the corresponding steering speed reduction transmission unit (3) in real time and feeds the motion position back to the controller (5), and the position feedback unit (2) and the controller (5) form a servo system control loop.
2. The rudder timing unfolding micro rudder system only based on the angle instruction is characterized in that: the rudder angle deflection driving unit (1) comprises a driving motor (11) and a speed reducer (12), the driving motor (11) is rigidly connected with the speed reducer (12), and an output shaft (13) of the driving motor (11) extends out of the speed reducer (12) and is used for outputting a rotation angle and a moment after speed reduction.
3. The rudder timing unfolding micro rudder system only based on the angle command as claimed in claim 2, characterized in that: the four position feedback units (2) share one angle sensor mounting plate (22), and the angle sensor mounting plate (22) is mounted on the top surface of the support base body (6);
each position feedback unit (2) comprises an angle sensor (21);
the four angle sensors (21) are welded on the angle sensor mounting plate (22) in a pasting mode, and the four angle sensors (21) are symmetrically arranged along the center of the angle sensor mounting plate (22); the four angle sensors (21) correspond to the four rudder angle deflection driving units (1) one by one, through holes are correspondingly processed in each angle sensor (21) and the corresponding angle sensor mounting plate (22), an output shaft (13) of a driving motor (11) in the rudder angle deflection driving unit (1) penetrates through the through holes of the corresponding angle sensor (21) and the corresponding angle sensor mounting plate (22), and the angle sensors (21) can accurately measure the rotating angle of the penetrating output shaft (13) and feed back the rotating angle to the controller (5).
4. The rudder timing unfolding micro rudder system only based on the angle instruction is characterized in that: the support base body (6) comprises a mounting base (61), a mounting main body (62) and a plurality of support columns (63);
the mounting base (61) is connected with the mounting main body (62) through a plurality of supporting columns (63), the supporting columns (63) penetrate through the mounting base (61) downwards and then are fixedly connected with the controller (5), and the supporting columns (63) penetrate through the mounting main body (62) upwards and then are fixedly connected with the position feedback unit (2) and the steering and speed reducing transmission unit (3); the rudder angle deflection driving unit (1) is located in an inner space formed by the mounting base (61), the mounting body (62) and the support columns (63), and the rudder angle deflection driving unit (1) is fixedly connected with the mounting body (62).
5. The rudder piece time selective unfolding micro rudder system only based on the angle instruction as claimed in claim 4, wherein: the lower surface of the mounting main body (62) is provided with four mounting bosses (621), the four mounting bosses are circumferentially and uniformly distributed along the outer circle of the lower surface of the mounting main body (62), and a rudder piece furling and locking mechanism (44) is mounted on the side wall of each mounting boss.
6. The rudder piece time selective unfolding micro rudder system only based on the angle instruction as claimed in claim 5, wherein: the steering and speed reducing transmission unit (3) comprises a first bevel gear (31), a second bevel gear (32), a third bevel gear (33), a fourth bevel gear (34), a second-third bevel gear connecting rotating shaft (35), a fourth bevel gear rotating shaft (36), a rudder piece connecting shaft (37) and a transmission support frame (39);
the first bevel gear (31) is meshed with the second bevel gear (32), and the third bevel gear (33) is meshed with the fourth bevel gear (34); the first bevel gear (31) is rigidly connected with the output shaft (13), the second bevel gear (32) is rigidly connected with the third bevel gear (33) through a second-third bevel gear connecting rotating shaft (35), and the fourth bevel gear (34) is rigidly connected with the rudder piece (38) through a rudder piece connecting shaft (37);
the second bevel gear, the third bevel gear, the connecting rotating shaft (35) and the rudder piece connecting shaft (37) are arranged on a transmission supporting frame (39).
7. Rudder timing deployable mini-rudder system according to claim 6, characterised in that: the rudder piece timing unfolding unit (4) comprises a bilateral torsion spring (41), a rudder piece unfolding frame (42), a torsion spring shaft (43) and a rudder piece unfolding locking mechanism (45);
the rudder sheet unfolding frame (42) is provided with a notch matched with the width of the rudder sheet (38), and the rudder sheet (38) can completely penetrate through the notch;
when the rudder sheet (38) passes through the notch, the rudder sheet unfolding frame (42) is in contact with the rudder sheet connecting shaft (37), and the rudder sheet unfolding frame (42) is rigidly connected with the rudder sheet connecting shaft (37); the upper part of the rudder piece unfolding frame (42) is provided with a U-shaped groove, a bilateral torsion spring (41) is placed in the U-shaped groove, through holes are formed in two sides of the U-shaped groove, a torsion spring shaft (43) penetrates through the U-shaped groove, the bilateral torsion spring (41) and corresponding through holes in the upper end of the rudder piece (38), and the rudder piece unfolding frame (42), the bilateral torsion spring (41) and the rudder piece (38) are fixedly connected through the pretightening force of the bilateral torsion spring (41); the rudder piece (38) can be naturally unfolded for 90 degrees under the pretightening force of the bilateral torsion spring (41);
the rudder piece unfolding locking mechanism (45) is embedded in the rudder piece unfolding frame (42) and is provided with a contact (451) capable of providing elastic force;
the rudder sheet furling locking mechanism (44) is arranged at the lower end of the rudder sheet unfolding frame (42), and during initial installation, the rudder sheet is pressed to be pressed on the rudder sheet unfolding frame (42) by the rudder sheet furling locking mechanism (44), at the moment, the unfolding angle of the rudder sheet (38) is 0 degrees, and the rudder sheet is furled in the rudder sheet time selecting unfolding unit (4);
when the rudder blade needs to be unfolded, under the action of a rudder deflection angle instruction of the controller (5), the rudder blade (38) deflects to the outside of the rudder blade furling locking mechanism (44), the rudder blade is rapidly unfolded by 90 degrees under the pretightening force of the bilateral torsion spring (41), and after the rudder blade (38) is unfolded in place, the contact (451) extends into the locking groove (381) at the root part of the rudder blade (38), so that the rudder blade is kept in a 90-degree locking state.
8. The rudder piece time selective unfolding micro rudder system only based on the angle instruction as claimed in claim 1, wherein: the deflection angle of each rudder sheet ranges from minus 25 degrees to plus 25 degrees.
9. The rudder piece time selective unfolding micro rudder system only based on the angle instruction as claimed in claim 1, wherein: the angular deviation precision of the rudder sheet is less than or equal to 5 percent.
10. The rudder piece time selective unfolding micro rudder system only based on the angle instruction as claimed in claim 1, wherein: a rudder angle deflection driving unit (1), a position feedback unit (2), a steering speed reduction transmission unit (3), a rudder sheet time-selecting unfolding unit (4) and a controller (5) to form a rudder system; the four rudder angle deflection driving units (1), the four position feedback units (2), the four steering and deceleration transmission units (3), the four rudder piece timing unfolding units (4) and the controller (5) form four-way cross orthogonally-distributed rudder systems, and the four-way rudder systems can independently control corresponding rudder piece actions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211055416.4A CN115468459B (en) | 2022-08-31 | 2022-08-31 | Rudder sheet timing deployment micro rudder system based on angle instruction only |
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| CN202211055416.4A CN115468459B (en) | 2022-08-31 | 2022-08-31 | Rudder sheet timing deployment micro rudder system based on angle instruction only |
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| CN115468459B CN115468459B (en) | 2023-08-11 |
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| JPH0517398U (en) * | 1991-08-07 | 1993-03-05 | 三菱電機株式会社 | Guided flying body |
| CN106342385B (en) * | 2009-11-13 | 2013-08-07 | 中国江南航天工业集团林泉电机厂 | Steering gear system nutation type electric servomechanism |
| CN207766087U (en) * | 2017-11-15 | 2018-08-24 | 四川航天烽火伺服控制技术有限公司 | A kind of electric steering engine |
| CN208736259U (en) * | 2018-07-20 | 2019-04-12 | 湖北三江航天红峰控制有限公司 | A kind of miniature rudder system |
| CN212902904U (en) * | 2020-04-28 | 2021-04-06 | 北京航天嘉诚精密科技发展有限公司 | Steering engine mechanism for controlling rudder piece to unfold and rotate through motor |
| CN114562918A (en) * | 2022-03-25 | 2022-05-31 | 西安雷神防务技术有限公司 | Miniature electric folding steering engine |
-
2022
- 2022-08-31 CN CN202211055416.4A patent/CN115468459B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0517398U (en) * | 1991-08-07 | 1993-03-05 | 三菱電機株式会社 | Guided flying body |
| CN106342385B (en) * | 2009-11-13 | 2013-08-07 | 中国江南航天工业集团林泉电机厂 | Steering gear system nutation type electric servomechanism |
| CN207766087U (en) * | 2017-11-15 | 2018-08-24 | 四川航天烽火伺服控制技术有限公司 | A kind of electric steering engine |
| CN208736259U (en) * | 2018-07-20 | 2019-04-12 | 湖北三江航天红峰控制有限公司 | A kind of miniature rudder system |
| CN212902904U (en) * | 2020-04-28 | 2021-04-06 | 北京航天嘉诚精密科技发展有限公司 | Steering engine mechanism for controlling rudder piece to unfold and rotate through motor |
| CN114562918A (en) * | 2022-03-25 | 2022-05-31 | 西安雷神防务技术有限公司 | Miniature electric folding steering engine |
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| CN115468459B (en) | 2023-08-11 |
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