CN115616959A - A control method of a kinetic energy emitting device - Google Patents

Abstract

The invention provides a control method of a kinetic energy transmitting device, which is applied to a control system, wherein the control system is connected with a plurality of external devices, the external devices comprise a motor, a pressure sensor, a plurality of electromagnetic valves and a ammunition feed sensor, and the control system is connected with a control platform; the control method comprises the following steps of S1: judging the operation mode of the control system; s2: in the automatic mode state, the control system extracts the setting parameters of the ammunition feeding mode and the continuous firing times in the command; s3: controlling the charging valve to open and close for charging; s4: if the control system receives the emission stopping instruction, starting the inducing valve to reduce the air pressure of the air chamber, otherwise, executing S5; s5: controlling the motor to rotate to a corresponding magazine position, and detecting whether the shot is in place; s6: when a shot in-place signal is detected, the motor rotates to a zero position, the inducing valve is opened, and when the residual pressure value is lower than a set threshold value, the launching is successful; when the predetermined number of shots is completed, the automatic operation mode is ended.

Description

A control method of a kinetic energy emitting device

technical field

The invention relates to the technical field of kinetic energy device emission control, in particular to a control method of a kinetic energy emission device.

Background technique

The existing principle prototype of the hydrogen cannon used in the aerospace field is bulky, and the control system is not applicable. There are many unstable factors in the use process, and the system preparation cannot be completed quickly; there is no interface for accessing the aviation main control system, and the automatic control process cannot be flexibly adjusted according to the test needs. At present, there is an urgent need to develop a hydrogen cannon control system and automatic control method suitable for the aviation field and a variety of test requirements on the newly developed hydrogen cannon with a light-weight, dual-supply magazine structure.

Contents of the invention

In order to solve the above problems, the present invention provides a control method for a kinetic energy emitting device, which is used in a control system. The control system can receive commands from the control platform, and has three operating modes. According to the set parameters of the control platform, it controls the inflation valve, The induction valve and the motor complete the automatic launch process. The control system has five analog channels to detect the system operating voltage in real time. At the same time, the action of the solenoid valve device is monitored through the monitoring feedback loop to achieve stable operation of the system.

The present invention provides a control method for a kinetic energy emitting device, which is applied to a control system. The control system is connected with several external devices, and the external devices include a motor, a pressure sensor, several solenoid valves, and bomb supply sensors. The control system Connect with the control platform;

The control method is as follows:

S1: Determine the operating mode of the control system;

After receiving the automatic operation command of the control platform, enter the automatic mode state, and perform the following steps;

S2: The setting parameters of the bomb feeding mode and burst times in the control system extraction command;

S3: Control the opening and closing of the inflation valve to inflate, monitor whether the pressure of the air chamber reaches the set pressure value, and close the inflation valve if it reaches the set pressure value;

S4: Determine whether the control system has received an instruction to terminate the launch, and when the control system receives the instruction to terminate the launch, control the induction valve to open to discharge the high-pressure gas in the gas chamber, otherwise continue to perform the following steps;

S5: Control the motor to rotate to the corresponding magazine supply position, and detect whether there is a projectile arrival signal within the second preset time;

If there is a projectile in place signal, continue to execute the automatic process; if there is no projectile in place signal, the control system returns an abnormal code to the control platform to end the automatic operation mode.

S6: The motor rotates to the zero position, the induction valve is automatically opened after reaching the zero position, and the residual pressure value of the air chamber is detected after the third preset time;

When the residual pressure value is lower than the set threshold, it means that the launch is successful; otherwise, the system will default to launch failure;

When the predetermined number of launches is completed, the automatic operation mode is terminated.

Further, the control system is provided with at least one CAN interface, several communication ports and several analog input channels;

The control system includes a control module, a power module and a motor drive module;

The control module is connected to the control platform through the CAN interface, the control platform is connected to the power supply module and the power supply end of the control module through an OC switch, and the control module is connected to the fire control system through two communication ports connected, the control module is connected to the main body of the launch device through the communication port, the main body of the launch device is connected to the motor drive module through the communication port, and the motor drive module is connected to the motor.

Further, the control system is provided with one CAN interface, one RS485 port, two RS422 ports and five analog input channels;

The IO port of the control module is connected with two switch signal telemetry;

The five analog channels connected to the control module are two-way switch state telemetry, pressure telemetry, 15V voltage switch state and analog telemetry, and 28V voltage switch state and analog telemetry;

The two-way switch state telemetry corresponds to the inflation solenoid valve and the induction solenoid valve respectively.

Further, in step S5, the interrupt signal detection is also included. When the motor rotates to 75°, the interrupt signal detection is turned on. After the interrupt signal lasts for 1ms, it is considered as a normal input signal, and after receiving the signal for 1ms, Interrupts are off.

Further, the solenoid valve is provided with a feedback detection loop to monitor the action of the solenoid valve.

Further, in step S3, during the opening and closing process of the inflation valve, the number of openings of the inflation valve is set to be no more than 3 times, and each opening time is executed according to the set first preset time.

Further, the first preset time cannot exceed 10 seconds, and the first preset time is set to 3 seconds.

Further, the second preset time is set to 1 second.

Further, in step S6, the air pressure in the air chamber is reduced by opening the induction valve multiple times, the specific process is as follows:

S601: After the motor rotates to zero position, the induction valve is opened for the third preset time, and the rate of change of the air chamber pressure is detected at the same time;

S602: If the decrease rate of the pressure in the air chamber exceeds the threshold, close the induction valve, and judge whether the launch is successful based on the remaining pressure value of the air chamber; The number of times is set. If the number of times of opening is less than or equal to the preset number of times, the induction valve will be closed and then return to step S601 to re-open the induction valve. If the number of times of opening is greater than the preset number of times, a fault prompt of the induction valve will be fed back.

Further, the third preset time is set to 3 seconds.

The beneficial effects of the present invention are as follows:

The motor is controlled by communication mode. The solenoid valve is equipped with a monitoring feedback loop, which can accurately control the current position of the motor operation. At the same time, an interrupt signal detection mechanism is set to improve the accuracy of the projectile supply control and realize the smooth movement from supply to launch. , no lag, the control system is connected to the control platform through the interface, and the automatic launch process is realized based on the instructions of the control platform. The launch parameters and modes are set by the staff on the control platform to meet various test requirements.

Description of drawings

Fig. 1 is a schematic diagram of the system structure of the present invention;

Fig. 2 is the schematic flow chart of the method of embodiment 1 of the present invention;

Fig. 3 is a schematic flow chart of the method of Embodiment 2 of the present invention.

detailed description

In the following description, the technical solutions in the embodiments of the present invention are clearly and completely described. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example 1

Embodiment 1 of the present invention discloses a control method of a kinetic energy emitting device, which is applied to a control system, and the control system is connected with several external devices, and the external devices mainly include a motor, a pressure sensor, a solenoid valve, and a bomb supply sensor;

The control system is provided with one CAN interface, one RS485 port, two RS422 ports and five analog input channels;

The control system includes a control module, a power module and a motor drive module;

The control module is connected to the control platform through the CAN interface, the control platform is connected to the power supply module and the power supply end of the control module through the OC switch, and the control module is connected to the fire control system through two RS422 ports, The control module is connected to the main body of the transmitting device through the RS485 port, the main body of the transmitting device is connected to the motor drive module through the RS485 port, and the motor drive module is connected to the motor;

In this embodiment, the motor drive module stores different motor drive programs, so as to avoid the use of motors that cannot meet the requirements of the use environment due to insufficient torque and inaccurate positioning, and facilitate rapid replacement of different motors for testing;

The IO port of the control module is connected with two-way switch signal telemetry, which are respectively the left proximity switch and the right proximity switch; the five analog channels connected to the control module are respectively two-way switch state telemetry, pressure telemetry, and 15V voltage switch. State and analog telemetry and 28V voltage switch state and analog telemetry;

Among them, the two-way switch status telemetry corresponds to the inflatable solenoid valve and the induction solenoid valve respectively.

In this embodiment, the motor driving module controls the motor by means of wireless communication.

In this embodiment, the solenoid valve is provided with a feedback detection loop to monitor the action of the solenoid valve.

The current position of the valve body cannot use the current position of the motor as the basis for the mechanical angular position. In actual use, there will be gaps in the mechanical fit, and a position sensor must be installed on the valve body to detect the real position of the mechanical parts.

As shown in Figure 1, the specific steps of the method are as follows:

S1: Determine the operating mode of the control system;

After receiving the automatic operation command of the control platform, enter the automatic mode state;

S2: The setting parameters of the bomb feeding mode and burst times in the control system extraction command;

S3: Control the opening and closing of the inflation valve to inflate, monitor whether the pressure of the air chamber reaches the set pressure value, and close the inflation valve if it reaches the set pressure value;

After the inflation valve is closed, during this period, the control platform can send a launch termination instruction to the control system;

In this embodiment, during the process of opening and closing the inflation valve to inflate, the time to open the inflation valve cannot exceed 10 seconds each time. Specifically, each launch process can automatically open the valve 3 times, and the opening time of each inflation valve is 3 seconds. .

S4: Check whether the system has an instruction to terminate the launch. When the system receives the instruction to terminate the launch, control the induction valve to open to discharge the high-pressure gas in the gas chamber, reducing the safety threat caused by the high-pressure gas chamber and its related accessories to the entire loading environment.

If the system does not receive the command to terminate the launch, it will continue to perform actions automatically according to the normal workflow.

S5: Control the motor to rotate to the corresponding magazine supply position, and wait for 1 second to detect whether there is a signal of projectile in place;

Specifically, by controlling the bomb feeding motor to rotate 90° to the left or right to rotate it to the corresponding magazine feeding position;

If there is a projectile in place signal, continue to execute the automatic process; if there is no projectile in place signal, there may be an abnormal problem related to the projectile stuck, and at this time the control system will return an abnormal code to the control platform to end the automatic operation mode.

When the power line and signal of the motor on the main body of the launcher are connected to the control board, the wiring can only be paralleled. This way of wiring can easily cause the power line to interfere with the signal line. The situation where a projectile motion is received and a signal is output to the controller. Since the sensor for bomb feed detection uses an external interrupt input method, the interference signal causes the system to continuously enter the interrupt program, and the normal process cannot continue to be executed.

In this embodiment, after the valve body rotates to 75°, the interrupt signal detection is turned on, and the interrupt signal is considered as a normal input signal after the interrupt signal lasts for 1 ms. After receiving a signal lasting 1ms, the interrupt is turned off.

S6: The motor rotates 90° and rotates to the zero position. After reaching the zero position, the induction valve automatically opens for 3 seconds and then detects the remaining pressure value of the air chamber;

When the residual pressure value is lower than the set threshold, it means that the launch is successful. Otherwise, the system will default to launch failure;

When the predetermined number of launches is completed, the automatic operation mode is terminated.

In this embodiment, the operating modes of the control system include safe mode, automatic mode and manual mode;

Among them, safe mode: in this mode, no devices that can perform actions can be operated, and only the current power supply voltage of the system, the remaining number of projectiles, and the current pressure of the air chamber can be monitored;

Manual mode: In this mode, all components can be operated step by step;

Automatic mode: This mode automatically completes the entire launch process according to the two different launch modes selected by the control platform.

The power supply of the whole control system is controlled by the OC on/off of the platform. When OC is open, the system control program will automatically enter the safe mode after initialization. In this mode, neither the motor nor the solenoid valve can perform any actions. After the platform gives the command of manual operation mode, the fire control system can be powered on manually. After the fire control system is powered on for 2 seconds, the system will automatically judge whether the motor is at absolute zero. If the motor is at zero position, the system operation motor command is valid, and other action function commands are also valid. If the motor is not in the zero position at this time, the system will send a return to zero command to the motor to return the motor to the zero position for standby.

Example 2

Embodiment 2 of the present invention discloses a control method of a kinetic energy emitting device, as shown in Figure 1 and Figure 3, the method is applied to a control system, and the control system is connected with several external devices, and the external devices mainly include motors, Pressure sensor, solenoid valve, feed sensor;

The control system is provided with one CAN interface, one RS485 port, two RS422 ports and five analog input channels;

The control system includes a control module, a power module and a motor drive module;

The control module is connected to the control platform through the CAN interface, the control platform is connected to the power supply module and the power supply end of the control module through the OC switch, and the control module is connected to the fire control system through two RS422 ports, The control module is connected to the main body of the transmitting device through the RS485 port, the main body of the transmitting device is connected to the motor drive module through the RS485 port, and the motor drive module is connected to the motor;

In this embodiment, the motor drive module stores different motor drive programs, so as to avoid the use of motors that cannot meet the requirements of the use environment due to insufficient torque and inaccurate positioning, and facilitate rapid replacement of different motors for testing;

The IO port of the control module is connected with two-way switch signal telemetry, which are respectively the left proximity switch and the right proximity switch; the five analog channels connected to the control module are respectively two-way switch state telemetry, pressure telemetry, and 15V voltage switch. State and analog telemetry and 28V voltage switch state and analog telemetry;

Among them, the two-way switch status telemetry corresponds to the inflatable solenoid valve and the induction solenoid valve respectively.

In this embodiment, the motor driving module controls the motor by means of wireless communication.

In this embodiment, the solenoid valve is provided with a feedback detection loop to monitor the action of the solenoid valve.

The current position of the valve body cannot use the current position of the motor as the basis for the mechanical angular position. In actual use, there will be gaps in the mechanical fit, and a position sensor must be installed on the valve body to detect the real position of the mechanical parts.

As shown in Figure 1, the specific steps of the method are as follows:

S1: Determine the operating mode of the control system;

After receiving the automatic operation command of the control platform, enter the automatic mode state;

S2: The setting parameters of the bomb feeding mode and burst times in the control system extraction command;

S3: Control the opening and closing of the inflation valve to inflate, monitor whether the pressure of the air chamber reaches the set pressure value, and close the inflation valve if it reaches the set pressure value;

After the inflation valve is closed, during this period, the control platform can send a launch termination instruction to the control system;

In this embodiment, during the process of opening and closing the inflation valve to inflate, the time to open the inflation valve cannot exceed 10 seconds each time. Specifically, each launch process can automatically open the valve 3 times, and the opening time of each inflation valve is 3 seconds. .

S4: Check whether the system has an instruction to terminate the launch. When the system receives the instruction to terminate the launch, control the induction valve to open to discharge the high-pressure gas in the gas chamber, reducing the safety threat caused by the high-pressure gas chamber and its related accessories to the entire loading environment.

If the system does not receive the command to terminate the launch, it will continue to perform actions automatically according to the normal workflow.

S5: Control the motor to rotate to the corresponding magazine supply position, and wait for 1 second to detect whether there is a signal of projectile in place;

Specifically, by controlling the bomb feeding motor to rotate 90° to the left or right to rotate it to the corresponding magazine feeding position;

If there is a projectile in place signal, continue to execute the automatic process; if there is no projectile in place signal, there may be an abnormal problem related to the projectile stuck, and at this time the control system will return an abnormal code to the control platform to end the automatic operation mode.

When the power line and signal of the motor on the main body of the launcher are connected to the control board, the wiring can only be paralleled. This way of wiring can easily cause the power line to interfere with the signal line. The situation where a projectile motion is received and a signal is output to the controller. Since the sensor for bomb feed detection uses an external interrupt input mode, the interference signal causes the system to continuously enter the interrupt program, and the normal process cannot continue to be executed.

In this embodiment, after the valve body rotates to 75°, the interrupt signal detection is turned on, and the interrupt signal is considered as a normal input signal after the interrupt signal lasts for 1 ms. After receiving a signal lasting 1ms, the interrupt is turned off.

S6: The motor rotates 90° and rotates towards the zero position. After reaching the zero position, the induction valve automatically opens to reduce the pressure of the air chamber, and judges whether the launch is successful; judge according to the remaining pressure value, if the remaining pressure value of the air chamber is lower than the set value threshold, it means the launch is successful; otherwise, the system will default to launch failure;

When the predetermined number of times of firing is completed, the automatic operation mode is terminated, and if the predetermined number of times of firing is not met, the process returns to step S5.

The specific process is as follows:

S601: After the motor rotates to zero position, the induction valve is opened for 3 seconds, and the change rate of the air chamber pressure is detected at the same time;

S602: If the decrease rate of the pressure in the air chamber exceeds the threshold, close the induction valve, and judge whether the launch is successful based on the remaining pressure value of the air chamber;

If the decrease rate of the pressure in the air chamber does not exceed the threshold, it is judged whether the number of openings of the induction valve is less than or equal to 3 times, if the number of openings is less than or equal to 3, then close the induction valve and return to step S601 to reopen the induction valve, if the number of openings is greater than 3, then Feedback induction valve fault prompt.

In this embodiment, the operating modes of the control system include safe mode, automatic mode and manual mode;

Among them, safe mode: in this mode, no devices that can perform actions can be operated, and only the current power supply voltage of the system, the remaining number of projectiles, and the current pressure of the air chamber can be monitored;

Manual mode: In this mode, all components can be operated step by step;

Automatic mode: This mode automatically completes the entire launch process according to the two different launch modes selected by the control platform.

The power supply of the whole control system is controlled by the OC on/off of the platform. When OC is open, the system control program will automatically enter the safe mode after initialization. In this mode, neither the motor nor the solenoid valve can perform any action. After the platform gives the command of manual operation mode, the fire control system can be powered on manually. After the fire control system is powered on for 2 seconds, the system will automatically judge whether the motor is at absolute zero. If the motor is at zero position, the system operation motor command is valid, and other action function commands are also valid. If the motor is not in the zero position at this time, the system will send a return to zero command to the motor to return the motor to the zero position for standby.

The present invention is not limited to the foregoing specific embodiments. The present invention extends to any new feature or any new combination disclosed in this specification, and any new method or process step or any new combination disclosed.

Claims (10)

1. A control method for a kinetic energy launcher, characterized in that it is applied to a control system, and the control system is connected with some external devices, and the external devices include a motor, a pressure sensor, some solenoid valves and bomb supply sensors, and the The control system is connected with the control platform; The control method is as follows: S1: Determine the operating mode of the control system; After receiving the automatic operation command of the control platform, enter the automatic mode state, and perform the following steps; S2: The setting parameters of the bomb feeding mode and burst times in the control system extraction command; S3: Control the opening and closing of the inflation valve to inflate, monitor whether the pressure of the air chamber reaches the set pressure value, and close the inflation valve if it reaches the set pressure value; S4: Determine whether the control system has received an instruction to terminate the launch, and when the control system receives the instruction to terminate the launch, control the induction valve to open to discharge the high-pressure gas in the gas chamber, otherwise continue to perform the following steps; S5: Control the motor to rotate to the corresponding magazine supply position, and detect whether there is a projectile arrival signal within the second preset time; If there is a projectile in place signal, continue to execute the automatic process; if there is no projectile in place signal, the control system returns an abnormal code to the control platform to end the automatic operation mode; S6: The motor rotates to the zero position, the induction valve is automatically opened after reaching the zero position, and the residual pressure value of the air chamber is detected after the third preset time; When the residual pressure value is lower than the set threshold, it means that the launch is successful; otherwise, the system will default to launch failure; When the predetermined number of launches is completed, the automatic operation mode is terminated. 2. The control method of the kinetic energy transmitter according to claim 1, wherein the control system is provided with at least one CAN interface, some communication ports and some analog input channels; The control system includes a control module, a power module and a motor drive module; The control module is connected to the control platform through the CAN interface, the control platform is connected to the power supply module and the power supply end of the control module through an OC switch, and the control module is connected to the fire control system through two communication ports The control module is connected to the main body of the launch device through the communication port, the main body of the launch device is connected to the motor drive module through the communication port, and the motor drive module is connected to the motor. 3. The control method of the kinetic energy transmitter according to claim 2, wherein the control system is provided with one CAN interface, one RS485 port, two RS422 ports and five analog input channels; The IO port of the control module is connected with two switch signal telemetry; The five analog channels connected to the control module are two-way switch state telemetry, pressure telemetry, 15V voltage switch state and analog telemetry, and 28V voltage switch state and analog telemetry; The two-way switch state telemetry corresponds to the inflation solenoid valve and the induction solenoid valve respectively. 4. The control method of the kinetic energy emitting device according to claim 1, characterized in that, in step S5, it also includes interrupt signal detection, when the motor rotates to 75°, the interrupt signal detection is turned on, and after the interrupt signal lasts for 1 ms, It is regarded as a normal input signal, and after receiving a signal lasting 1ms, the interrupt is turned off. 5. The control method of the kinetic energy emitting device according to claim 1, wherein a feedback detection circuit is provided on the solenoid valve to monitor the action of the solenoid valve. 6. The control method of the kinetic energy emitting device according to claim 1, characterized in that, in step S3, during the opening and closing process of the inflation valve, the number of times the inflation valve is set to be opened cannot exceed 3 times, and the opening time of each time is set according to the set time. Execute at the first preset time. 7. The control method of the kinetic energy emitting device according to claim 6, wherein the first preset time cannot exceed 10 seconds, and the first preset time is set to 3 seconds. 8. The control method of the kinetic energy emitting device according to claim 1, wherein the second preset time is set to 1 second. 9. The control method of the kinetic energy emission device according to claim 1, characterized in that, in step S6, the air pressure of the air chamber is reduced by opening the induction valve multiple times, and the specific process is as follows: S601: After the motor rotates to zero position, the induction valve is opened for the third preset time, and the rate of change of the air chamber pressure is detected at the same time; S602: If the decrease rate of the pressure in the air chamber exceeds the threshold, close the induction valve, and judge whether the launch is successful based on the remaining pressure value of the air chamber; Set the number of times. If the number of times of opening is less than or equal to the preset number of times, then close the induction valve and then return to step S601 to reopen the induction valve. If the number of times of opening is less than or equal to the preset number of times and greater than the preset number of times, a fault prompt will be given to the induction valve. 10. The control method of the kinetic energy emitting device according to any one of claims 1 or 9, characterized in that the third preset time is set to 3 seconds.

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