CN116206511A

CN116206511A - Rocket flight teaching demonstration system

Info

Publication number: CN116206511A
Application number: CN202310267857.9A
Authority: CN
Inventors: 苏鹏; 梁建军; 陈景鹏; 赵新强; 谢雪明; 石亦琨
Original assignee: Beijing Xingtu Exploration Technology Co ltd
Current assignee: Beijing Xingtu Exploration Technology Co ltd
Priority date: 2023-03-14
Filing date: 2023-03-14
Publication date: 2023-06-02

Abstract

The invention provides a rocket flight teaching demonstration system, which comprises: the device comprises a flight control computer, a three-axis turntable, a simulation cabin section and a rocket model; the flight control computer is used for carrying out data processing and calculation, demonstrating rocket flight animation and outputting control instructions; the three-axis turntable is provided with an inertial group, and is used for receiving instructions of the flight control computer, controlling the rotation of the three axes according to the instructions and demonstrating the flight attitude of the rocket; equivalent units of a control system and a measurement system are arranged in the simulation cabin section; the rocket model adopts movable spray pipes, the spray pipes are driven to swing by using a small steering engine, a lamp strip is arranged at the engine spray pipes and the separation position of the model and used for simulating rocket time sequence actions, and a wifi module is arranged in the rocket model and used for simulating wireless telemetry data transmission. By adding the simulation cabin section and installing the actual arrow ground interface on the cabin section, the more actual operation training effect is achieved.

Description

Rocket flight teaching demonstration system

Technical Field

The invention belongs to the technical field of rocket simulation, and particularly relates to a rocket flight teaching demonstration system.

Background

The testing, launching and flying processes of the real rocket are complex, and particularly the flying process is not easy to display. Pure theory teaching can profoundly explain the flight mechanism, but lacks the real object display, and is poor in intuitiveness. The method for demonstrating and displaying the rocket flight process by adopting video and animation has poor immersion, so that the teaching and training effects are poor. The method is characterized in that a flight display means is needed to be explored, so that the rocket flight principle can be demonstrated, a certain object is provided, operability is achieved, and teaching and training effects are comprehensively improved.

At present, some related teaching research methods exist, but the demonstration means are usually single and lack comprehensive demonstration means. Some focus on rocket structure display, some focus on control mechanism display, and some focus on operation display in the launching process, which are not comprehensive.

A rocket launching training system and method with publication number CN113375501A, the rocket launching training system comprises a rocket body system, a launching system, a control system, a measuring system and a power system.

The rocket system comprises an rocket body structure, an rocket-borne computer (arranged on the rocket body structure), a three-axis turntable, an inertial unit (arranged on the three-axis turntable) and a rocket simulation computer. Wherein the rocket simulation computer comprises a real-time flight simulation computer and a visual simulation computer.

The rocket system is used for simulating the flying gesture of the rocket after being launched and generating a flying simulation animation according to real-time gesture data corresponding to the flying gesture; the control system is used for simulating the operation of the output equipment on the rocket, and collecting, processing and controlling the data of the simulated output equipment; the measuring system is used for simulating the operation of the detection equipment on the rocket and collecting and processing data of the simulated detection equipment; the power system is used for simulating the operation of energy supply equipment on the rocket, and collecting, processing and controlling data of the simulated energy supply equipment; the control system is also used for controlling the rocket body to simulate the flying gesture of the rocket after being launched according to the data fed back by the output equipment, the detection equipment and the energy supply equipment.

The output device refers to an engine, a direction component and the like, the detection device refers to a sensing component for detecting various parameters, the energy supply component refers to a fuel tank, a conveying pipeline and the like, the operation of the simulation device specifically represents corresponding equipment through state parameters of the equipment, for example, the operation of the simulation engine can be represented through state parameters such as the rotating speed of the engine, and the detection device and the energy supply device are the same.

The real-time flight simulation computer must be a computer independent of the vision simulation computer and the launch vehicle simulation computer, which may be the same computer. Three computer-generated animations can be fused for clearer presentation by video composition techniques, and three computers can also communicate with each other to obtain animation data.

And sending the inertial measurement attitude data to an rocket-borne computer, processing the data by the rocket-borne computer to obtain real-time attitude data, and sending the real-time attitude data to a rocket simulation computer, wherein the rocket simulation computer generates corresponding flight animation. The flight simulation animation of the rocket is determined by each simulated device.

The technical scheme has the following problems:

1) This solution must have a real-time simulation computer.

2) The real-time simulation computer of the technical scheme does not have the function of adjusting the flying speed.

3) In the technical scheme, data of the inertial measurement unit are transmitted to an arrow-mounted computer, and are transmitted to a real-time simulation computer after being processed by the arrow-mounted computer.

4) The technical scheme does not have the simulation function of the interface between the arrow and the ground.

In the technical scheme, the control system is used for simulating the operation of the output equipment, and the measurement system is used for simulating the operation of the detection equipment. The functional description of the output device, the detection device, is not clear, but rather is an entity, characterized by parameters.

6) The technical scheme does not have the function of simulating wireless telemetry.

7) The technical scheme has no function of demonstrating the processes of engine ignition, separation and the like of the arrow-mounted lamp belt.

The patent with publication number of CN 111710209B discloses a model rocket demonstration system and a demonstration method thereof, relates to the technical field of teaching aid models, and comprises the following components: the teaching terminal equipment is used for sending a control instruction; the model rocket shell is provided with a simulated rocket ground interface for receiving a control instruction; the simulation control components are respectively arranged in or on the surface of the simulation rocket shell, and part of the simulation control components are also connected with the simulation rocket ground interface and used for responding to the control instruction; the visible light path is used for connecting part of the analog control components and also used for connecting part of the analog control components with the analog arrow ground interface; each visible light path is connected with the simulated rocket ground interface and is used for responding to a control instruction to turn on luminescence or turn off luminescence or not so as to demonstrate the single step debugging, launching and flying process of the rocket. The method can be completely and independently used for training and teaching, simulating single-step debugging control operation of the rocket, and simulating relevant actions of the whole rocket launching and flying process.

The simulation execution mechanisms are respectively used for simulating each execution mechanism of the real rocket and responding to the control instruction to execute corresponding actions, such as the related actions of simulating swing spraying, simulating swinging rudder pieces and the like. In this embodiment, the plurality of simulation execution mechanisms includes a first simulation execution mechanism, a second simulation execution mechanism, and a third simulation execution mechanism.

The simulation initiating explosive devices are respectively used for simulating each initiating explosive device of the real rocket and executing corresponding actions in response to the control instructions. The simulated initiating explosive device simulates the detonation operation of the initiating explosive device in the rocket in the flight flow mainly by playing explosion sound or releasing smoke and the like.

The technical scheme of the invention has the following problems:

1) The simulation control component is installed in the model rocket shell of the technical scheme and comprises simulation electronic equipment, a simulation executing mechanism, a simulation initiating explosive device and simulation power supply equipment.

2) The optical path used in the technical scheme is used for simulating power supply, communication and activation.

3) According to the technical scheme, the initiating explosive device simulates detonation operation in a flight flow by playing explosion sound or releasing smoke.

4) According to the technical scheme, rocket-free flight animation is achieved.

5) According to the technical scheme, a turntable is not arranged, and the attitude change in rocket flight cannot be represented.

6) The technical scheme has no cabin section and cannot embody a real rocket ground interface.

7) According to the technical scheme, wifi is not generated, the function of a measurement system is not generated, and a wireless telemetry signal cannot be simulated.

The invention discloses a demonstration structure and a demonstration method of a second-sign F-shaped rocket, wherein the demonstration structure comprises a rocket dynamic simulation model, a lamplight and voice device, an operation desk and a graphic board, the rocket dynamic simulation model comprises a booster, a core primary rocket, a core secondary rocket, a fairing and an escape tower, the booster is provided with a transparent shell, the core primary rocket comprises a core primary rocket shell and a core primary rocket engine jet pipe, and the core primary rocket engine jet pipe is connected with a core primary rocket swinging mechanism; the fairing comprises a fairing shell and an airship, wherein the airship is connected with an escape tower, and the escape tower is connected with a vertical lifting driving mechanism. The invention adopts a method of combining an array with dynamic demonstration, the main part of the rocket body of the rocket is presented to the audience in a dynamic section processing mode, and the audience can clearly and intuitively observe the internal structure of the F-shaped rocket model of the second long sign, thereby correctly understanding the main structural composition and related functions of the rocket and ensuring that the display form is more vivid and lively.

The technical scheme has the following problems:

1) The technical scheme designates a specific rocket model as a second sign F, and designs a display method aiming at the rocket model.

2) According to the technical scheme, the structure of the rocket is emphasized, the rocket shell is provided with an automatic opening and closing mechanism, and the rocket shell can be opened through a button on an operating platform to display the internal structure of the rocket.

3) The technical proposal has lamplight inside the rocket, but the effect of the lamplight is not described in detail, and is basically only used for illumination so as to facilitate personnel to observe the structures in the rocket.

4) The technical proposal is provided with a spray pipe swinging mechanism which is also controlled by a button on an operating platform and is linked with a lamplight and shell operating mechanism.

5) The technical scheme is suitable for displaying science popularization property, and the display object is watched by non-aerospace professionals.

In summary, the prior art has the following problems:

the existing scheme has incomplete showing effect on rocket flight process. Some focus is on rocket internal construction, some focus is on information interaction between devices on the rocket, and some focus is on operation training.

The existing scheme is widely lack of simulation of an arrow ground interface, is only schematic, and lacks real arrow ground plug-in.

The existing scheme is widely lack of functional simulation of wireless telemetry transmission data on an arrow.

Most schemes lack a simulation demonstration of rocket flight processes. Often, the demonstration function of the flight trajectory is performed in real time, and the double adjustment function is absent, so that a user has to wait for a longer flight time.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a rocket flight teaching demonstration system which at least partially solves the problems of unrealistic and incomplete operation training effect in the prior art.

The embodiment of the disclosure provides a rocket flight teaching demonstration system, comprising: the device comprises a flight control computer, a three-axis turntable, a simulation cabin section and a rocket model;

the flight control computer is used for carrying out data processing and calculation, demonstrating rocket flight animation and outputting control instructions;

the three-axis turntable is provided with an inertial group, and is used for receiving instructions of the flight control computer, controlling the rotation of the three axes according to the instructions and demonstrating the flight attitude of the rocket;

the simulation cabin section is internally provided with an equivalent unit of the control system and the measurement system, the equivalent unit is used for simulating the main functions of the on-arrow control and measurement system, the simulation cabin section is provided with a plug-in and plug-out device which is used for simulating an arrow ground signal path, the simulation cabin section is provided with a take-off pressure plate simulation switch, and the simulation switch is used for sending out take-off signals;

The rocket model adopts movable spray pipes, the spray pipes are driven to swing by using a small steering engine, a lamp strip is arranged at the engine spray pipes and the separation position of the model and used for simulating rocket time sequence actions, and a wifi module is arranged in the rocket model and used for simulating wireless telemetry data transmission.

Optionally, the flight trajectory data file of the rocket is stored in the flight control computer, and the flight trajectory data file comprises speed, height, trajectory inclination angle, posture, nozzle swing angle, ignition and separation time sequence signals and attitude control nozzle opening and closing signals of the rocket which change along with time; after the rocket takes off, the flight control software sequentially reads the data in the flight trajectory data file according to the flight time, and the flight control software uses the read data to drive the rocket animation to fly.

Optionally, the flight control software has three-dimensional rocket animation, takes the earth as the background, displays the rocket to ignite and take off from the ground, and performs various ignition and separation actions in the flight process until the satellite enters the orbit;

the track line of rocket flight is displayed in the animation, the rocket flight attitude is displayed, the picture view field can be adjusted in all directions, and the rocket flight trajectory can be enlarged and reduced;

the flight control software has a flight speed doubling adjustment function, and the rocket animation can be accelerated to fly by adjusting buttons on a software interface or receiving speed doubling adjustment instructions.

Optionally, the flight control computer starts taking off after receiving the signal of the take-off pressure plate analog switch, the take-off pressure plate analog switch is arranged on the analog cabin, after the switch is pressed down, the flight control computer collects the closing signal, and then starts reading the flight trajectory data file to drive the animation to display the flight process.

Optionally, during the flight, the flight control computer outputs the control command to the outside. Comprising the following steps:

the flight control computer outputs attitude control instructions to the turntable, so that three rotating shafts of the turntable rotate along with the rocket flight attitude;

the flight control computer outputs a time sequence control instruction to an equivalent unit in the simulation cabin section, wherein the time sequence control instruction comprises an engine ignition signal, a separation signal or a gesture control spray pipe opening and closing signal;

the flight control computer outputs steering engine swinging instructions to the rocket model, so that the steering engine drives the spray pipe to swing.

Optionally, the three-axis turntable comprises three axes, wherein an outer frame of the three axes represents a yaw direction, a middle frame of the three axes represents a pitch direction, and an inner frame of the three axes represents a roll direction;

the turntable controller receives a control instruction of the flight control computer, wherein the control instruction comprises three attitude angles of yaw, pitch or roll, and the turntable controller drives three rotating shafts of the turntable to rotate;

The table top of the inner frame of the turntable is provided with an inertial unit, the inertial unit is connected to the outside of the turntable through a slip ring and a cable in the turntable, is in butt joint with an external cable, supplies power and communicates with the inertial unit through the external cable, and when the turntable rotates, the inertial unit outputs measured angle information to the flight control computer.

Optionally, the whole frame of the simulation cabin section is formed by welding a long steel pipe with two end ring frames, the outer side of the whole frame is wrapped by an outer skin, and the inner side of the whole frame is covered by an inner skin;

an equivalent unit is installed in the cabin of the simulation cabin section, and the equivalent unit performs information interaction through cables in the cabin section;

the equivalent unit comprises control system equivalent equipment and measurement system equivalent equipment;

the control system equivalent equipment is used for receiving a control instruction of the flight control computer, outputting a lamp strip control signal, simulating a time sequence signal sent by a rocket, interacting with a test launch control through a plug-and-play interface, simulating a rocket test and launch flow of the control system, and sending data of the control system to the measurement system.

The measuring system equivalent equipment is used for interacting with the ground measuring console through the arrow-removing and inserting ground interface, simulating measuring system testing and transmitting processes, and comprises various sensors on the arrow and collecting sensor data; the measuring system equivalent equipment is also used for acquiring data sent by the control system, converging sensor data, sending the sensor data to a wifi module in the rocket model, sending the sensor data through wireless wifi, and simulating a wireless telemetry function on the rocket;

The device comprises a simulation cabin section, a ground measurement control system, an on-arrow measurement system and a ground measurement control console, wherein the simulation cabin section is provided with a pulling-out and pulling-in device on the cabin wall, the pulling-out and pulling-in device comprises a manual operation and an electric operation, the pulling-out and pulling-in device is used for simulating an electrical interface between an on-arrow and the ground, the on-arrow control system and the ground measurement control system are used for carrying out signal interaction through the pulling-out and pulling-in device, and the ground system is used for completing the test and the launching flow control of a rocket through the pulling-out and pulling-in device; the ground system transmits signals to the rocket through the rocket ground interface;

the simulation cabin section is provided with a take-off pressing plate simulation switch, the switch state is collected by a flight control computer, when the take-off pressing plate simulation switch is closed, the flight control computer collects the closed state, the flight control software starts taking off, and when the take-off pressing plate simulation switch is opened, the flight control software is restored to the initial state.

Optionally, a lamp strip is arranged in the rocket model, and the lamp strip is arranged at the positions of an engine nozzle, a boosting separation connecting structure, an interstage separation surface, a fairing transverse and longitudinal separation surface, a attitude control nozzle and a thrust reversal rocket nozzle;

the lamp belts at each position are controlled by a single switch, when the rocket is ignited and takes off, the lamp belts at the jet pipe of the primary engine and the booster engine are controlled to be lightened, the primary engine and the booster engine work, and after the primary engine is turned off, the lamp belts of the jet pipe of the primary engine are turned off;

The actuating mechanism in the rocket model is connected to the small electric steering engine, is controlled to swing by the small electric steering engine, and swings according to an actual rocket, and comprises a steering engine zero position, a swing direction and a swing angle.

Optionally, the method comprises the following steps:

firstly, interacting with a ground test launch control and measurement system console through an arrow ground interface on a simulation cabin section respectively to finish test before take-off and launch process preparation work, wherein a three-axis turntable is in an initial state, and simulating the posture of a rocket standing on the launch platform;

after the ground test launch control sends out an ignition signal, a take-off pressing plate simulation switch is operated to be connected, and the process of rocket ignition take-off and leaving the launching pad is simulated;

after the flight control software collects the start signal of the take-off press plate analog switch, entering a flight program, and starting the rocket animation on the software interface to fly off the launching pad; meanwhile, the flight control computer outputs a control instruction to equivalent equipment of a control system in the cabin section, and the equivalent equipment of the control system outputs a first-stage ignition lamp belt lighting signal and a boosting engine ignition lamp belt lighting signal to the rocket model; the flight control computer outputs steering engine control instructions to steering engines in the rocket model to control the jet pipe to swing;

The flight control computer outputs a control instruction to the turntable controller, drives the three-axis turntable to adjust pitching, yawing or rolling angles according to the rocket flight attitude, and simulates attitude change in the rocket flight process;

as the rocket continues to fly, the rocket flying and orbit entering process is displayed on the flying control software interface, and the flying trajectory line is displayed. According to the time sequence action in the rocket flight process, the flight control computer sends out different lamp strip lighting instructions and steering engine action instructions, and the different lamp strip lighting instructions and steering engine action instructions are matched with actions in rocket animation, so that the ignition, separation or nozzle swinging actions of all levels of engines in the rocket flight process are simulated;

the equivalent equipment of the measurement system in the cabin section continuously outputs data to a wifi module in the rocket model, the wifi module sends the data out in a wireless mode, the ground receives and acquires rocket flight parameters through the wifi data, and a process of sending telemetry data to the ground in the rocket flight process is simulated;

stopping after the rocket trajectory flies, and stopping working rocket animation, a three-axis turntable, a lamp strip, a steering engine and wifi data of flight control software; after the takeoff pressure plate simulation switch is restored to the initial state, the rocket animation and the three-axis turntable are restored to the initial state, and the next takeoff is waited.

According to the rocket flight teaching demonstration system provided by the invention, the simulation cabin section is added, and the actual rocket ground interface is installed on the cabin section for use to remove the plug, so that a more actual operation training effect is achieved.

The rocket model is provided with a wireless telemetry simulation function,

the rocket flight animation can be regulated in multiple times, so that the flight time is shortened, and the use efficiency is improved. But not at double speed near key timing actions such as ignition, separation, etc., to facilitate a user's careful observation of the course of action.

Drawings

The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the disclosure.

FIG. 1 is a functional block diagram of a rocket flight teaching demonstration system provided by an embodiment of the present disclosure;

FIG. 2 is a schematic block diagram of a three-axis turntable provided by an embodiment of the present disclosure;

FIG. 3 is a functional block diagram of a simulation pod provided by an embodiment of the present disclosure;

FIG. 4 is a functional block diagram of an interstage separation light bar provided by an embodiment of the present disclosure;

FIG. 5 is a schematic block diagram of a spray tube lamp strip provided by an embodiment of the present disclosure;

FIG. 6 is a schematic block diagram of steering engine control provided by an embodiment of the present disclosure;

FIG. 7 is a functional block diagram of a rocket model provided by an embodiment of the present disclosure;

fig. 8 is a workflow diagram of a rocket flight teaching demonstration system provided by an embodiment of the present disclosure.

Detailed Description

Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

It should be appreciated that the following specific embodiments of the disclosure are described in order to provide a better understanding of the present disclosure, and that other advantages and effects will be apparent to those skilled in the art from the present disclosure. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.

It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the disclosure by way of illustration, and only the components related to the disclosure are shown in the illustrations, rather than being drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.

In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.

As shown in fig. 1, the present embodiment discloses a system comprising four major parts in total, namely a flight control computer, a small three-axis turntable, a simulation cabin section and a rocket model. The flight control computer is a brain of the system and is responsible for data processing and calculation, rocket flight animation demonstration and outputting control instructions; an inertial unit is arranged on the small three-axis turntable, the turntable receives instructions of the flight control computer, and the three axes are controlled to rotate according to the instructions to demonstrate the flight attitude of the rocket; the simulation cabin section is internally provided with an equivalent unit of the control system and the measurement system, simulates the main functions of the on-arrow control and measurement system, is provided with a disengaging and inserting device, simulates an arrow ground signal path, and is provided with a take-off pressing plate simulation switch for sending out take-off signals; the rocket model adopts a movable spray pipe, a small steering engine is used for driving the spray pipe to swing, a lamp strip is arranged at an engine spray pipe and a separation position of the model, actions such as rocket flight ignition and separation are simulated, a wifi module is installed in the rocket model, and wireless telemetry data transmission is simulated.

Flight control computer:

the flight control computer does not use embedded equipment and adopts an industrial personal computer (the Mianhua IPC610L, AIMB-707VG mainboard). And running flight control software on the flight control computer, and displaying rocket flight animation on a software interface.

The method specifically comprises the following functions:

1. the flight control computer stores a flight trajectory data file of the rocket, wherein the file comprises the speed, the altitude, the trajectory inclination angle, the gesture (pitching, yawing and rolling) of the rocket which changes along with time, the swing angle of the spray pipe, the ignition and separation time sequence signals, the gesture control spray pipe opening and closing signals and the like. After the rocket takes off, the flight control software sequentially reads the data in the trajectory data file according to the flight time, and uses the data to drive the rocket animation to fly.

2. The flight control software has three-dimensional rocket animation, takes the earth as the background, displays the actions of rocket ignition and take-off from the ground, ignition and separation of each stage in the flight process, and the like, until the whole satellite orbit entering process. The track line of rocket flight is displayed in the animation, and the rocket flight attitude is displayed. The picture view field can be adjusted in all directions, and can be enlarged and reduced.

3. The flight control software has a flight speed adjustment function. The rocket animation can be accelerated to fly by adjusting buttons on a software interface or receiving remote double-speed adjustment instructions of other devices. The speed doubling flight range is 1-50 times. When the speed is regulated to X times of the speed, the flight control software accelerates the flight process, and the flight process of X seconds is displayed in 1 second.

4. The double speed display is not carried out before and after the key time sequence action of the flight, including the working time periods of ignition, separation and gesture control of each stage, the working time periods are properly slowed down, or the demonstration process is prolonged, for example, the lighting time of a lamp strip is prolonged, the time interval is prolonged, and the like, so that enough observation time is reserved for personnel. Otherwise, the separation action is too fast after the speed doubling, the lighting of the separated surface lamp strip is not easy to be observed, and the display effect is not achieved.

5. And the flight control computer starts taking off after receiving the signals of the take-off pressing plate analog switch. The takeoff pressure plate simulation switch is arranged on the simulation cabin section, after the switch is pressed down, the flight control computer collects a closing signal, and then starts to read a flight trajectory data file to drive the animation to display the flight process.

6. In the flight process, the flight control computer outputs control instructions to the outside. Comprises three parts: 1) The flight control computer outputs attitude control instructions to the turntable, so that three rotating shafts of the turntable rotate along with the rocket flight attitude; 2) The flight control computer outputs time sequence control instructions to an equivalent unit of a control and measurement system in the simulation cabin section, wherein the time sequence control instructions comprise engine ignition, separation signals and attitude control spray pipe opening and closing signals; 3) And outputting a steering engine swinging instruction to the rocket model to enable the steering engine to drive the spray pipe (or other actuating mechanisms) to swing.

As shown in fig. 2, the small three-axis turntable is specifically as follows:

a three-axis electric turntable with the model of EWR601 of the middle and high light company is adopted to match with a ZT-KZ03 turntable controller. The optical fiber inertial measurement unit with model SNC300F of interstellar guiding control company is arranged on the turntable.

1. Three axes of the turntable are set, the outer frame represents the yaw direction, the middle frame represents the pitch direction, and the inner frame represents the roll direction (which can be adjusted according to the situation).

2. The turntable controller receives control instructions of the flight control computer, wherein the instructions are three attitude angles of yaw, pitch and roll, namely rotation angles of an outer frame, a middle frame and an inner frame. The turntable controller drives the three rotating shafts of the turntable to rotate.

3. The table top of the inner frame of the turntable is provided with an inertial unit, and the inertial unit is connected to the outside of the turntable through a slip ring and a cable in the turntable and is in butt joint with an external cable. And power supply and communication are carried out on the inertial measurement unit through an external cable. The communication line is RS422 and is connected with the flight control computer. When the turntable rotates, the inertial measurement unit outputs the measured angle information to the flight control computer through the RS422 communication line.

As shown in fig. 3, the simulation deck is specifically as follows;

the simulated cabin section adopts a frame skin structure and is used for simulating the cabin section on the rocket. And equivalent equipment of a control system and equivalent equipment of a measurement system are installed in the cabin. The bulkhead is provided with a disengaging-inserting and disengaging-pulling mechanism which is an electrical interface between the arrow ground. A take-off pressing plate analog switch is arranged on the cabin section.

1. The simulated cabin section is 0.9m in diameter and 1m in length, the integral frame is formed by welding 12 equal-length steel pipes and two end ring frames, the outer side of the integral frame is wrapped by an outer skin, and the inner side of the integral frame is covered by an inner skin.

2. And the cabin is internally provided with equivalent equipment of a control system and a measurement system, and the control system and the measurement system interact information through cables in the cabin.

The equivalent equipment of the control system is used for simulating the functions of the control system on the arrow and mainly comprises the following three pieces. The functions can be realized by a device which is not limited to one device.

1) Receiving a control instruction of a flight control computer, outputting a lamp strip control signal, and simulating a time sequence signal sent by a rocket;

2) Interacting with the test launch control through the interface of the pulling-out and inserting rocket, and simulating the rocket test and launch flow of the control system;

3) And sending the data of the control system to a measurement system, and transmitting the data by adopting a wireless wifi mode through the measurement system.

The equivalent equipment of the measuring system is used for simulating the functions of the measuring system on the arrow and mainly comprises the following three strips. The functions can be realized by a device which is not limited to one device.

1) Interacting with a ground measurement console through a ground interface for removing and inserting an arrow, and simulating a measurement system test and emission flow;

2) The measuring system comprises various sensors on the arrow, and acquires sensor data;

3) Acquiring data sent by a control system, converging sensor data, sending the sensor data to a wifi module in a rocket model, sending the sensor data through wireless wifi, and simulating a wireless telemetry function on the rocket;

3. the cabin wall is provided with a pulling-out and pulling-out device which comprises a manual operation and an electric operation. The electric plug-in type is JF3-256TD (plug) and JF3-256Z2 (socket), and the manual plug-in type is JF3-256T (plug) and JF3-256Z2 (socket). The electrical interface between the rocket and the ground, which is simulated by the pulling-out and pulling-out device, is between the rocket control system and the ground test launch control system, and between the rocket measurement system and the ground measurement console, and is through pulling-out and pulling-in signal interaction, and the ground system completes the test and launch flow control of the rocket through pulling-out and pulling-in. Signals of power supply, communication, monitoring and the like of the ground system to the rocket are transmitted through the rocket ground interface. Before taking off, equipment in the cabin section is converted into a power supply mode, and the equipment can be pulled out and pulled out by pulling out and pulling out the equipment.

4. A takeoff press plate analog switch is installed, and the switch state is collected by a flight control computer. When the takeoff pressing plate simulation switch is closed, the flight control computer collects a closed state, and the flight control software starts to take off. When the takeoff press plate analog switch is disconnected, the flight control software is restored to an initial state.

As shown in fig. 4 and 5, the rocket model is specifically as follows:

the rocket model is made of acrylic plates and has a height of 3 meters. The local cabin section is transparent plate material, and can observe the swing of the internal spray pipe and the flashing of the lamp strip.

1. The rocket model is internally provided with a lamp strip which is arranged at the positions of an engine spray pipe, a boosting separation connecting structure, an interstage separation surface, a fairing transverse and longitudinal separation surface, a attitude control spray pipe, a thrust reversal rocket spray pipe and the like. The light strip in each position is controlled by a single switch, and the switch signal is from the equivalent equipment of the control system in the analog cabin. When the rocket is ignited and takes off, the lamp strips at the jet pipes of the primary engine and the boosting engine are controlled to be lighted, so that the primary engine and the boosting engine work, and after the primary engine is turned off, the lamp strips of the jet pipes of the primary engine are turned off.

2. Actuating mechanisms such as spray pipes, air rudders and the like in the rocket model are connected to the small electric steering engine and are controlled to swing by the small electric steering engine. The swing of the actuating mechanism is designed according to an actual rocket, and comprises a steering engine zero position, a swing direction and a swing angle. The steering engine adopts a model SCS15 product of a femto, and is matched with a URT-1 multifunctional serial port signal converter. One URT-1 signal converter can drag a plurality of steering engines to use. The URT-1 signal converter receives steering engine control instructions from the flight control computer and then drives the corresponding steering engine to drive the spray pipe or other mechanisms (air rudders, grid rudders and the like) to swing. As shown in fig. 6 and 7.

3. And a wifi module is installed in the rocket model and used for simulating wireless telemetry on the rocket. The model of the wifi module is TL-WN726N of TP-LINK. The wifi module receives data from equivalent equipment of the measuring system in the analog cabin section, and then converts the data into radio frequency signals to be sent out.

As shown in fig. 8, the teaching demonstration system uses the following procedures:

1. the system firstly interacts with a ground test launch control and measurement system console through an arrow ground interface (off-plug) on the simulation cabin section to finish test before take-off and launch process preparation work; the small three-axis turntable is in an initial state and simulates the posture of the rocket standing on the launching platform.

2. After the ground test launch control sends out an ignition signal, a take-off pressing plate simulation switch is operated to be connected, and the process of rocket ignition take-off and leaving the launching pad is simulated;

3. after the flight control software collects the start signal of the take-off press plate analog switch, the flight control software enters a flight program, and rocket animation on a software interface starts to fly off the launching pad. Meanwhile, the flight control computer outputs a control instruction to equivalent equipment of a control system in the cabin section, and the equivalent equipment of the control system outputs a first-stage ignition lamp belt lighting signal of the booster engine to the rocket model. The flight control computer outputs steering engine control instructions to steering engines in the rocket model to control the jet pipe to swing;

4. Simultaneously with the previous step, the flight control computer outputs a control instruction to the turntable controller, drives the three-axis turntable to adjust pitching, yawing and rolling angles according to the flying attitude of the rocket, and simulates the attitude change in the flying process of the rocket;

5. as the rocket continues to fly, the rocket flying and orbit entering process is displayed on the flying control software interface, and the flying trajectory line is displayed. According to the time sequence action in the rocket flight process, the flight control computer sends out different lamp strip lighting instructions and steering engine action instructions, and the different lamp strip lighting instructions and steering engine action instructions are matched with actions in rocket animation, so that actions such as ignition, separation, nozzle swing and the like of engines at all levels in the rocket flight process are simulated;

6. in the process, equivalent equipment of a measurement system in the cabin continuously outputs data to a wifi module in the rocket model, and the wifi module sends the data out in a wireless mode. The ground receives and acquires rocket flight parameters through wifi data. Simulating a process of sending telemetry data to the ground in the rocket flight process;

7. stopping after the rocket trajectory flies, and stopping working rocket animation, a three-axis turntable, a lamp strip, a steering engine, wifi data and the like of flight control software. After the takeoff pressure plate simulation switch is restored to the initial state, the rocket animation and the three-axis turntable are restored to the initial state, and the next takeoff is waited.

The technical scheme has the following advantages:

(1) Through the speed doubling adjustment, the waiting time of a user is shortened, and the efficiency is improved.

(2) The wireless telemetry function can be simulated, the simulation of the rocket function is expanded, and the simulation is closer to reality.

(3) The rocket ground interface which is the same as the real rocket is installed on the simulation cabin section for removing the plug, so that a more real operation effect is achieved.

The present embodiment is only required to have one flight control computer.

The real-time simulation computer of the embodiment has the function of adjusting the flying speed.

In this embodiment, inertial measurement data is sent directly to the flight control computer.

The problem of arrow ground interface simulation is well solved through the cabin section.

This embodiment has the function of simulating wireless telemetry.

The embodiment has the function of demonstrating the processes of engine ignition, separation and the like of the arrow-mounted lamp belt.

The control system and the measurement system of the embodiment are not arranged on the rocket model, but realize functions in the cabin.

In this embodiment, the light path is not used, but a lamp strip is used at the installation position of the initiating explosive device to represent the initiation of the initiating explosive device.

In the embodiment, a lamp strip is not used for indicating the initiating explosive device detonation result.

The embodiment has a turntable which can show the attitude change in rocket flight.

The cabin section is arranged in the embodiment, so that a real rocket ground interface can be embodied.

The wifi is set in the embodiment, and the wireless remote sensing signal can be simulated by the wifi measuring system.

The present embodiment does not specify a particular rocket model.

The basic principles of the present disclosure have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present disclosure. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, since the disclosure is not necessarily limited to practice with the specific details described.

In this disclosure, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions, and the block diagrams of devices, apparatuses, devices, systems involved in this disclosure are merely illustrative examples and are not intended to require or implicate that connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.

In addition, as used herein, the use of "or" in the recitation of items beginning with "at least one" indicates a separate recitation, such that recitation of "at least one of A, B or C" for example means a or B or C, or AB or AC or BC, or ABC (i.e., a and B and C). Furthermore, the term "exemplary" does not mean that the described example is preferred or better than other examples.

It is also noted that in the systems and methods of the present disclosure, components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered equivalent to the present disclosure.

Various changes, substitutions, and alterations are possible to the techniques described herein without departing from the teachings of the techniques defined by the appended claims. Furthermore, the scope of the claims of the present disclosure is not limited to the particular aspects of the process, machine, manufacture, composition of matter, means, methods and acts described above. The processes, machines, manufacture, compositions of matter, means, methods, or acts, presently existing or later to be developed that perform substantially the same function or achieve substantially the same result as the corresponding aspects described herein may be utilized. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or acts.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the disclosure to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.

Claims

1. A rocket flight teaching demonstration system, comprising: the device comprises a flight control computer, a three-axis turntable, a simulation cabin section and a rocket model;

2. The rocket flight teaching demonstration system according to claim 1, wherein a flight trajectory data file of the rocket is stored in the flight control computer, wherein the flight trajectory data file comprises speed, altitude, trajectory inclination, attitude, nozzle swing angle, ignition and separation timing signals and attitude control nozzle opening and closing signals of the rocket in time variation; after the rocket takes off, the flight control software sequentially reads the data in the flight trajectory data file according to the flight time, and the flight control software uses the read data to drive the rocket animation to fly.

3. The rocket flight teaching demonstration system according to claim 2 wherein the flight control software has three-dimensional rocket animation, takes the earth as the background, displays the rocket to ignite and take off from the ground, and performs various stages of ignition and separation actions in the flight process until the satellite enters the orbit;

4. A rocket flight teaching demonstration system according to claim 3 wherein the flight control computer receives the signals of the takeoff platen analog switch and starts to take off, the takeoff platen analog switch is arranged on the analog cabin, after the switch is pressed down, the flight control computer collects the closing signals and then starts to read the flight trajectory data file to drive the animation to display the flight process.

5. The rocket flight teaching demonstration system according to claim 4 wherein the flight control computer outputs control instructions externally during flight. Comprising the following steps:

6. A rocket flight teaching demonstration system according to claim 5 wherein said three-axis turntable comprises three axes, an outer frame of the three axes representing yaw direction, a middle frame of the three axes representing pitch direction, and an inner frame of the three axes representing roll direction;

7. The rocket flight teaching demonstration system according to claim 6, wherein the integral frame of the simulated cabin section is formed by welding long steel pipes with two end ring frames, the outer side of the integral frame is wrapped by an outer skin, and the inner side of the integral frame is covered by an inner skin;

8. A rocket flight teaching demonstration system according to claim 7 wherein a light strip is disposed within said rocket model, said light strip being disposed at the engine nozzle, booster separation connection structure, interstage separation surfaces, fairing lateral and longitudinal surfaces, attitude control nozzles and thrust reversal rocket nozzle locations;

9. A rocket flight teaching demonstration system according to claim 8 comprising: