CN115468459B - Rudder sheet timing deployment micro rudder system based on angle instruction only - Google Patents
Rudder sheet timing deployment micro rudder system based on angle instruction only Download PDFInfo
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- CN115468459B CN115468459B CN202211055416.4A CN202211055416A CN115468459B CN 115468459 B CN115468459 B CN 115468459B CN 202211055416 A CN202211055416 A CN 202211055416A CN 115468459 B CN115468459 B CN 115468459B
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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 time-selecting unfolding micro rudder system based on angle instructions only 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 angle instruction sent out by the controller, and finally drives the angle deflection of the rudder blade through the steering reduction transmission unit; triggering the rudder piece timing unfolding unit to work, so that the folded rudder piece is unfolded in place and locked; the position feedback unit monitors and feeds back the motion position of the system in real time and forms a servo system control loop with the controller; the rudder piece can deflect at different angles under the unfolding state, so that the servo control function of the missile flight attitude is realized. The rudder blade unfolding action is based on rudder angle deflection under an angle instruction, and the rudder blade unfolding mechanism is compact in volume and light in weight; the angle instruction can be sent by different computers according to the needs to finish the rudder sheet time-selecting unfolding action; the rudder blade unfolding and rudder blade deflection actions are performed simultaneously, so that the flight control effect of the missile is optimized.
Description
Technical Field
The invention relates to a rudder piece timing unfolding micro rudder system based on angle instructions only, and belongs to the technical field of micro missile servo steering engines.
Background
In precision guided weapons such as mini missiles, the servo rudder system is an important control device for the flight attitude and trajectory of the servo rudder system. The rudder blade is used as a pneumatic control component of the miniature 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 rudder deflection angle instructions sent by miniature missiles, overcomes the hinge moment of rudder pieces and rapidly realizes angle position tracking deflection. According to a series of demands of current miniature bullet guide box (tube) emission, narrow space limitation and portable transportation, a folding rudder piece form is often adopted, so that the rudder piece can be kept folded according to control requirements, and can be automatically unfolded and kept locked once an unfolding action instruction is received.
However, most of the existing folded rudder piece type servo rudder systems have the following disadvantages: (1) The rudder piece unfolding action needs a separate driving part and an action instruction, so that the volume and the weight of a rudder system are greatly increased, the miniaturization and integration requirements of the miniature missile are not met, the control mode is more complex, and the precise and controllable requirements of the rudder piece unfolding and deflection actions are not met; (2) The rudder blade unfolding action is generally triggered at the moment of missile ejection (barrel), has high emission overload, cannot be completed in subsequent flight, cannot be manually selected and controlled at action time, and has higher requirements on the stability and overload resistance of a missile servo steering engine system; (3) The rudder piece is unfolded and the rudder piece deflection action is stripped, the rudder piece deflection can be implemented after the rudder piece is unfolded in place, the ineffective time of the missile servo rudder system in flight control is intangibly increased, and further requirements are provided for the dual actions of rudder piece unfolding and rudder piece deflection.
Disclosure of Invention
The technical solution of the invention is as follows: in order to overcome the defects of the prior art, the rudder piece timing unfolding micro rudder system 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 used for rudder piece unfolding are not needed, and the rudder piece timing unfolding micro rudder system is compact in volume and light in weight; the system can select different time machines to send angle instructions according to the needs in the flight stage, so that the rudder piece can perform time-selecting unfolding action, and higher control precision can be achieved; the rudder blade unfolding and rudder blade deflection are performed simultaneously, so that the flight control effect of the missile is optimized; the whole device is convenient to disassemble and assemble, stable in structure and capable of bearing the high overload working condition of emission.
The technical scheme of the invention is as follows:
the rudder piece timing expansion micro rudder system based on the angle instruction only comprises a rudder angle deflection driving unit, a position feedback unit, a steering speed reduction transmission unit, a rudder piece timing expansion unit, a controller and a supporting seat 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 supporting seat body and are symmetrically arranged along the axis of the supporting seat body; the four steering speed reduction transmission units are arranged on the top surface of the supporting seat body and are symmetrically arranged along the axis of the supporting seat body; the four rudder angle deflection driving units are in one-to-one correspondence with the four steering reduction transmission units, and the corresponding rudder angle deflection driving units are rigidly connected with the steering reduction transmission units; each steering speed reduction transmission unit is connected with a rudder piece, and a rudder piece timing unfolding unit is arranged above each steering speed reduction transmission unit;
when the rudder piece is in a folded state, the rudder piece is folded in the rudder piece time selecting unfolding unit;
when the rudder angle deflection driving unit needs to be unfolded, the controller sends a rudder angle deflection command 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 angle deflection command and rotates under the action of the rotation moment; the rotation is transmitted to the rudder blade through the steering reduction transmission unit, and the rudder blade is driven to generate angle deflection; when the rudder piece deflects at an angle, triggering the rudder piece timing unfolding unit to act, so that the rudder piece folded in the rudder piece timing unfolding unit is unfolded for 90 degrees and locked;
in the unfolding process, each steering deceleration transmission unit corresponds to one position feedback unit; the position feedback unit monitors the movement position of the corresponding steering deceleration transmission unit in real time and feeds back the movement position to the controller, and the position feedback unit and the controller form a servo system control loop.
Preferably, the rudder angle deflection driving unit comprises a driving motor and a speed reducer, wherein the driving motor is rigidly connected with the speed reducer, and an output shaft of the driving motor extends out of the speed reducer and is used for outputting the rotation angle and the moment after the speed reduction.
Preferably, the four position feedback units share an angle sensor mounting plate, and the angle sensor mounting plate is mounted on the top surface of the supporting seat body;
each position feedback unit comprises an angle sensor;
the four angle sensors are welded on the angle sensor mounting plate in a pasting manner, and the four angle sensors are symmetrically arranged along the center of the angle sensor mounting plate; the four angle sensors are in one-to-one correspondence with the four rudder angle deflection driving units, through holes are correspondingly formed in each angle sensor and each angle sensor mounting plate, an output shaft of a driving motor in each rudder angle deflection driving unit penetrates through the corresponding angle sensor and each through hole in each angle sensor mounting plate, and the angle sensors can accurately measure the rotation angle of the penetrated output shaft and feed the rotation angle back to the controller.
Preferably, the supporting seat body comprises a mounting base, a mounting main body and a plurality of supporting columns;
the installation base is connected with the installation main body through a plurality of support columns, the support columns penetrate through the installation base downwards and then are fixedly connected with the controller, and the support columns penetrate through the installation main body upwards and then are fixedly connected with the position feedback unit and the steering reduction transmission unit; the rudder angle deflection driving unit is positioned in an inner space formed by the mounting base, the mounting main body and the supporting columns and is fixedly connected with the mounting main body.
Preferably, the lower surface of the installation main body is provided with four installation bosses which are uniformly distributed along the outer circumference of the lower surface of the installation main body, and a rudder piece folding locking mechanism is arranged on the side wall of each installation boss.
Preferably, the steering reduction transmission unit comprises a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a second-third bevel gear connecting rotating shaft, a fourth bevel gear rotating shaft, 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-third bevel gear connecting rotating shaft, and the fourth bevel gear is rigidly connected with the rudder piece through a rudder piece connecting shaft;
the second bevel gear, the third bevel gear, the rotating shaft and the rudder piece 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 pass through the notch;
when the rudder piece passes through the notch, the rudder piece unfolding frame is in rigid connection with the rudder piece connecting shaft after contacting with the rudder piece connecting shaft; the upper part of the rudder piece expanding frame is provided with a U-shaped groove, the bilateral torsion springs are placed in the U-shaped groove, through holes are formed in two sides of the U-shaped groove, torsion spring shafts penetrate through the U-shaped groove, the bilateral torsion springs and corresponding through holes in the upper ends of the rudder pieces, and the rudder piece expanding frame, the bilateral torsion springs and the rudder pieces are fixedly connected through the pretightening force of the bilateral torsion springs; 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 folding locking mechanism is arranged at the lower end of the rudder piece unfolding frame, and presses the rudder piece when in initial installation, so that the rudder piece is pressed on the rudder piece unfolding frame by the rudder piece folding locking mechanism, at the moment, the rudder piece unfolding angle is 0 degree, and the rudder piece is folded in the rudder piece time-selecting unfolding unit;
when the rudder is required to be unfolded, the rudder piece is deflected to the outside of the rudder piece folding locking mechanism under the action of a rudder deflection angle instruction of the controller, the rudder piece is rapidly unfolded for 90 degrees under the pretightening force of the bilateral torsion spring, and after the rudder piece is unfolded in place, the contact stretches into the locking groove at the root of the rudder piece, so that the rudder piece is kept in a 90-degree locking state.
Preferably, the deflection angle of each rudder piece ranges from-25 DEG to +25 deg.
Preferably, the angle deviation precision of the rudder piece 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 timing unfolding unit and a controller form a rudder system; four rudder angle deflection driving units, four position feedback units, four steering reduction transmission units, four rudder piece timing unfolding units and a controller form a four-way cross orthogonally distributed rudder system, and the four-way rudder system can independently control the corresponding rudder pieces to act.
The beneficial effects of the invention are as follows:
(1) According to the rudder angle deflection driving unit, the steering speed reduction driving unit and the rudder piece time-selecting unfolding unit, the rudder angle deflection driving unit, the steering speed reduction driving unit and the rudder piece time-selecting unfolding unit are combined, so that the rudder angle deflection under an angle instruction is completely triggered, a driving unit and an action instruction which are independently used for rudder piece unfolding are not needed, a driving chain and an instruction information chain of a rudder system in the conventional rudder piece unfolding mode are greatly simplified, and the rudder angle deflection driving unit has a good active time-selecting unfolding function. The maximum outer diameter of the whole machine of the 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, and the four-way integrated micro rudder system is integrally designed, has compact volume and light weight, and well meets the harsher space and performance requirements of the micro missile.
(2) According to the invention, the rudder blade unfolding action is not required to be triggered at the moment of missile ejection (barrel), so that the high overload working condition at the moment of launching is effectively avoided, different time-of-flight sending angle instructions can be selected according to the requirements at the flight stage, the rudder blade time-of-flight unfolding action is completed, and the stability, overload resistance and rudder control precision of the missile servo steering engine system are effectively improved.
(3) According to the invention, through the coupling of the steering speed reduction transmission unit and the rudder piece timing unfolding unit, the dual actions of rudder piece unfolding and rudder piece deflection are simultaneously carried out, so that the invalid time of a missile servo rudder system in flight control is eliminated, and the flight control effect of a missile is optimized
(4) The invention can meet the environmental requirements of various complex working conditions, has stable and reliable structure, can bear larger impact and overload, has convenient disassembly and assembly of the whole device, relatively longer service life and good environmental adaptability and quality reliability.
Drawings
FIG. 1 is a schematic perspective view of the device of the present invention;
FIG. 2 is a schematic view of a rudder angle deflection drive unit;
FIG. 3 is a schematic diagram of a position feedback unit;
FIG. 4 is a schematic diagram of a steering reduction gear unit;
FIG. 5 is a schematic view of a rudder blade timing deployment unit, wherein (a) is a general 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 diagram of the operation of the device of the 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 based on angle instructions only, and the system composition is shown in figures 1-6. The rudder piece timing unfolding micro rudder system based on the angle instruction only comprises a rudder angle deflection driving unit 1, a position feedback unit 2, a steering reduction transmission unit 3, a rudder piece timing unfolding unit 4, a controller 5 and a supporting seat body 6.
The supporting seat body 6 is of a hollow columnar structure, and the controller 5 is arranged below the supporting seat body 6; the four rudder angle deflection driving units 1 are arranged inside the supporting seat body 6, and the four rudder angle deflection driving units 1 are symmetrically arranged along the axis of the supporting seat body 6; the four steering reduction transmission units 3 are arranged on the top surface of the supporting seat body 6, and the four steering reduction transmission units 3 are symmetrically arranged along the axis of the supporting seat body 6; the four rudder angle deflection driving units 1 are in one-to-one correspondence with the four steering reduction transmission units 3, and the corresponding rudder angle deflection driving units 1 are rigidly connected with the steering reduction 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 folded state, the rudder piece 38 is folded inside the rudder piece timing unfolding unit 4.
When the rudder angle deflection driving unit 1 needs to be unfolded, the controller 5 sends a rudder angle deflection command 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 angle deflection command and rotates under the action of the rotation moment; the rotation is transmitted to the rudder blade through the steering reduction transmission unit 3, and the rudder blade is driven to generate angle deflection; when the rudder piece deflects at an angle, the rudder piece timing unfolding unit 4 is triggered to act, so that the rudder piece folded in the rudder piece timing unfolding unit 4 is unfolded for 90 degrees and locked.
During deployment, each steering reduction gear unit 3 corresponds to one position feedback unit 2. The position feedback unit 2 monitors the movement position of the corresponding steering reduction transmission unit 3 in real time and feeds back the movement position 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 reduction transmission unit 3, a rudder sheet 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 reduction transmission units 3, the four rudder piece timing unfolding units 4 and the controller 5 form a four-way cross orthogonally distributed rudder system, and the four-way rudder system can independently control the corresponding rudder piece to act.
The supporting seat body 6 is used as a structural matrix of the rudder system and is rigidly connected with the rudder angle deflection driving unit 1, the position feedback unit 2, the steering reduction transmission unit 3, the rudder piece timing unfolding unit 4 and the controller 5, and the integrated design of the four-way rudder system is used for forming a firm, stable and compact whole space.
As shown in fig. 2, the rudder angle deflection driving unit 1 comprises a driving motor 11 and a speed reducer 12, wherein the driving motor 11 is rigidly connected with the speed reducer 12, rotation and moment can be transmitted between the driving motor 11 and the speed reducer without difference, and an output shaft 13 extends out of the speed reducer 12 and can output the rotation and moment after speed reduction.
As shown in fig. 3, four angle sensors 21 are attached to an angle sensor attaching plate 22, and the four angle sensors 21 are arranged symmetrically along the center of the angle sensor attaching plate 22; the four angle sensors 21 are in one-to-one correspondence with the four rudder angle deflection driving units 1, through holes are correspondingly formed in each angle sensor 21 and each angle sensor mounting plate 22, the output shaft 13 of the driving motor 11 in the rudder angle deflection driving unit 1 passes through the corresponding through holes of the angle sensor 21 and each angle sensor mounting plate 22, and the angle sensor 21 can accurately measure the rotation angle of the passing output shaft 13 and feeds the rotation angle back to the controller 5, so that a servo system control loop is formed with the controller 5. An angle sensor forms a position feedback unit 2.
As shown in fig. 4, the steering reduction gear 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 connection shaft 35, a fourth bevel gear shaft 36, a rudder piece connection shaft 37, a rudder piece 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 turn and reduce the rotation angle and 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-third bevel gear connecting rotating shaft 35, the fourth bevel gear 34 is rigidly connected with the rudder piece 38 through a rudder piece connecting shaft 37, and the three rigid connection parts can directly transmit the rotation angle and the torque in the transmission chain; finally, the rotation angle and the moment input in the steering reduction transmission unit 3 can be finally output to the rudder piece 38 through the two-stage steering transmission mechanism, so that the accurate swing of the rudder piece is realized.
The second-third bevel gear connecting rotating shaft 35 and the rudder piece connecting shaft 37 are arranged on the transmission supporting 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 supporting frame 39, and the transmission motion and the moment can be realized.
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 frame 42, a torsion spring shaft 43, a rudder piece folding locking mechanism 44, and a rudder piece deployment locking mechanism 45.
The double-sided torsion spring 41 provides sufficient rotational torque for the rudder blade 38 to unwind. The rudder blade expansion frame 42 is fixedly connected with the rudder blade connecting shaft 37 as a main body supporting structure of the rudder blade timing expansion unit 4.
The rudder blade extension frame 42 is provided with a notch which is matched with the width of the rudder blade 38, so that the rudder blade 38 can completely pass through the notch until the rudder blade extension frame 42 is mounted on the rudder blade connecting shaft 37 and is rigidly connected. The bilateral torsion spring 41 is arranged on the rudder piece unfolding frame 42, the torsion spring shaft 43 sequentially penetrates through corresponding through holes of the rudder piece unfolding frame 42, the bilateral torsion spring 41 and the rudder piece 38, and the two are connected and fixed through the pretightening force of the bilateral torsion spring 41.
So far, the bilateral torsion spring 41, the rudder piece unfolding 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 precisely swings and simultaneously drives the structures of the bilateral torsion spring 41, the rudder piece unfolding frame 42 and the torsion spring shaft 43 to synchronously swing.
Meanwhile, the rudder piece 38 can rotate around the torsion spring shaft 43 in a range of 90 degrees, the natural unfolding angle of the rudder piece 38 is 90 degrees under the pretightening force of the double-sided torsion spring 41, and the manual folding angle of the rudder piece 38 is 0 degree after the rudder piece 38 is pressed by external force. Before the rudder system normally operates, the pretightening force of the bilateral torsion spring 41 needs to be manually resisted, so that the rudder piece 38 is folded to 0 degrees and is folded in the rudder piece folding locking mechanism 44, and the rudder piece 38 is completely folded in the elastomer before the rudder system receives an angle instruction. When the rudder system receives the angle instruction of the controller, the rudder piece 38 deflects to the outside of the rudder piece folding locking mechanism 44, is quickly unfolded in place under the pretightening force of the bilateral torsion spring 41, and is pressed against the rudder piece unfolding locking mechanism 45, so that the rudder piece is kept in a 90-degree locking state. The rudder blade unfolding locking mechanism 45 is embedded in the rudder blade unfolding frame 42, and is provided with a contact 451 capable of providing elastic force, so that the contact 451 stretches into a corresponding locking groove 381 at the root of the rudder blade 38 when the rudder blade 38 is unfolded, and plays a role in firmly locking the rudder blade 38 to unfold.
As shown in fig. 6, the support base 6 includes a mounting base 61, a mounting body 62, and a plurality of support columns 63. The mounting support base 6 is used as a structural matrix of the rudder system to form a whole body with reliable strength and compact space. The bottom surface of installation base 61 passes through a plurality of support columns 63 and controller 5 fixed connection, and rudder angle deflection drive unit 1 is held in the package of top surface of installation base 61, and the bottom surface of installation main part 62 and rudder angle deflection drive unit 1 fixed connection, the top surface and the position feedback unit 2 fixed connection of installation main part 62, and the top surface of installation main part 62 passes through a plurality of support columns 63 and turns to speed reduction drive unit 3 fixed connection, then indirect and rudder piece time selection expansion unit 4 fixed connection, installs between base 61, and the installation main part 62 through a plurality of support columns 63 fixed connection.
The mounting main body 62 is provided with four mounting bosses 621 for mounting the rudder piece folding locking mechanism 44, the rudder piece folding locking mechanism 44 is embedded on the side wall of the mounting boss 621, and the transverse bars are arranged on the unfolding front edge of the rudder piece 38, so that the rudder piece 38 is folded inside the missile before receiving the corner instruction, and the function of firmly locking the folding of the rudder piece 38 is achieved.
The four groups of rudder angle deflection driving units 1, the position feedback units 2, the steering reduction transmission units 3, the rudder piece timing unfolding units 4 and the one group of controllers 5 are integrally arranged on the mounting support base 6, the same rudder systems with four-way cross orthogonal distribution are formed through the accurate positioning of the mounting support base 6, and the four groups of rudder systems can independently control various actions of the corresponding rudder pieces 38 and control the flight attitude and track of the missile.
The rudder sheet of the invention can be unfolded for no more than 0.2ms when receiving the angle instruction to the position of completely unfolding 90 degrees.
The maximum external diameter of the whole machine of the four-way integrated micro 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 micro rudder system provides enough torque for each rudder piece, the deflection angle range of each rudder piece is larger, and the angle deviation precision is higher.
The micro rudder system provides torque for the rudder shaft 5 with 0.1 nm-1 nm; the deflection angle range of each rudder piece is-25 degrees to +25 degrees; the angle deviation precision of the rudder piece is less than or equal to 5 percent.
The working process of the invention is as follows:
after the four groups of rudder systems are assembled and debugged, the rudder pieces can work normally according to the use requirements, and the rudder pieces can respond to the angle instructions sent by the controller smoothly and quickly and drive actions; the four groups of rudder systems are respectively and fixedly connected with the supporting seat body, the zero position of the rudder piece is accurately adjusted by using a positioning tool, and an electric connector is inserted into the corresponding wiring hole to complete electric communication between the controller and the position feedback unit; and then the whole rudder system is put into a missile launching box (barrel) for launching. When the miniature missile is launched out of the box (cylinder) at a certain moment, according to flight control requirements, the controller sends a rudder deflection angle instruction to the rudder angle deflection driving unit, the rudder angle deflection driving unit rotates, the rudder piece generates a certain rotation angle through the steering reduction transmission unit, and when the rudder piece rotates to be separated from the rudder piece folding locking mechanism, the rudder piece is completely unfolded to a 90-degree position under the action of the bilateral torsion spring and is kept locked through the rudder piece unfolding locking mechanism; finally, the rudder piece can deflect at different angles in the unfolding state, so that the servo control function of the missile flight attitude is realized.
Fig. 7 is a schematic diagram of the working process of the device of the present invention, in which the micro rudder system is initially in an initial folded state, after receiving the angle deflection command, the rudder sheet is in an end folded state, and is unfolded and kept in an unfolded state, and when receiving the normal working command, the micro rudder system acts.
According to the invention, an example is provided, and the rudder piece timing unfolding micro rudder system based on the angle instruction is utilized to realize rudder angle deflection of rudder piece unfolding actions based on the angle instruction, so that different time machines can be selected to send the angle instruction in the missile flight stage, the rudder piece timing unfolding actions are completed, and the missile flight control effect is optimized.
The specific application test results show that the system can effectively realize the servo control function of the rudder blade based on the time-selecting unfolding action of the angle instruction only and optimize the missile flight attitude.
According to the rudder angle deflection driving unit, an initial rotation angle and moment are sent out by a driving motor and a speed reducer according to a rudder angle deflection instruction sent out by a controller, and then the angle deflection of a rudder blade is finally driven by a two-stage transmission mechanism in a steering speed reduction transmission unit; the angle deflection movement based on the angle instruction triggers the rudder sheet time selecting and unfolding unit to work, so that the folded rudder sheet is unfolded in place and kept in a locking state; the 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 the unfolding state, so that the servo control function of the missile flight attitude is realized. The rudder blade unfolding action realized by the invention is based on rudder angle deflection under the angle instruction, and a driving unit and an action instruction which are independently used for rudder blade unfolding are not needed, so that the rudder blade unfolding mechanism is compact in volume and light in weight; the system can select different computers to send angle instructions according to the needs, so that rudder sheet time-selecting unfolding actions are completed, and higher rudder control precision can be achieved; the rudder blade unfolding and rudder blade deflection are performed simultaneously, so that the flight control effect of the missile is optimized; the whole device is convenient to disassemble and assemble, stable in structure and capable of bearing the high overload working condition of emission.
The invention is not described in detail in the field of technical personnel common knowledge.
Claims (8)
1. The rudder piece timing unfolding micro rudder system based on the angle instruction is characterized by comprising a rudder angle deflection driving unit (1), a position feedback unit (2), a steering reduction transmission unit (3), a rudder piece timing unfolding unit (4), a controller (5) and a supporting seat body (6);
the supporting seat body (6) is of a hollow columnar structure, and the controller (5) is arranged below the supporting seat body (6); the four rudder angle deflection driving units (1) are arranged in the supporting seat body (6), and the four rudder angle deflection driving units (1) are symmetrically arranged along the axis of the supporting seat body (6); the four steering reduction transmission units (3) are arranged on the top surface of the supporting seat body (6), and the four steering reduction transmission units (3) are symmetrically arranged along the axis of the supporting seat body (6); the four rudder angle deflection driving units (1) are in one-to-one correspondence with the four steering reduction transmission units (3), and the corresponding rudder angle deflection driving units (1) are rigidly connected with the steering reduction transmission units (3); each steering speed reduction transmission unit (3) is connected with a rudder piece (38), and a rudder piece timing unfolding unit (4) is arranged above each steering speed reduction transmission unit (3);
when the rudder piece (38) is in a folded state, the rudder piece is folded in the rudder piece time selecting and unfolding unit (4);
when the rudder angle deflection driving unit (1) needs to be unfolded, the controller (5) sends a rudder angle deflection command 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 angle deflection command and rotates under the action of the rotation moment; the rotation is transmitted to the rudder blade through a steering reduction transmission unit (3) to drive the rudder blade to generate angle deflection; when the rudder piece deflects at an angle, triggering the rudder piece timing unfolding unit (4) to act, so that the rudder piece folded in the rudder piece timing unfolding unit (4) is unfolded for 90 degrees and locked;
in the unfolding process, each steering reduction transmission unit (3) corresponds to one position feedback unit (2); the position feedback unit (2) monitors the movement position of the corresponding steering deceleration transmission unit (3) in real time and feeds back the movement position to the controller (5), and the position feedback unit (2) and the controller (5) form a servo system control loop;
the steering reduction 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 supporting 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 connecting rotating shaft (35) and the rudder piece connecting shaft (37) are arranged on the transmission supporting frame (39);
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 piece unfolding frame (42) is provided with a notch matched with the width of the rudder piece (38), and the rudder piece (38) can completely pass through the notch;
when the rudder piece (38) passes through the notch, the rudder piece unfolding frame (42) is in contact with the rudder piece connecting shaft (37), and then the rudder piece unfolding frame (42) is rigidly connected with the rudder piece connecting shaft (37); the upper part of the rudder piece expanding frame (42) is provided with a U-shaped groove, a double-sided torsion spring (41) is arranged 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 double-sided torsion spring (41) and corresponding through holes in the upper end of the rudder piece (38), and the rudder piece expanding frame (42), the double-sided torsion spring (41) and the rudder piece (38) are fixedly connected through the pretightening force of the double-sided torsion spring (41); under the pretightening force of the bilateral torsion spring (41), the rudder piece (38) can be naturally unfolded for 90 degrees;
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;
the rudder piece folding locking mechanism (44) is arranged at the lower end of the rudder piece unfolding frame (42), the rudder piece is pressed when being initially arranged, the rudder piece is pressed on the rudder piece unfolding frame (42) by the rudder piece folding locking mechanism (44), at the moment, the unfolding angle of the rudder piece (38) is 0 degree, and the rudder piece is folded in the rudder piece time-selecting unfolding unit (4);
when the rudder is required to be unfolded, under the action of a rudder deflection angle instruction of the controller (5), the rudder piece (38) deflects to the outside of the rudder piece folding locking mechanism (44), the rudder piece is quickly unfolded for 90 degrees under the pretightening force of the bilateral torsion spring (41), and after the rudder piece (38) is unfolded in place, the contact (451) stretches into the locking groove (381) at the root of the rudder piece (38), so that the rudder piece is kept in a 90-degree locking state.
2. A rudder blade timing deployment micro rudder system according to claim 1 based on angle instructions only, characterized in that: the rudder angle deflection driving unit (1) comprises a driving motor (11) and a speed reducer (12), wherein 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 the rotation angle and moment after the speed reduction.
3. A rudder blade timing deployment micro rudder system according to claim 2 based on angle instructions only, 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 supporting seat 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 manner, and the four angle sensors (21) are symmetrically arranged along the center of the angle sensor mounting plate (22); four angle sensor (21) and four rudder angle deflection drive units (1) one-to-one, correspond processing on every angle sensor (21) and the angle sensor dress board (22) have the through-hole, pass in the through-hole of angle sensor (21) and angle sensor dress board (22) that corresponds in driving motor (11) output shaft (13) among rudder angle deflection drive unit (1), angle sensor (21) can accurate measurement pass output shaft (13) rotation angle to feed back to controller (5).
4. A rudder blade timing deployment micro rudder system according to claim 1 based on angle instructions only, characterized in that: the supporting seat body (6) comprises a mounting base (61), a mounting main body (62) and a plurality of supporting columns (63);
the installation base (61) is connected with the installation main body (62) through a plurality of support columns (63), the support columns (63) penetrate through the installation base (61) downwards and then are fixedly connected with the controller (5), and the support columns (63) penetrate through the installation main body (62) upwards and then are fixedly connected with the position feedback unit (2) and the steering reduction transmission unit (3); the rudder angle deflection driving unit (1) is positioned in an inner space formed by the mounting base (61), the mounting main body (62) and the supporting columns (63), and the rudder angle deflection driving unit (1) is fixedly connected with the mounting main body (62).
5. A rudder blade timing deployment micro rudder system according to claim 4 based on angle command only, wherein: four mounting bosses (621) are designed on the lower surface of the mounting main body (62), the four mounting bosses are uniformly distributed along the outer circumference of the lower surface of the mounting main body (62), and a rudder piece gathering and locking mechanism (44) is mounted on the side wall of each mounting boss.
6. A rudder blade timing deployment micro rudder system according to claim 1 based on angle instructions only, characterized in that: the deflection angle of each rudder piece ranges from-25 degrees to +25 degrees.
7. A rudder blade timing deployment micro rudder system according to claim 1 based on angle instructions only, characterized in that: the angle deviation precision of the rudder piece is less than or equal to 5 percent.
8. A rudder blade timing deployment micro rudder system according to claim 1 based on angle instructions only, characterized in that: a rudder angle deflection driving unit (1), a position feedback unit (2), a steering reduction transmission unit (3), a rudder piece timing unfolding unit (4) and a controller (5) form a rudder system; four rudder angle deflection driving units (1), four position feedback units (2), four steering reduction transmission units (3), four rudder piece timing unfolding units (4) and a controller (5) form a four-way cross orthogonally distributed rudder system, and the four-way rudder system can independently control the corresponding rudder piece to act.
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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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| 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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| JPH0517398U (en) * | 1991-08-07 | 1993-03-05 | 三菱電機株式会社 | Guided flying body |
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| 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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2022
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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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| CN115468459A (en) | 2022-12-13 |
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