CN211626251U - Automatic simulation electromagnetism of aiming shooting curved cannon circuit - Google Patents
Automatic simulation electromagnetism of aiming shooting curved cannon circuit Download PDFInfo
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- CN211626251U CN211626251U CN202020158604.XU CN202020158604U CN211626251U CN 211626251 U CN211626251 U CN 211626251U CN 202020158604 U CN202020158604 U CN 202020158604U CN 211626251 U CN211626251 U CN 211626251U
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Abstract
The utility model discloses an automatic simulation electromagnetism curved cannon circuit of aiming shooting, include: the device comprises a main control module, and a display module, an input module, a detection module, a cradle head steering engine, a steering engine of the detection module and a discharging capacitor which are electrically connected with the main control module, wherein the discharging capacitor is installed on the cradle head steering engine, and the detection module is installed on the steering engine of the detection module. The utility model discloses a circuit can carry out more accurate striking to 2~3 meters's target, and the error can be through key input distance, angle isoparametric within 5cm, and the target of control cannon shot also can set up automatic target seeking cannon shot, carries out human-computer interaction through OLED, makes the operation more convenient. Bluetooth may also be used for operation.
Description
Technical Field
The utility model relates to a circuit design field, specific theory relate to an automatic simulation electromagnetism curved cannon circuit of aiming at shooting in this field.
Background
The principle of the shell launching of the electromagnetic gun is that the thrust generated according to the principle of electromagnetic induction is converted into the kinetic energy of the projectile on the track, and the principle of the shell launching of the common gun is that the chemical energy is converted into the kinetic energy of the projectile in the gun barrel through the chemical reaction of gunpowder. The electromagnetic gun can be fired in a curved manner. In order to better study the shell firing of the electromagnetic gun, the shell firing of the electromagnetic curved fire gun needs to be simulated. The simulated electromagnetic curved-fire gun has practical application significance in military, industry and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that an automatic simulation electromagnetism curved cannon circuit of aiming shooting is provided.
In order to solve the technical problem, the utility model discloses a following technical scheme:
the improvement of a circuit of an analog electromagnetic curved fire gun capable of automatically aiming at fire is characterized by comprising: the device comprises a main control module, and a display module, an input module, a detection module, a cradle head steering engine, a steering engine of the detection module and a discharging capacitor which are electrically connected with the main control module, wherein the discharging capacitor is installed on the cradle head steering engine, and the detection module is installed on the steering engine of the detection module.
Furthermore, the main control module adopts an STM32F103C8T6 singlechip.
Further, the display module adopts an OLED.
Furthermore, the input module adopts key input and Bluetooth remote control input or the display module is set as a touch screen.
Further, the detection module is a GP2Y0a21YK0F infrared distance measurement sensor.
Furthermore, the cradle head steering engine comprises a steering engine for controlling the horizontal movement and a steering engine for controlling the vertical movement.
Further, the discharge capacitor has a withstand voltage of 250V and an electrolytic capacitor of 2200 uf.
The utility model has the advantages that:
the utility model discloses a circuit can carry out more accurate striking to 2~3 meters's target, and the error can be through key input distance, angle isoparametric within 5cm, and the target of control cannon shot also can set up automatic target seeking cannon shot, carries out human-computer interaction through OLED, makes the operation more convenient. Bluetooth may also be used for operation.
Drawings
Fig. 1 is a block diagram of the circuit disclosed in embodiment 1 of the present invention;
FIG. 2 is a pin layout diagram of the STM32F103C8T6 microcontroller;
FIG. 3 is a pin layout diagram of an OLED display screen;
FIG. 4 is a key pin connection diagram;
FIG. 5 is a pin layout diagram of a Bluetooth module;
fig. 6 is a schematic diagram of the operation of the infrared ranging sensor module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The core of the simulated electromagnetic curved shooting gun is the initial speed control of the emergent and the inclined throwing curve adjusted by the holder.
The object is shot obliquely at a certain initial speed, and under the condition that air resistance is negligible, the type of movement of the object is oblique throwing movement. The motion characteristics of the oblique projectile motion are as follows: the trajectory of the oblique projectile motion is a parabola, and the parabola can generate a stable horizontal trajectory; the acceleration of the oblique projectile motion is the gravity acceleration, so the oblique projectile motion is the uniform variable speed motion; the oblique projectile motion has symmetry; in the process of oblique throwing motion, only gravity acts, and mechanical energy is conserved.
Maximum height h that the inclined projectile motion can reach:
wherein Vo is the throwing speed, theta is the included angle between the speed and the horizontal plane, and g is the gravity acceleration.
Under the condition of neglecting air resistance, the decomposition speed is as follows:
velocity V in horizontal direction1The method comprises the following steps: v1-V0·cosθ；
Velocity V in vertical direction2The method comprises the following steps: v2＝V0Sin θ -st, where t is the time of ejection;
the displacement x in the horizontal direction is: x-V0·t·cosθ；
The displacement y in the vertical direction is:
when V is2When the value is 0, the ball reaches the highest point; from formula V2＝V0Sin θ -gt, when V2When equal to 0, the time T taken for the pellet to reach the maximumHighest point of the designComprises the following steps:
when the small ball throwing point and the dropping point are positioned on the same horizontal plane,
the time of the ball movement is as follows:
the horizontal range of the pellet is:
when θ is 45 °, 2 θ is 90 °, sin2 θ has the maximum value, i.e., the throw distance is farthest when the tilt angle of the throw motion is 45 °. The utility model discloses a trajectory of throwing the motion to one side is controlled to the initial energy and the angle of control shot, thereby the initial energy who turns into the shot is charged for the coil to the voltage that produces through electric capacity instantaneous discharge particularly, through the vertical direction angle of elevation of cloud platform control shot.
The main control module 1 adopts a singlechip, and specifically can adopt an STM32F103C8T6 singlechip. The whole system is subjected to unified control and data processing by the STM32F103C8T 6. The STM32F103C8T6 is a 32-bit microcontroller based on ARM Cortex-M kernel STM32 series, the capacity of a program memory is 64KB, the voltage is required to be 2V-3.6V, and the working temperature is-40 ℃ to 85 ℃. STM32F103C8T6 singlechip program is the modularization, and the interface is simple relatively, and the arithmetic speed is fast, and hardware resources is abundant, is 32 high performance treater of bit, convenient to use, the sexual valence relative altitude. FIG. 2 is a layout diagram of the pins of the STM32F103C8T6 microcontroller.
The display module 2 adopts an Organic Light Emitting Diode (OLED) display screen. An OLED (Organic Light-emitting diode) is an acronym for an Organic Light-emitting diode (OLED). The device is a device for generating electroluminescence by using a multilayer organic thin film structure, only needs low driving voltage, and the characteristics make the OLED very prominent in meeting the application of a flat panel display. The OLED display screen is lighter and thinner than the LCD, has high brightness, low power consumption, quick response, high definition, good flexibility, high luminous efficiency, clear display, rich content, large information amount and convenient use. As shown in fig. 3, the OLED display has four pins, and uses I2C communication. I2C is an abbreviation for inter-integrated circuit, also known as TWI, and requires only two physical lines for data transmission, named SDA and SCL, respectively, for transmitting serial data and serial clock. A pin 3, namely an SCL pin, of the OLED display screen is connected with a pin B10 of the STM32F103C8T6 single chip microcomputer; a pin 4, namely an SDA pin, of the OLED display screen is connected with a pin B11 of the STM32F103C8T6 singlechip; and a VCC pin and a GND pin of the OLED display screen are respectively connected with a positive power supply pin (3.3V) and a power supply ground pin (GND) of the STM32F103C8T6 singlechip.
The input module 3 adopts key input or Bluetooth remote control input. The input content is a parameter preset in a program, and each key has a function preset in the program, namely, the function of raising the angle of the electromagnetic curved fire monitor, the function of lowering the angle of the electromagnetic curved fire monitor and the function of launching the key are respectively realized. If the display module is a touch screen, the input module adopts the touch screen for input. As shown in fig. 4, the hardware connection mode of the three KEYs KEY1, KEY2 and KEY3 of the KEY input is that one end is common to ground, and the other ends of the three KEYs, namely B12, B13 and B14, are respectively connected with pins B12, B13 and B14 of the STM32F103C8T6 single chip microcomputer. As shown in fig. 5, the hardware connection mode of the bluetooth remote control input is that the TX and RX pins of the bluetooth module are respectively connected to the a9 and a10 pins of the STM32F103C8T6 single chip. After the Bluetooth module is matched with the Bluetooth module in the mobile phone, the input is completed through the operation interface of the mobile phone, the operation interface of the mobile phone relates to the angle of raising the electromagnetic curved fire cannon and the angle and the emission of reducing the electromagnetic curved fire cannon, and the mobile phone sends the input content to the single chip microcomputer through Bluetooth communication.
The detection module 4 adopts an infrared distance measuring sensor, and specifically, GP2Y0a21YK0F can be adopted. GP2Y0a21YK0F is a ranging sensor unit, comprising a Position Sensitive Detector (PSD) composed of a combination of displacement distance sensors. The GP2Y0A21YK0F adopts a triangulation method, and the distance detection is not easily influenced by the ambient temperature and sunlight. Since GP2Y0a21YK0F is capable of detecting distance, this sensor may also be used as a proximity sensor.
The GP2Y0a21YK0F module has three pins, VCC, GND, and VO pins, respectively. The VCC pin and the GND pin of the GP2Y0A21YK0F module are respectively connected with the positive power supply pin (3.3V) and the power supply ground pin (GND) of the STM32F103C8T6 singlechip. And the VO pin is connected with the A0 pin of the STM32F103C8T6 singlechip.
The utility model comprises three steering engines. The pan-tilt steering engine 5 comprises a steering engine for controlling horizontal movement and a steering engine for controlling vertical movement. And Pulse Width Modulation (PWM) signal control is adopted. Pulse width modulation is a very efficient technique for controlling analog circuits using the digital output of a microprocessor, and is widely used in many fields ranging from measurement, communications to power control and conversion. The third steering engine is called as a steering engine 6 of the detection module, the steering engine 6 of the detection module carries the detection module 4, and the detection module 4 adopts an infrared distance measuring sensor. And the simulated electromagnetic curved cannon searches for the guide identification according to the infrared distance measuring sensor. The single chip microcomputer controls the steering engine which moves in the horizontal direction in the pan-tilt steering engine 5 to rotate, so that the steering engine rotates by the same angle as the steering engine 6 of the detection module.
The hardware connection modes of the three steering engines are the same and are all three-line input. The VCC pin and the GND pin of three steering engines are respectively connected with the positive power supply pin (3.3V) and the power ground pin (GND) of the STM32F103C8T6 singlechip, and the input ends are respectively connected with the A1, A2 and A3 pins of the STM32F103C8T6 singlechip.
The discharge capacitor 7 was an electrolytic capacitor having a withstand voltage of 250V and a capacity of 2200 uf.
When the electrolytic capacitor is charged, a (other) direct current stabilized voltage power supply 80V is used for charging, specifically, the positive pole of a direct current stabilized voltage 80V power supply is connected with the positive pole of the electrolytic capacitor, and the negative pole of the power supply is connected with the negative pole of the electrolytic capacitor. Practice proves that the charging time is about 3 seconds, namely the switch of the charging circuit is switched off 3 seconds after the direct-current voltage-stabilized power supply is switched on. When discharging, the bidirectional controllable silicon is triggered by 1.3V voltage to discharge, and the bidirectional controllable silicon is used for controlling large voltage by small voltage. The bidirectional thyristor has three pins, namely an anode, a cathode and a control electrode. And connecting the 1.3V voltage to the control electrode, connecting one end of the wound coil to the anode, connecting the other end of the wound coil to the electrolytic capacitor, and connecting the other end of the electrolytic capacitor to the cathode. When a voltage of 1.3V is applied to the control electrode, the anode and the cathode are conducted to start a discharge process. The function of controlling large voltage by small voltage is achieved. When the KEY for transmitting KEY3 is pressed, a pin B15 of the single chip microcomputer outputs a high level (3.3V), and 3.3V can be reduced to 1.3V by the voltage reduction module and then is output to the control electrode.
The key of the electromagnetic curved-fire gun is that the electric charge instantaneously discharged by the electrolytic capacitor sucks the cannonball out of the gun barrel through the ampere force instantaneously generated by the winding coil. Ampere's force is the force that an energized wire experiences in a magnetic field. The ampere force is related to the capacity and withstand voltage of the electrolytic capacitor and the internal resistance of the wound coil. The instantaneous voltage of the electrolytic capacitor in the releasing process and the internal resistance of the wound coil determine the magnitude of the instantaneous current, and the larger the instantaneous current is, the larger the ampere force is, and the farther the flight path of the cannonball is. Therefore, the capacity and the withstand voltage of the electrolytic capacitor are particularly critical, and the internal resistance of the wound coil is also critical. When winding the coil, the influence of the magnetic field (reluctance) generated by the coil itself needs to be considered. The method of parallel winding is adopted. After one layer of bonding is finished, the coil is tightly adhered by using AB glue or 502 glue, so that the coil is prevented from being loosened and the winding of the coil on the next layer is influenced. The gun barrel adopts a hard suction pipe with the inner diameter of 1CM, and the rigidity and the length proportion can be ensured. The barrel functions to limit the flight path of the projectile. The projectile employs a detachable screwdriver bit. Through practice, the rectangular magnetic conductance object is better than the spherical effect.
The guide mark is a circular card with a height of 50CM and a diameter of 25CM, and is placed right behind the target. The target is composed of concentric circles with increasing radiuses and is placed on the ground right in front of the guide mark.
The direction of the detection module (infrared distance measuring sensor) is controlled by the single chip microcomputer through controlling a steering engine 6 of the detection module. The infrared distance measurement sensor collects target position information by searching for a guide identifier, and the output of the infrared distance measurement sensor is a digital voltage quantity. Along with the horizontal rotation of the steering engine 6 of the detection module, the infrared distance measuring sensor also rotates along with the rotation, when the single chip microcomputer detects that the digital voltage quantity transmitted back by the infrared distance measuring sensor is the maximum value, the direction of the infrared distance measuring sensor (emitting infrared rays) at the moment is the direction of the guide mark, and the rotation angle of the steering engine 6 of the detection module at the moment is recorded. The infrared ranging sensor may also detect a distance of the guide identifier from the infrared ranging sensor.
The single chip microcomputer sends a control signal to the pan-tilt steering engine 5, and the angle of the steering engine in the pan-tilt steering engine 5 for controlling the horizontal movement is adjusted by adjusting the signal duty ratio of the steering engine in the pan-tilt steering engine 5 for controlling the horizontal movement. Specifically, in the initial state, the horizontal direction of the infrared distance measuring sensor and the horizontal direction of the gun barrel on the cradle head steering engine 5 are set to be the same. When the single chip microcomputer detects the maximum value of the digital voltage quantity transmitted back by the infrared distance measuring sensor, the rotating angle of the steering engine 6 of the detection module is recorded, the single chip microcomputer sends a control signal to the pan-tilt steering engine 5, the steering engine angle of the pan-tilt steering engine 5 for controlling horizontal direction movement is adjusted by adjusting the duty ratio of the steering engine of the pan-tilt steering engine 5 for controlling horizontal direction movement, and the steering engine angle of the pan-tilt steering engine 5 in the horizontal direction is the same as the steering engine angle of the detection module in the horizontal direction of the steering engine 6.
The single chip microcomputer sends a control signal to the pan-tilt steering engine 5, and the angle of the steering engine in the pan-tilt steering engine 5 for controlling the motion in the vertical direction is adjusted by adjusting the signal duty ratio of the steering engine in the pan-tilt steering engine 5 for controlling the motion in the vertical direction.
The single chip microcomputer controls the horizontal included angle and the vertical direction elevation angle of the electromagnetic curved fire gun by controlling the steering engine angle moving in the horizontal direction and the steering engine angle moving in the vertical direction. The display module 2 can display the steering engine angle of the pan-tilt steering engine 5 for controlling the horizontal movement and the steering engine angle for controlling the vertical movement. The initial elevation angle of the electromagnetic curved cannon during power-on reset of the single chip microcomputer can be set according to measurement and practice of a large amount of data. When the elevation angle in the vertical direction of the cradle head steering engine 5 and the corresponding range distance are debugged, the angle cannot be raised or lowered all the time, and when the angle is lowered, the angle is raised by a certain angle and then lowered by a certain angle; when the lifting is carried out, the lifting device firstly lowers a certain angle and then raises a certain angle. When the guide mark is positioned right in front of the electromagnetic curved cannon, the distance between the center of the target and the launching point of the simulated curved cannon is actually measured, and the distance can be converted into the vertical direction elevation angle of the electromagnetic curved cannon. In the specific implementation process, the KEYs KEY1 and KEY2 are input into the single chip microcomputer, and the single chip microcomputer controls the signal duty ratio of the steering engine of the cradle head steering engine 5 for controlling the vertical movement, so that the vertical direction elevation angle of the electromagnetic curved fire gun is changed, and the aim of hitting a target is fulfilled. When the position of the guide mark changes, the infrared distance measuring sensor is firstly utilized to search the guide mark to acquire the position information of the target, the horizontal included angle is adjusted, and then the operation is repeated. The corresponding relation between the actual distance between the center of the target and the launching point of the electromagnetic curved cannon and the signal duty ratio of the steering engine for controlling the vertical movement is given in a table.
On the premise of fixing the horizontal direction of the cradle head steering engine 5 (namely, fixing the angle of the steering engine in the cradle head steering engine 5 for controlling the horizontal direction movement), the shot inclined throwing track can be changed by inputting Bluetooth through a mobile phone to remotely control and change the vertical direction elevation angle of the PWM cradle head.
According to the circuit disclosed by the embodiment, STM32F103C8T6 is used as a main control module 1, an infrared distance measuring sensor is used as a detection module 4 of a target, a high-voltage-resistant capacitor is used as an energy storage module, and a singlechip is used for controlling the on-off of a controlled silicon, so that the capacitor instantly energizes a wound coil to generate a strong magnetic field to eject a shot. The cradle head steering engine 5 with two degrees of freedom can adjust the vertical pitch angle of the gun barrel, so that the trajectory is controlled, and a target can be hit more accurately. The actual measurement shows that the target with the length of 2-3 meters can be accurately hit, the error is within 5cm, and manual parameter input and automatic target finding and aiming shooting are realized.
Test results and analysis: the PWM is divided into 10000 parts, X is fixed to be 700 parts, Y-axis numbers represent given PWM values, and test data (CM) is the horizontal distance of the projectile.
The basic principle of Pulse Width Modulation (PWM) is to obtain a series of pulses of equal amplitude at the output, which are used to replace a sine wave or a desired waveform. That is, a plurality of pulses are generated in a half cycle of an output waveform, and the equivalent voltage of each pulse is a sine waveform. The width of each pulse is modulated according to a certain rule, so that the magnitude of the output voltage of the circuit can be changed, and the output frequency can also be changed.
Where X represents the number of PWM fractions given to the X-axis steering engine in the horizontal direction during the program.
Y in the table represents the number of PWM copies of the steering engine for controlling the vertical movement in the fixed pan head steering engine 5.
Description of the tables: fixing the horizontal direction angle of the holder, changing the vertical direction angle of the holder, and recording the drop point of each shot. Through observation of data (median of test data), the corresponding relation between the angle of the holder in the vertical direction and the drop point of the projectile can be known. Thus, when the target distance is given, the vertical direction angle (error range 5CM) of the holder can be adjusted according to the corresponding relation.
Claims (7)
1. The utility model provides an automatic simulation electromagnetism curved cannon circuit of aiming at shooting which characterized in that: the device comprises a main control module, and a display module, an input module, a detection module, a cradle head steering engine, a steering engine of the detection module and a discharging capacitor which are electrically connected with the main control module, wherein the discharging capacitor is installed on the cradle head steering engine, and the detection module is installed on the steering engine of the detection module.
2. The circuit of claim 1 for an automatic aiming shooting analog electromagnetic artillery, characterized in that: the main control module adopts an STM32F103C8T6 singlechip.
3. The circuit of claim 1 for an automatic aiming shooting analog electromagnetic artillery, characterized in that: the display module adopts OLED.
4. The circuit of claim 1 for an automatic aiming shooting analog electromagnetic artillery, characterized in that: the input module adopts key input and Bluetooth remote control input or sets the display module as a touch screen.
5. The circuit of claim 1 for an automatic aiming shooting analog electromagnetic artillery, characterized in that: the detection module is a GP2Y0A21YK0F infrared distance measurement sensor.
6. The circuit of claim 1 for an automatic aiming shooting analog electromagnetic artillery, characterized in that: the pan-tilt steering engine comprises a steering engine for controlling horizontal movement and a steering engine for controlling vertical movement.
7. The circuit of claim 1 for an automatic aiming shooting analog electromagnetic artillery, characterized in that: the discharge capacitance used was a 250V withstand voltage, 2200uf electrolytic capacitance.
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| CN202020158604.XU CN211626251U (en) | 2020-02-10 | 2020-02-10 | Automatic simulation electromagnetism of aiming shooting curved cannon circuit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113899243A (en) * | 2021-10-13 | 2022-01-07 | 广东海洋大学 | Intelligent electromagnetic propulsion device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113899243A (en) * | 2021-10-13 | 2022-01-07 | 广东海洋大学 | Intelligent electromagnetic propulsion device and method |
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