CN209445899U - A kind of projectile correction executive device on bispin shell - Google Patents
A kind of projectile correction executive device on bispin shell Download PDFInfo
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- CN209445899U CN209445899U CN201821958442.7U CN201821958442U CN209445899U CN 209445899 U CN209445899 U CN 209445899U CN 201821958442 U CN201821958442 U CN 201821958442U CN 209445899 U CN209445899 U CN 209445899U
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Abstract
The three-phase voltage of the projectile correction executive device that the utility model discloses a kind of on bispin shell, including duck rudder and permanent magnet generator, permanent magnet generator output is successively electrically connected rectification circuit, constant-current control circuit, current detection circuit, microprocessor；Duck rudder is four and is fixed on the rudder piece composition for connecting firmly shape on outer housing in " ten " word, and permanent magnet generator is fixed on the inside of duck rudder outer housing, spatial motion sensor, spatial motion sensor microprocessor are further fixed on the outer housing of duck rudder；Microprocessor is successively electrically connected optical coupling isolation circuit, linear amplifier circuit, constant-current control circuit；Linear amplifier circuit and optical coupling isolation circuit are separately connected 5V power supply；Constant-current control circuit connects 12V power supply；The utility model controls duck rudder revolving speed as correcting device by permanent magnet generator, can provide larger stabilizing moment, realizes the amendment of two-dimensional space, while the device has the characteristics that occupy little space, the response time is fast.
Description
Technical field
The utility model belongs to shell guidance executive device technical field, and in particular to a kind of bullet on bispin shell
Correct executive device in road.
Background technique
With the fast development of modern war theory, informationization fights and has become portion more and more important in modern war
Point, this requires operational weapons should have the ability of precision strike target, to reduce to the non-damage to strike target.Obviously, it leads
Bullet meets this requirement the most, but because its cost is too high, is only useful in strike important goal, to prevent guided missile from extensive
Be dropped in war.And tradition shell is although at low cost, but its attack precision is low, can not also adapt to the requirement of modern war.
So repacking existing traditional shell into guided cartridge with projectile correction ability at lower cost, it is made to have precision strike
Ability, it has also become a part increasingly heavier in modern war.And small-bore, the closer bispin shell of range, since it is simple
Easily-controllable, the at low cost and ability that more flexibly strikes target, by many favors.
Amendment executive device is the important component that guided cartridge carries out projectile correction, when guided cartridge guidance system is raw
After steering instruction, which will be transmitted to executive device controller, be held by exporting to execute to order to act on after signal processing
Luggage is set, and the executive device is according to the aerodynamic force for ordering change body suffered in flight course is executed, to change body
The normal direction torque being subject to, to change the projectile correction that the heading of body realizes shell.Currently, the amendment on shell is held
Luggage, which is set mainly, resistance gauge, pulsed motor and motor.Resistance type modification method can only realize the amendment in range, repair
Positive ability is limited.Pulsed motor type modification method can only realize the amendment of finite number of time, influenced by bullet high speed rotation, make arteries and veins
The average thrust very little of engine generation is rushed, correction effect is lower.Structure is complicated and not easy to control for electric motor type modification method, uses
Many spaces can be occupied on whizbang, influence the missile-borne amount of shell, to influence the hitting power of shell.
It can be seen that existing projectile correction executive device has, volume is big, higher cost, structure is complicated, correction effect
The problems such as poor, finds a kind of simple, at low cost, the quick sensitive projectile correction executive device of structure thus and is used in small-bore bispin
There is good practicability on shell.
Utility model content
The projectile correction executive device that the purpose of the utility model is to provide a kind of on bispin shell, solves existing
The problem that structure is complicated for trajectory executive device, volume is big, control sensitivity is low effectively improves the strike essence of small-bore bispin shell
Degree.
The utility model is the technical scheme adopted is that a kind of projectile correction executive device on bispin shell, packet
The permanent magnet generator inside duck rudder and duck rudder is included, the three-phase voltage of permanent magnet generator output is electrically connected rectification circuit, rectified current
Road is electrically connected constant-current control circuit, and constant-current control circuit is electrically connected current detection circuit, and current detection circuit is electrically connected
Microprocessor；Duck rudder is to be fixed on outer housing to constitute in the rudder piece that " ten " word connects firmly shape by four, and permanent magnet generator is fixed on
The inside of duck rudder outer housing, spatial motion sensor is further fixed on the outer housing of duck rudder, and spatial motion sensor is electrically connected
Microprocessor；Microprocessor is electrically connected optical coupling isolation circuit, and optical coupling isolation circuit is electrically connected linear amplifier circuit electrical property, line
Property amplifying circuit is electrical connected with constant-current control circuit；Linear amplifier circuit and optical coupling isolation circuit are separately connected 5V power supply；It is permanent
Flow control circuit connects 12V power supply；Optical coupling isolation circuit includes opto-coupler chip.
The utility model is also characterized by
Microprocessor is STM32F4 single-chip microcontroller.
Spatial motion sensor is MPU6050 three-dimensional perspective sensor
Linear amplifier circuit includes operational amplifier N1, and the backward end input terminal of operational amplifier N1 connects resistance R4, electricity
Hold C6 and opto-coupler chip port 3, the other end of resistance R4 are connected with PWM port, the output end of the capacitor C6 other end and amplifier N1
Connection, the noninverting input of amplifier N1 connect digitally, and the power supply anode of amplifier N1 connects respectively at+5V power supply and capacitor C5
It connects, digitally, the output end of amplifier N1 is also connect with resistance R5 another termination of capacitor C5, the other end and optocoupler core of resistance R5
Piece port 1 connects, and opto-coupler chip port 2 is connect with+5V power supply, and opto-coupler chip port 4 connects digitally, and opto-coupler chip port 5 is divided
Do not connect with the noninverting input of operational amplifier N2 and power supply negative terminal simulation ground, opto-coupler chip port 6 respectively with operational amplifier
Reverse input end, the resistance R6 of N2 is connected with capacitor C7, and resistance R6, capacitor C7 connect with the output end of operational amplifier N2 respectively
It connects, the power supply anode of amplifier N2 is connected respectively at+5V power supply with capacitor C6, another termination simulation of capacitor C6 ground.
Constant-current control circuit includes operational amplifier N3, the noninverting input of operational amplifier N3 respectively with operational amplifier
The output end of N2 is connected with capacitor C4, and another termination of capacitor C4 simulates ground, and the power supply of operational amplifier N3 just terminates 12V
Power supply, negative terminal connect simulation ground, and the reverse input end of operational amplifier N3 is separately connected the pole s of resistance Rf and nmos pipe, resistance Rf
Another termination simulate ground, the output end of amplifier N3 is separately connected resistance R2 and capacitor C3, another termination simulation of capacitor C3 ground, electric
The resistance R2 other end is connect with the pole g of nmos pipe and resistance R3 respectively, and another termination simulation of resistance R3 ground, the pole nmos pipe d connects respectively
Transient Suppression Diode D7 and resistance R1 are met, the resistance R1 other end is connect with capacitor C2, and the capacitor C2 other end and the pole nmos pipe s connect
It connects, another termination of Transient Suppression Diode D7 simulates ground.
Rectification circuit includes diode VD1 and VD4, VD2 and VD5, VD3 and the VD6 connected two-by-two, diode VD1, VD2
Connected respectively at capacitor C1 with Transient Suppression Diode D7 with the cathode of VD3, the anode of diode VD4, VD5 and VD6 respectively at
The other end of capacitor C1 connects with the other end of Transient Suppression Diode D7 and connects simulation ground；Magneto three-phase output end mouth
A, B, C are connected to VD1 and VD4, VD2 and VD5, between VD3 and VD6.
The utility model has the beneficial effects that a kind of projectile correction on bispin shell of the utility model executes dress
It sets through permanent magnet generator as correcting device, to control duck rudder revolving speed, is capable of providing biggish stabilizing moment, realize that two dimension is empty
Between amendment the advantages of, meanwhile, which is remarkably improved the accurate striking capabilities of shell；Meanwhile the device have account for
With the feature that space is small, the response time is fast and low in cost.
Detailed description of the invention
Fig. 1 is a kind of system structure diagram of the projectile correction executive device on bispin shell of the utility model；
Fig. 2 is a kind of electric operation control circuit figure of the projectile correction executive device on bispin shell of the utility model；
Fig. 3 is a kind of duck rudder structure figure of the projectile correction executive device on bispin shell of the utility model；
Fig. 4 is a kind of duck rudder force diagram of the projectile correction executive device on bispin shell of the utility model；
Fig. 5 is a kind of electromagnetic torque control process of the projectile correction executive device on bispin shell of the utility model
Figure.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
The utility model one kind be based on voltage sensitive sensor guided missile parameter detection device, structure as shown in Figure 1,
Including permanent magnet generator, duck rudder, rectification circuit, constant-current control circuit, linear amplifier circuit, optical coupling isolation circuit,
Current detection circuit, power module, spatial motion sensor and microprocessor, power module include 5V power module and 12V
Power module.The three-phase voltage of permanent magnet generator output is electrically connected rectification circuit, and rectification circuit is electrically connected current constant control electricity
Road, constant-current control circuit are electrically connected current detection circuit, and current detection circuit is electrically connected microprocessor；Duck rudder is by four
It is fixed on outer housing and is constituted in the rudder piece that " ten " word connects firmly shape, permanent magnet generator is fixed on the inside of duck rudder outer housing, duck rudder
Outer housing on be further fixed on spatial motion sensor, spatial motion sensor is electrically connected microprocessor；Microprocessor is electrical
Optical coupling isolation circuit is connected, optical coupling isolation circuit is electrically connected linear amplifier circuit electrical property, linear amplifier circuit and current constant control
Circuit is electrical connected；Linear amplifier circuit and optical coupling isolation circuit are separately connected 5V power supply；Constant-current control circuit connects 12V electricity
Source；Optical coupling isolation circuit includes opto-coupler chip.
Microprocessor is STM32F4 single-chip microcontroller.
Spatial motion sensor is MPU6050 three-dimensional perspective sensor
As shown in Fig. 2, linear amplifier circuit includes operational amplifier N1, the backward end input terminal connection of operational amplifier N1
Resistance R4, capacitor C6 and opto-coupler chip port 3, the other end of resistance R4 are connected with PWM port, the capacitor C6 other end and amplifier N1
Output end connection, the noninverting input of amplifier N1 connects digitally, and the power supply anode of amplifier N1 is respectively at+5V power supply and electricity
Hold C5 connection, digitally, the output end of amplifier N1 is also connect with resistance R5 another termination of capacitor C5, the other end of resistance R5 and
Opto-coupler chip port 1 connects, and opto-coupler chip port 2 is connect with+5V power supply, and opto-coupler chip port 4 connects digitally, opto-coupler chip end
Mouth 5 connects simulation ground with the noninverting input of operational amplifier N2 and power supply negative terminal respectively, and opto-coupler chip port 6 is put with operation respectively
Reverse input end, the resistance R6 of big device N2 is connected with capacitor C7, resistance R6, capacitor the C7 output end with operational amplifier N2 respectively
Connection, the power supply anode of amplifier N2 are connected respectively at+5V power supply with capacitor C6, another termination simulation of capacitor C6 ground.
Constant-current control circuit includes operational amplifier N3, the noninverting input of operational amplifier N3 respectively with operational amplifier
The output end of N2 is connected with capacitor C4, and another termination of capacitor C4 simulates ground, and the power supply of operational amplifier N3 just terminates 12V
Power supply, negative terminal connect simulation ground, and the reverse input end of operational amplifier N3 is separately connected the pole s of resistance Rf and nmos pipe, resistance Rf
Another termination simulate ground, the output end of amplifier N3 is separately connected resistance R2 and capacitor C3, another termination simulation of capacitor C3 ground, electric
The resistance R2 other end is connect with the pole g of nmos pipe and resistance R3 respectively, and another termination simulation of resistance R3 ground, the pole nmos pipe d connects respectively
Transient Suppression Diode D7 and resistance R1 are met, the resistance R1 other end is connect with capacitor C2, and the capacitor C2 other end and the pole nmos pipe s connect
It connects, another termination of Transient Suppression Diode D7 simulates ground.
Rectification circuit includes diode VD1 and VD4, VD2 and VD5, VD3 and the VD6 connected two-by-two, diode VD1, VD2
Connected respectively at capacitor C1 with Transient Suppression Diode D7 with the cathode of VD3, the anode of diode VD4, VD5 and VD6 respectively at
The other end of capacitor C1 connects with the other end of Transient Suppression Diode D7 and connects simulation ground；Magneto three-phase output end mouth
A, B, C are connected to VD1 and VD4, VD2 and VD5, between VD3 and VD6.
Magneto three-phase output end mouth A is connect with the cathode of the anode of diode VD1 and diode VD4 respectively, port B
Connect respectively with the cathode of the anode of diode VD2 and diode VD5, port C respectively with the anode and diode of diode VD3
The cathode of VD6 connects.
A kind of projectile correction executive device on bispin shell of the utility model, including duck rudder and permanent magnet generator,
The duck rudder is fixed on the outer housing and body inner shaft relative rotation of body, studded with inside duck rudder outer housing one group of permanent magnet,
Inner shaft is then embedded in one group of coil windings on corresponding position, and when duck rudder and the relative rotation of body inner shaft, coil windings can be generated
Induced electromotive force, working principle is identical as permanent magnet generator, therefore the two constitutes outer rotor permanent magnet generator.
A kind of projectile correction executive device on bispin shell of the utility model, concrete operating principle is:
Have on duck rudder outer housing there are four the rudder piece connected firmly in " ten " word, duck rudder is fixed on body outer housing, such as Fig. 3 institute
Show, wherein No. 1 rudder piece and No. 3 rudder pieces are known as rudder in the same direction, when trajectory needs to correct, provides corresponding correcting force for bullet；No. 2
Rudder piece and No. 4 rudder pieces are known as Jenkel rudder, for providing the pneumatic rolling moment of duck rudder rotation.After pellet injection, body high speed is revolved
Turn, duck rudder reversely rotates under the action of Jenkel rudder with body.When the stable rotation of duck rudder, the steering force pair of rudder generation in the same direction
The mean effort of body is zero, and trajectory does not change.When revolving speed is zero to duck rudder relative to the earth, rudder in the same direction will generate body
Correcting action power, trajectory will change, and realize projectile correction.
As shown in figure 4, shell is rotated the angular moment M to be formed in flight course by the rudder wingxWith bearing frictional torque Mf
Collective effect will receive electromagnetic torque M in amendmenteEffect.Since there is angular velocity of rotations for correction mechanism, so will
By pole damping torque MxdEffect, its direction is with correction mechanism angular speed on the contrary, size is directly proportional to revolving speed.
Shell goes out body high speed rotation after bore, and since angular moment acts on, duck rudder is reversed with certain revolving speed and body
Rotation.Responsiveness is corrected to improve, to complete to subtract rotation to steering engine before the amendment stage.The process need to meet the condition of formula (1).
Mx+Mxd> Me+Mf (1)
The process electromagnetic torque constantly increases from smaller value, rotates until keeping steering engine to stablize with minimum speed.At this time:
Mx+Mxd=Me+Mf (2)
In the projectile correction stage, duck rudder revolving speed is relatively low, pole damping force very little thus it is negligible, duck rudder is mainly led
Torque, bearing frictional torque and electromagnetic torque.When amendment bullet needs to correct, passes through and control electromagnetic torque MeSize control
System amendment rudder piece is fixed to stop at a certain specific angle correction, which needs to meet (3) formula condition.
Me> Mx-Mf (3)
The process electromagnetic torque will constantly reduce from the larger value, until keeping steering engine static relative to the earth.At this time:
Me=Mx-Mf (4)
A kind of projectile correction executive device on bispin shell of the utility model, the course of work are as follows:
Step 1, in shell flight course, controller obtains guidance system and provides the position angle that amendment rudder piece needs to hover
θ1。
Step 2, practical duck rudder rolling speed omega is measured using the spatial motion sensor inside duck rudder2With amendment rudder piece position
Set angle, θ2, obtain with angu-lar deviation θ, according to the theorem of kinetic energy of rotary system:
Acquire resultant moment M:
Wherein θ=θ2-θ1, J: update the system rotary inertia.
When known to resultant moment, since angular moment and bearing friction power can be calculated, electromagnetic torque can be obtained according to (4) formula
Me, due to,
Me=CTΦIa (7)
Wherein CTFor the torque constant of magneto, Φ is every grade of magnetic flux (Wb).When known to the parameter of electric machine, CT, Φ not
Become, so MeWith IaIt is linear relationship.
Step 3, microprocessor controller is by acquiring armature supply IaSize, output control voltage, pass through control constant current
Electronic load in control circuit, size of current needed for controlling magneto.
Step 4, feedback duck rudder motion information is constantly updated finally by sensor, controller constantly updates control voltage,
Until duck rudder stops relative to the earth, to realize projectile correction, control process is as shown in Figure 5.
A kind of projectile correction executive device on bispin shell of the utility model corrects component by fixed duck rudder,
Come the advantages of controlling steering engine revolving speed, be capable of providing biggish stabilizing moment, realize the amendment of two-dimensional space, meanwhile, correcting device
It is remarkably improved the accurate striking capabilities of shell；Meanwhile the occupying little space of the device, fast response time and low in cost, energy
Enough meet the performance requirement of executive device.
Claims (6)
1. a kind of projectile correction executive device on bispin shell, which is characterized in that including inside duck rudder and duck rudder forever
The three-phase voltage of magnetic generator, the permanent magnet generator output is electrically connected rectification circuit, and the rectification circuit is electrically connected permanent
Flow control circuit, the constant-current control circuit are electrically connected current detection circuit, and the current detection circuit is electrically connected micro- place
Manage device；The duck rudder is to be fixed on outer housing to constitute in the rudder piece that " ten " word connects firmly shape by four, and the permanent magnet generator is solid
It is scheduled on the inside of duck rudder outer housing, spatial motion sensor is further fixed on the outer housing of the duck rudder, the spatial movement passes
Sensor is electrically connected microprocessor；The microprocessor is electrically connected optical coupling isolation circuit, and the optical coupling isolation circuit electrically connects
Linear amplifier circuit electrical property is connect, the linear amplifier circuit is electrical connected with constant-current control circuit；The linear amplifier circuit and
Optical coupling isolation circuit is separately connected 5V power supply；The constant-current control circuit connects 12V power supply；The optical coupling isolation circuit includes light
Coupling chip.
2. a kind of projectile correction executive device on bispin shell according to claim 1, which is characterized in that described
Microprocessor is STM32F4 single-chip microcontroller.
3. a kind of projectile correction executive device on bispin shell according to claim 1, which is characterized in that described
Spatial motion sensor is MPU6050 three-dimensional perspective sensor.
4. a kind of projectile correction executive device on bispin shell according to claim 1, which is characterized in that described
Linear amplifier circuit includes operational amplifier N1, backward end input terminal connection resistance R4, capacitor C6 and the light of operational amplifier N1
The other end of coupling chip port 3, resistance R4 is connected with PWM port, and the capacitor C6 other end is connect with the output end of amplifier N1, amplifier
The noninverting input of N1 connects digitally, and the power supply anode of amplifier N1 is connected respectively at+5V power supply with capacitor C5, capacitor C5's
Digitally, the output end of amplifier N1 is also connect with resistance R5 another termination, and the other end of resistance R5 and opto-coupler chip port 1 connect
It connects, opto-coupler chip port 2 is connect with+5V power supply, and opto-coupler chip port 4 connects digitally, and opto-coupler chip port 5 is put with operation respectively
The noninverting input and power supply negative terminal of big device N2 connects simulation ground, and opto-coupler chip port 6 is reversed defeated with operational amplifier N2 respectively
Enter end, resistance R6 is connected with capacitor C7, resistance R6, capacitor C7 are connect with the output end of operational amplifier N2 respectively, amplifier N2's
Power supply anode is connected respectively at+5V power supply with capacitor C6, another termination simulation of capacitor C6 ground.
5. a kind of projectile correction executive device on bispin shell according to claim 4, which is characterized in that described
Constant-current control circuit includes operational amplifier N3, the output with operational amplifier N2 respectively of the noninverting input of operational amplifier N3
End is connected with capacitor C4, and another termination of capacitor C4 simulates ground, and the power supply of operational amplifier N3 is just terminating 12V power supply, is born
Termination simulation ground, the reverse input end of operational amplifier N3 are separately connected the pole s of resistance Rf and nmos pipe, the other end of resistance Rf
Simulation ground is connect, the output end of amplifier N3 is separately connected resistance R2 and capacitor C3, and another termination of capacitor C3 simulates ground, and resistance R2 is another
End is connect with the pole g of nmos pipe and resistance R3 respectively, and another termination simulation of resistance R3 ground, the pole nmos pipe d is separately connected transient state suppression
Diode D7 and resistance R1 processed, the resistance R1 other end are connect with capacitor C2, and the capacitor C2 other end is connect with the pole nmos pipe s, transient state
Another termination of diode D7 is inhibited to simulate ground.
6. a kind of projectile correction executive device on bispin shell according to claim 5, which is characterized in that described
Rectification circuit includes diode VD1 and VD4, VD2 and VD5, VD3 and the VD6 connected two-by-two, the yin of diode VD1, VD2 and VD3
Pole is connected respectively at capacitor C1 with Transient Suppression Diode D7, and the anode of diode VD4, VD5 and VD6 are respectively at the another of capacitor C1
One end connects with the other end of Transient Suppression Diode D7 and connects simulation ground；Described magneto three-phase output end mouth A, B, C
It is connected to VD1 and VD4, VD2 and VD5, between VD3 and VD6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821958442.7U CN209445899U (en) | 2018-11-26 | 2018-11-26 | A kind of projectile correction executive device on bispin shell |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821958442.7U CN209445899U (en) | 2018-11-26 | 2018-11-26 | A kind of projectile correction executive device on bispin shell |
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| Publication Number | Publication Date |
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| CN209445899U true CN209445899U (en) | 2019-09-27 |
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ID=68012181
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821958442.7U Active CN209445899U (en) | 2018-11-26 | 2018-11-26 | A kind of projectile correction executive device on bispin shell |
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- 2018-11-26 CN CN201821958442.7U patent/CN209445899U/en active Active
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Effective date of registration: 20201109 Address after: No.2358, east side of Chang'an Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province, 215200 Patentee after: Suzhou Xili Technology Services Ltd. Address before: 710048 Shaanxi city of Xi'an Province Jinhua Road No. 5 Patentee before: XI'AN University OF TECHNOLOGY |