CN220119959U

CN220119959U - Control device for model rocket for fixed-height separation or parachute opening

Info

Publication number: CN220119959U
Application number: CN202321277011.5U
Authority: CN
Inventors: 李易; 肖金苇; 邵晨曦; 李可涵
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2023-05-24
Filing date: 2023-05-24
Publication date: 2023-12-01
Anticipated expiration: 2033-05-24

Abstract

The utility model relates to a control device for a model rocket for fixed-height separation or parachute opening, belonging to the technical field of model rockets; the device comprises a data processing module U1, a power module U2, a data acquisition module U3, a steering engine module U4, a data transmission module U5 and an ignition module U6; the data processing module U1 is respectively connected with U3, U4, U5 and U6 and is used for receiving information acquired by the U3, sending a synchronous instruction to the information, sending an action instruction to the U4 and U6 and transmitting calculation information to the U5; the power supply module U2 is respectively connected with the other 5 modules to supply power to the other 5 modules; the data acquisition module U3 is an air pressure sensor and transmits air pressure information to the U1; the data acquisition module U4 is connected with an umbrella opening device; the ignition module U6 is connected with an I/O port of the U1 and is used for receiving an instruction of the U1 to open the gunpowder; the data transmission module U5 is connected with the USART serial port of the U1. The utility model is used for the fixed-height measurement control of the model rocket.

Description

Control device for model rocket for fixed-height separation or parachute opening

Technical Field

The utility model belongs to the technical field of model rockets, and particularly relates to a control device for a model rocket for fixed-height separation or parachute opening.

Background

In the home and abroad model airplane competition, the fixed altitude separation or fixed altitude parachute opening of the model rocket is often used as an important standard for competition grading. The traditional model rocket height determining method comprises the steps of firstly calculating the optimal triggering time according to the corresponding relation between the model rocket flight height and the flight time, pre-loading the calculated delayed starting time into the delay module before launching by installing the delay module on the model rocket, starting timing by the delay module after launching the model rocket, starting after reaching the preset time, and completing parachute opening or separation operation. However, due to the influence of objective factors such as flight environment, a method for estimating the flight altitude according to the flight time has a large error, and the traditional delay method has become an important constraint factor for separating or parachute opening operation of a model rocket at a preset altitude.

Therefore, there is a need to develop a device that can accurately control the separation or parachute deployment height of a model rocket.

Disclosure of Invention

The technical problems to be solved are as follows:

in order to avoid the defects of the prior art, the utility model provides a control device for a model rocket for fixed-height separation or parachute opening, which integrates a data processing module, a data acquisition module, a steering engine module, an ignition module, a power module and a data transmission module on a control board, is used for the fixed-height separation or parachute opening operation of the model rocket, and solves the problem of larger fixed-height error of the model rocket in the prior art.

The technical scheme of the utility model is as follows: the control device for the model rocket for fixed-height separation or parachute opening comprises a data processing module U1, a power module U2, a data acquisition module U3, a steering engine module U4, a data transmission module U5 and an ignition module U6; the data processing module U1 is used as a total processor and is respectively connected with the data acquisition module U3, the steering engine module U4, the data transmission module U5 and the ignition module U6, and is used for receiving information acquired by the data acquisition module U3 and sending a synchronous instruction to the data acquisition module U3, sending an action instruction to the steering engine module U4 and the ignition module U6 and transmitting calculation information to the data transmission module U5;

the power module U2 is respectively connected with the data processing module U1, the data acquisition module U3, the steering engine module U4, the data transmission module U5 and the ignition module U6 to supply power for the 5 modules;

the data acquisition module U3 is an air pressure sensor, the output of the air pressure sensor is a digital signal, and a 4-wire transmission mode of SPI digital transmission protocol is used for transmitting information with the data processing module U1; the steering engine module U4 is connected between the TIM timer of the data processing module U1 and the umbrella opening device and is used for receiving an instruction transmitted by the data processing module U1 to control the umbrella opening device to open; the ignition module U6 is connected with an I/O port of the data processing module U1 and is used for receiving an instruction of the data processing module U1 to open the gunpowder; the data transmission module U5 is connected with a USART serial port of the data processing module U1 and is used for signal transmission between the data processing module U1 and a ground computer.

The utility model further adopts the technical scheme that: the input voltage port of the power module U2 is connected with a 2s battery; the power supply module U2 comprises a 5V voltage stabilizing module and a 3.3V voltage stabilizing module, and the voltage of the battery is reduced through a voltage stabilizing circuit; the voltage output port 5V/O of the 5V voltage stabilizing module is respectively connected with the power port 5V/I of the ignition module U6 and the power port 5V/I of the steering engine module U4; the voltage output port 3.3V/O of the 3.3V voltage stabilizing module is respectively connected with the power port 3.3V/I of the data processing module U1, the power port 3.3V/I of the data acquisition module U3 and the power port 3.3V/I of the data transmission module U5.

The utility model further adopts the technical scheme that: the clock signal end CLK of the SPI bus of the data processing module U1 is connected with the clock line SCLK end of the data acquisition module U3 and is used for sending a synchronous signal for communication to the data acquisition module U3; the master input slave output end MOSI of the SPI bus of the data processing module U1 is connected with the digital component serial interface SDI end of the data acquisition module U3 and is used for transmitting data from the master device data processing module U1 to the slave device data acquisition module U3; the host output slave input end MISO of the SPI bus of the data processing module U1 is connected with the serial data output data line SDO end of the data acquisition module U3 and is used for receiving the air pressure information sent by the data acquisition module U3; the port PB5 of the data processing module U1 is connected with the CSB port of the data acquisition module U3, and is used for selecting whether to start the data transmission function of the data acquisition module U3 according to the high-low level state of the PB5 port.

The utility model further adopts the technical scheme that: the steering engine module U4 is a model airplane steering engine, and the PA1 end of the TIM timer of the data processing module U1 is connected with a control port of the model airplane steering engine and is used for transmitting PWM signals to the model airplane steering engine.

The utility model further adopts the technical scheme that: the signal receiving line RX end of the USART serial port of the data processing module U1 is connected with the data transmitting end TXD of the data transmission module U5 and is used for receiving instruction information from a ground computer; the signal transmission line TX end of the USART serial port of the data processing module U1 is connected with the data receiving end RXD of the data transmission module U5 and is used for transmitting the height information acquired by the data processing module U1.

The utility model further adopts the technical scheme that: the PB13 and PB14 interfaces of the I/O ports of the data processing module U1 are respectively connected with the ignition ends FUSE1 and FUSE2 of the ignition module U6 and are used for outputting high-level explosion command signals to the data processing module U1.

The utility model further adopts the technical scheme that: the data processing module U1 is an artificial semiconductor STM32F103 singlechip.

The utility model further adopts the technical scheme that: the data acquisition module U3 is an MS5611 air pressure sensor.

Advantageous effects

The utility model has the beneficial effects that: the control device for the model rocket for fixed-height separation or parachute opening is used for fixed-height measurement control of the model rocket, and solves the problem of accurate judgment of the height value of the model rocket in a model rocket match.

The control device for the model rocket for fixed-height separation or parachute opening integrates the data processing module U1, the data acquisition module U3, the steering engine module U4, the ignition module U6, the power supply module U2 and the data transmission module U5 on a control board, and is applied to the fixed-height separation or parachute opening operation of the model rocket. The data processing module U1 adopts an artificial semiconductor STM32F103 singlechip, the data acquisition module adopts an MS5611 air pressure sensor, and communication between the singlechip and the MS5611 is carried out through an SPI transmission protocol. When the model rocket reaches the designated height through calculation, if the model rocket is to be opened in a mechanical mode, generating an analog PWM signal through a TIM timer on the U1 module, outputting the signal to a control port of the model steering engine through an I/O port of the TIM timer, and controlling the model steering engine to rotate so as to drive an umbrella opening device, so that the mechanical umbrella opening after the model rocket reaches the designated height is realized; if the model rocket is to be opened by using the initiating explosive device, an I/O port of the STM32F103 singlechip is controlled to output a high level to the ignition module U6 to ignite the ignition head, so that the model rocket is separated or opened in a second stage.

The height value of the model rocket is obtained by correcting the temperature and correcting the error of the air pressure sensor acquisition value, and the height measurement precision of the model rocket is high. The method comprises the specific processes of collecting the environmental air pressure in the rising process of the model rocket, and correcting the temperature and the error through the data processing module U1, so that the flying height of the model rocket is obtained, and the method has the advantages of high precision, small error and high reliability. In the 10 flight tests, the control device can spread the parachute according to the target height and safely recover the load under different flight attitudes, and the success rate reaches 100%.

The control device integrates a plurality of functional modules on one control board, and has the advantages of high integration level, easiness in development and debugging and simplicity in control.

Drawings

FIG. 1 is a schematic diagram of the control device of the model rocket for fixed-height separation or parachute opening of the present utility model;

FIG. 2 is a program flow diagram of a control device for a fixed-height separation or parachute-opening model rocket of the present utility model.

Reference numerals illustrate: u1. data processing module, U2. power supply module, U3. data acquisition module, U4. steering engine module, U5. data transmission module, U6. ignition module.

Detailed Description

The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

Referring to fig. 1, the control device for the model rocket for fixed-height separation or parachute opening comprises a data processing module U1, a power module U2, a data acquisition module U3, a steering engine module U4, a data transmission module U5 and an ignition module U6, and the 6 modules are integrated on a control board.

The power module U2 reduces the battery voltage through the voltage stabilizing circuit and supplies power to the whole control panel; the power module U2 is respectively connected with the data processing module U1, the data acquisition module U3, the steering engine module U4, the data transmission module U5 and the ignition module U6 and supplies power for the data processing module U3, the steering engine module U4, the data transmission module U5 and the ignition module U6; specifically, an input voltage port of the power supply module U2 is connected with a 2s battery, 7.4V voltage provided by the 2s battery is reduced to 5V by a 5V voltage stabilizing module in the power supply module U2, namely a diode, a voltage output port 5V/O of the 5V voltage stabilizing module is respectively connected with a power supply port 5V/I of the ignition module U6 and a power supply port 5V/I of the steering engine module U4, and power is supplied to the 2 modules; the 3.3V voltage stabilizing module of the power module U2 is a 3.3V voltage stabilizing chip and is connected with the 5V voltage stabilizing module, the voltage provided by the 5V voltage stabilizing module is reduced to 3.3V, and the voltage output port 3.3V/O of the 3.3V voltage stabilizing module is respectively connected with the power port 3.3V/I of the data processing module U1, the power port 3.3V/I of the data acquisition module U3 and the power port 3.3V/I of the data transmission module U5 to supply power for the 3 modules.

The data processing module U1 is an artificial semiconductor STM32F103 singlechip and is respectively connected with the data acquisition module U3, the steering engine module U4, the data transmission module U5 and the ignition module U6. The data acquisition module U3 is an air pressure sensor, in particular an MS5611-01BA03 barometer, and a 4-wire transmission mode of SPI digital transmission protocol is used for transmitting information with the data processing module U1; the clock line SCLK end of the data acquisition module U3 is connected with the clock signal end CLK of the SPI bus of the data processing module U1, and is used for the data processing module U1 to send a synchronous signal for communication to the data acquisition module U3, so that the transmission synchronization of the data acquisition module U3 and the data processing module U1 is ensured; the MOSI at the output end of the host input slave of the SPI bus of the data processing module U1 is connected with the digital component serial interface SDI end of the data acquisition module U3, the MOSI is a signal transmission line, and data is transmitted from the master device data processing module U1 to the slave device data acquisition module U3, and the line is not used in the embodiment; the host output slave input end MISO of the SPI bus of the data processing module U1 is connected with the serial data output data line SDO end of the data acquisition module U3, and the MISO is a signal receiving line and is used for receiving the air pressure information sent by the data acquisition module U3. Meanwhile, the data processing module U1 selects whether to start the data transmission function of the data acquisition module U3 through the PB5 chip selection, namely through the high-low level state of the PB5 port.

The steering engine module U4 is a model airplane steering engine, the model airplane steering engine is connected with an umbrella opening device, the PA1 port of the TIM timer of the data processing module U1 is connected with the control port of the model airplane steering engine, and the TIM timer generates PWM signals and outputs the PWM signals through the port PA1, so that the steering engine module U4 is controlled.

The data transmission module U5 is a Lora module, the Lora module is connected with a USART serial port of the data processing module U1 for information transmission between the arrow-borne control board and the ground computer, TX is a signal transmitting end of the USART serial port of the data processing module U1, RX is a signal receiving end of the USART serial port of the data processing module U1, the TX end is connected with a RXD of the data receiving end of the Lora module, the height information calculated by the data processing module U1 is transmitted to the ground computer through the Lora module, the RX end is connected with a TXD of the data transmitting end of the Lora module, and instruction information of the ground computer can be transmitted to the data processing module U1 through the Lora module.

The ignition module U6 is connected with an I/O port of the data processing module U1 and is used for opening an umbrella by gunpowder; the PB13 and PB14 ports of the I/O ports of the data processing module U1 are respectively connected with the ignition ends FUSE1 and FUSE2 of the ignition module U6, and are used for outputting high-level explosion command signals to the ignition ends FUSE1 and FUSE 2. In order to ensure enough ignition capability, two ignition ends, namely a PB13 port and a PB14 port of the data processing module U1, are used as an ignition end 1 and an ignition end 2 (namely a standby ignition end), and are respectively connected with the ignition module U6, and the control of the ignition module U6 is realized by outputting a high-level signal by the ignition end 1 or the ignition end 2.

The working principle of the control device of the utility model is as follows: the power module U2 supplies power to the data processing module U1, the data acquisition module U3, the data transmission module U5, the steering engine module U4 and the ignition module U6, the acquisition module U3 transmits the measured air pressure value to the data processing module U1 through an MISO signal wire by an SPI bus, the data processing module U1 converts the height to be compared with the set height, and after the height reaches the set height, a Pulse Width Modulation (PWM) signal is generated and output by a TIM timer to control a model airplane steering engine in the steering engine module U4 or output a high level signal to the ignition module U6 so as to perform fixed height parachute opening; the information transmission between the arrow-mounted control board and the ground computer can also be carried out through the communication module U5.

Referring to fig. 2, for better understanding of the control device of the present utility model, the following description will be given of the method of using the control device:

(1) powering on the whole control device, and starting the program to execute;

(2) initializing the functions of the modules;

(3) the data processing module U1 is assigned in a program, so that the data processing module U1 obtains a preset height;

(4) the method for calibrating the reference height comprises the steps of recording the placement height of the rocket before taking off as the reference height, and calibrating the reference height so as to calculate the actual flying height of the rocket, wherein the reference height calibrating method comprises the following steps:

A. the method comprises the steps that a data acquisition module U3 is used, a height value is taken every 50ms, air pressure data information is transmitted to a MISO end of a data processing module U1 through an SDO end, the height information is obtained through calculation in the data processing module U1 through an air pressure-height formula, and the total height information is taken 10 times;

B. averaging the 10 times of height values by using a data processing module U1, and recording the obtained average value as a reference height;

(5) the data processing module U1 detects rocket shape by reading the corresponding I/O port level state of the rocket shorting cap of the model

If the rocket is launched, carrying out the next step, otherwise, continuously detecting the rocket state;

(6) the data processing module U1 obtains the air pressure value and the temperature value measured by the air pressure meter of the data acquisition module U3 MS5611 through the MISO terminal,

(7) the data processing module U1 carries out temperature correction on the obtained air pressure value;

(8) the data processing module U1 performs altitude operation to obtain the current altitude value of the model rocket, and the altitude operation method comprises the following steps:

A. obtaining a corrected air pressure value;

B. obtaining a height value through an air pressure-height conversion formula;

C. taking the height value once every 20ms, and taking three times;

D. taking the average value of the three times of height values as the current height;

(9) comparing the current height with a preset height value in the data processing module U1, and if the current height is larger than or equal to the preset height value, controlling the ignition head to be at a high level by the data processing module U1, igniting an explosion bolt or opening an umbrella powder, so as to realize opening of the umbrella by the powder; or controlling a TIM timer to change the duty ratio of PWM waves, change the angle of a steering engine and finish mechanical umbrella opening; otherwise, the data processing module U1 returns to continue to acquire the air pressure value.

The other using method of the control device of the utility model is that the fixed height separation can be realized through the delay function set by the data processing module U1, and the specific operation is as follows: setting a delay function for the data processing module U1, and starting timing through the delay function; after the delay is finished, the data processing module U1 controls the ignition head pin PB13 or PB14 to be set at a high level, the secondary engine is ignited, and the secondary flight stage is entered.

Although embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the utility model.

Claims

1. A control device for a fixed-height separation or parachute-opening model rocket, which is characterized in that: the device comprises a data processing module (U1), a power module (U2), a data acquisition module (U3), a steering engine module (U4), a data transmission module (U5) and an ignition module (U6); the data processing module (U1) is used as a total processor and is respectively connected with the data acquisition module (U3), the steering engine module (U4), the data transmission module (U5) and the ignition module (U6), and is used for receiving information acquired by the data acquisition module (U3) and sending a synchronous instruction to the data acquisition module, sending action instructions to the steering engine module (U4) and the ignition module (U6) and transmitting calculation information to the data transmission module (U5);

the power module (U2) is respectively connected with the data processing module (U1), the data acquisition module (U3), the steering engine module (U4), the data transmission module (U5) and the ignition module (U6) to supply power for the 5 modules;

the data acquisition module (U3) is an air pressure sensor, the output of the air pressure sensor is a digital signal, and a 4-wire transmission mode of SPI digital transmission protocol is used for transmitting information with the data processing module (U1); the steering engine module (U4) is connected between the TIM timer of the data processing module (U1) and the umbrella opening device and is used for receiving an instruction transmitted by the data processing module (U1) to control the umbrella opening device to open; the ignition module (U6) is connected with an I/O port of the data processing module (U1) and is used for receiving an instruction of the data processing module (U1) to open the gunpowder; the data transmission module (U5) is connected with a USART serial port of the data processing module (U1) and is used for signal transmission between the data processing module (U1) and a ground computer.

2. A control device for a fixed-height separation or parachute-opening model rocket according to claim 1, wherein: an input voltage port of the power supply module (U2) is connected with a 2S battery; the power supply module (U2) comprises a 5V voltage stabilizing module and a 3.3V voltage stabilizing module, and the voltage of the battery is reduced through a voltage stabilizing circuit; the voltage output port 5V/O of the 5V voltage stabilizing module is respectively connected with the power port 5V/I of the ignition module (U6) and the power port 5V/I of the steering engine module (U4); the voltage output port 3.3V/O of the 3.3V voltage stabilizing module is respectively connected with the power port 3.3V/I of the data processing module (U1), the power port 3.3V/I of the data acquisition module (U3) and the power port 3.3V/I of the data transmission module (U5).

3. A control device for a fixed-height separation or parachute-opening model rocket according to claim 1, wherein: the clock signal end CLK of the SPI bus of the data processing module (U1) is connected with the clock line SCLK end of the data acquisition module (U3) and is used for sending a synchronous signal for communication to the data acquisition module (U3); the MOSI of the host input slave output end of the SPI bus of the data processing module (U1) is connected with the SDI end of the digital component serial interface of the data acquisition module (U3) and is used for transmitting data from the master device data processing module (U1) to the slave device data acquisition module (U3); the host output slave input end MISO of the SPI bus of the data processing module (U1) is connected with the serial data output data line SDO end of the data acquisition module (U3) and is used for receiving the air pressure information sent by the data acquisition module (U3); the port PB5 of the data processing module (U1) is connected with the CSB port of the data acquisition module (U3) and is used for selecting whether to start the data transmission function of the data acquisition module (U3) or not through the high-low level state of the PB5 port.

4. A control device for a fixed-height separation or parachute-opening model rocket according to claim 1, wherein: the steering engine module (U4) is a model airplane steering engine, and the PA1 port of the TIM timer of the data processing module (U1) is connected with the control port of the model airplane steering engine and is used for transmitting PWM signals to the model airplane steering engine.

5. A control device for a fixed-height separation or parachute-opening model rocket according to claim 1, wherein: the signal receiving line RX end of the USART serial port of the data processing module (U1) is connected with the data transmitting end TXD of the data transmission module (U5) and is used for receiving instruction information from a ground computer; the signal transmission line TX end of the USART serial port of the data processing module (U1) is connected with the data receiving end RXD of the data transmission module (U5) and is used for transmitting the height information acquired by the data processing module (U1).

6. A control device for a fixed-height separation or parachute-opening model rocket according to claim 1, wherein: the PB13 and PB14 interfaces of the I/O ports of the data processing module (U1) are respectively connected with the ignition end FUSE1 and the ignition end FUSE2 of the ignition module (U6) and are used for outputting high-level explosion command signals to the data processing module.

7. A control device for a fixed-height separation or parachute-opening model rocket according to claim 1, wherein: the data processing module (U1) is an artificial semiconductor STM32F103 singlechip.

8. A control device for a fixed-height separation or parachute-opening model rocket according to claim 1, wherein: the data acquisition module (U3) is an MS5611 air pressure sensor.