Method and system for dynamically detecting torque of pitching transmission shaft of figure rocket launcher

Abstract

The invention discloses a figure rocket launcher pitching transmission shaft torque dynamic detection method and system, and the method comprises the steps: enabling a stepping motor to drive a driving gear through a speed reducer to drive a pitching transmission shaft to rotate, and collecting a torque signal in real time through a magnetoelectric induction torque sensor; and the phase difference measuring unit converts the dual-channel sinusoidal signal into a square wave and calculates the phase difference, and then outputs a digital torque value through the analog-to-digital converter. And the control module adopts Kalman filtering and a calibration curve to realize dynamic compensation. The recording sub-module is provided with a high-capacity solid-state memory and supports continuous recording of detection data in a circulating storage mode. The differential sensing structure is adopted, the neodymium iron boron magnetic steel and the multi-layer winding signal coil design are combined, the detection precision of the micro torque fluctuation under the low-speed and heavy-load working condition is effectively improved, the technical problems of detection lag, transient impact missing detection, data tracing difficulty and the like existing in a traditional method are solved, and the detection precision of the micro torque fluctuation under the low-speed and heavy-load working condition is improved. And the safety monitoring capability of the rocket launcher transmission system is obviously enhanced.

Description

Technical Field

[0001] The present invention relates to the application field of rocket launching, and in particular to a method and system for dynamic detection of the torque of a pitch transmission shaft of a human shadow rocket launcher. Background Art

[0002] The Human Shadow rocket launcher is a critical piece of equipment used in weather modification operations, and its performance directly impacts operational safety and effectiveness. The pitch drive shaft, a core component controlling the rocket's pitch motion, is subject to complex dynamic loads during launch. In addition to overcoming conventional resistance forces such as static friction, it must also contend with dynamic resistance forces such as the moment of inertia generated by the rocket's motion. These factors collectively influence the magnitude of the dynamic torque, which is closely related to the shaft's angular velocity and acceleration, the rocket's mass distribution, and changes in its motion state. In particular, large impact torques are generated on the pitch drive shaft during rocket ignition or sudden thrust changes during engine operation. This impact torque can cause instantaneous overload on the pitch drive shaft, leading to elastic deformation or even damage, severely impacting the rocket's launch attitude and flight stability. Therefore, real-time monitoring and measurement of pitch drive shaft torque is crucial to ensuring the structural safety of the Human Shadow rocket launcher.

[0003] Common detection methods often cannot monitor the torque changes of the pitch shaft in real time during the launch of the human shadow rocket, and it is even more difficult to accurately capture the subtle changes in the torque of the shaft under different working conditions. It is impossible to respond and detect the instantaneous impact torque in time. The instantaneous impact torque may cause greater damage to the shaft, but due to the lag of the detection method, these impact torques are easily ignored, resulting in the accumulation of safety hazards. Moreover, this detection method can only detect problems when the hidden dangers of the shaft develop to a more serious level. At this time, the pitch drive shaft may have been seriously damaged or even unable to work normally, which will lead to serious consequences such as rocket launch failure and cannot meet the working requirements of rocket launch applications. For this reason, a dynamic detection method and system for the torque of the pitch drive shaft of the human shadow rocket launcher is proposed. Summary of the Invention

[0004] The present invention provides the following technical solution: a method for dynamically detecting the torque of a pitch transmission shaft of a shadow rocket launcher, comprising the following steps: S1 drive pitch adjustment: First, the stepper motor and reducer drive the driving gear to rotate, and then the transmission gear can drive the pitch transmission shaft and the rotating bracket to rotate, so as to achieve pitch angle adjustment; S2 collects torque signal: During pitch adjustment, the torque signal of the pitch transmission shaft is collected in real time through the magnetoelectric induction torque sensor; S3 signal processing conversion: Secondly, the torque signal collected in step S2 is measured for phase difference and AD conversion by the measurement module to obtain the real-time torque value; S4 Analysis, Judgment and Early Warning: The control module then filters, calibrates, and threshold-judges the torque value obtained in step S3. When the torque value exceeds a preset safety range, the early warning submodule is triggered. The early warning submodule issues an alarm upon receiving the signal and sends the abnormal data to the recording submodule via the communication submodule. S5 records storage data: After receiving the signal sent in step S4, the recording submodule records and stores the detection data and abnormal events.

[0005] The present invention provides a dynamic detection system for the pitch transmission shaft torque of a human shadow rocket launcher, which adopts the above-mentioned dynamic detection method for the pitch transmission shaft torque of a human shadow rocket launcher, comprising: A basic platform, wherein bearings are installed in the middle of the left and right sides of the basic platform, and a pitch transmission shaft is inserted into the bearing; A reducer is installed on the right side of the bottom of the basic platform, the input shaft of the reducer is installed with a stepper motor, and the output shaft of the reducer is coaxially connected with a driving gear; A transmission gear is coaxially sleeved on the middle position of the outside of the pitch transmission shaft. Detection gears are sleeved on both the left and right sides of the outside of the pitch transmission shaft. Magnets are installed on both the left and right sides of the top of the base frame. The signal coil is installed on the outside of the magnetic steel. Magnetoelectric induction torque sensors are installed on both sides of the top of the base frame at positions corresponding to the signal coil. A rotating bracket is sleeved on the outside of the pitch transmission shaft between the transmission gear and the detection gear. A direction finder is installed on the top of the rotating bracket. The measuring module is installed inside the magnetoelectric induction torque sensor. The control module is installed on the top of the basic stand, located outside the magnetoelectric induction torque sensor. The control module is connected to the measuring module through a data cable. The control module integrates a communication submodule, an early warning submodule and a recording submodule.

[0006] Preferably, in step S1, the stepper motor and the reducer are connected by a coupling, the output shaft of the reducer is connected to the driving gear through a keyway structure, the driving gear is meshed with the transmission gear for transmission, and the transmission gear is coaxially connected to the pitch transmission shaft through a flange structure.

[0007] Preferably, the magnetoelectric induction torque sensor in step S2 adopts a non-contact measurement method. The magnetoelectric induction torque sensor is composed of a magnetoelectric conversion element and a signal conditioning circuit. The magnetoelectric conversion element works based on the principle of magnetoelastic effect. When the pitch transmission shaft is subjected to torque, the magnetic permeability of the magnetoelectric conversion element changes, which is then converted into an electrical signal output. The signal conditioning circuit amplifies, filters and shapes the electrical signal.

[0008] Preferably, the measurement module in step S3 includes a phase difference measurement unit and an AD conversion unit. The phase difference measurement unit uses a zero-crossing comparator to shape the two sinusoidal signals output by the sensor to obtain two square wave signals, and calculates the phase difference between the two signals by measuring the time difference between the rising edge or the falling edge of the two square wave signals. The AD conversion unit uses an analog-to-digital converter to convert the analog signal output by the phase difference measurement unit into a digital signal. The digital signal is digitally filtered and calibrated to obtain a real-time torque value, thereby ensuring accurate conversion of the torque value.

[0009] Preferably, the control module in step S4 uses a Kalman filter algorithm to perform dynamic filtering on the real-time torque value, and at the same time performs nonlinear compensation on the torque value through a preset calibration curve.

[0010] Preferably, the early warning submodule in step S4 includes a buzzer and an LED indicator light, and the communication submodule uploads the abnormal data to the remote monitoring center in real time through the 4G and LoRa wireless networks.

[0011] Preferably, the recording submodule in step S5 adopts a large-capacity solid-state memory, and two modes of cyclic storage and event-triggered storage are set inside the recording submodule. The cyclic storage mode saves continuous detection data in chronological order, and the event-triggered storage mode automatically saves the complete data packet within a period of time before and after the event when an abnormal event is detected.

[0012] Preferably, the basic frame is formed by welding alloy steel, the bottom of the basic frame is provided with an anti-slip rubber pad and anchor bolt mounting holes, and a shock-absorbing rubber pad is provided between the bearing and the basic frame.

[0013] Preferably, the driving gear and the transmission gear are both made of alloy steel, the tooth surfaces of the driving gear and the transmission gear are both ground and surface hardened, the magnetic steel is a neodymium iron boron permanent magnet, the surface of the magnetic steel is nickel-plated, the signal coil is arranged with a multi-layer winding structure, and the outside of the signal coil is provided with an electromagnetic shielding cover.

[0014] In summary, compared with the prior art, the present invention provides a method and system for dynamic detection of the pitch transmission shaft torque of a shadow rocket launcher, which has the following beneficial effects: 1. This invention achieves real-time dynamic acquisition of pitch transmission shaft torque through the coordinated design of a magnetoelectric induction torque sensor, transmission gear, and detection gear. Compared to the hysteresis of traditional detection methods, this system can synchronously capture the continuous changes in shaft torque during launch, especially transient impact torque. Through millisecond-level phase difference measurement and AD conversion in the signal processing module, the transient response speed is improved, avoiding the problem of missed impact torque detection due to detection delays, and effectively preventing hidden damage to the shaft caused by transient overload. 2. The present invention uses a differential sensing structure of dual detection gears and magnetic steel, combined with the high sensitivity of the magnetoelectric induction torque sensor, to accurately sense tiny fluctuations in the shaft torque. By quantitatively analyzing the signal phase difference through the measurement module, it can distinguish between normal operating fluctuations and abnormal impact characteristics. Even under low-speed and high-torque conditions, torque pulsations that are difficult to identify with traditional methods can be captured, thereby improving the response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention.

[0016] Figure 2 It is a schematic diagram of the system structure of the present invention.

[0017] Figure 3 It is a structural schematic diagram of the rotating bracket and the orienter of the present invention.

[0018] Description of reference numerals: 1. Basic frame; 2. Bearing; 3. Pitch transmission shaft; 4. Reducer; 5. Stepper motor; 6. Driving gear; 7. Transmission gear; 8. Detection gear; 9. Magnet; 10. Signal coil; 11. Magnetoelectric induction torque sensor; 12. Rotating bracket; 13. Orienter; 14. Control module. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] See also Figure 1 The present invention provides a technical solution, a method for dynamically detecting the torque of the pitch transmission shaft of a shadow rocket launcher, comprising the following steps: S1 drive pitch adjustment: First, the stepping motor 5 and the reducer 4 drive the driving gear 6 to rotate, which in turn drives the pitch transmission shaft 3 and the rotating bracket 12 to rotate through the transmission gear 7, thereby achieving pitch angle adjustment; S2 collects torque signal: During pitch adjustment, the torque signal of the pitch transmission shaft 3 is collected in real time through the magnetoelectric induction torque sensor 11; S3 signal processing conversion: Secondly, the torque signal collected in step S2 is measured for phase difference and AD conversion by the measurement module to obtain a real-time torque value. The specific implementation process of the above method is as follows: Establish a dual-channel signal acquisition link: When the pitch transmission shaft is subjected to torque, the magnetoelectric induction torque sensors arranged on both sides of the axis will synchronously output two sets of phase-related sinusoidal electrical signals. These two signals are like "twin signals", and their waveform change patterns have a fixed mapping relationship with the stress state of the shaft body. The measurement module first captures these two sets of analog signals simultaneously through a differential input circuit. This dual-channel synchronous acquisition design can effectively resist common-mode interference and provide a benchmark reference for subsequent phase difference analysis; Signal preprocessing: The raw sensor signal undergoes multiple stages of conditioning. First, a low-noise amplifier boosts the millivolt signal to the volt range, enhancing its anti-interference capabilities. It then enters a bandpass filter network. This filter uses a fifth-order Butterworth filter circuit to accurately filter out stepper motor harmonic interference (primary frequency band 200-500Hz) and spatial electromagnetic noise (above 10kHz), while retaining the effective torque signal frequency band (0-100Hz). Finally, a Schmitt trigger is used to shape the waveform, converting the sine wave into a square wave with a steep leading edge, creating conditions for phase difference measurement. Precise Phase Difference Measurement: The two shaped square wave signals are fed into a dedicated phase detection chip with a built-in time-to-digital converter (TDC). Upon detecting the rising edge of the first square wave, the TDC immediately initiates high-precision timing; timing automatically terminates when the corresponding edge of the second square wave arrives. This time difference, quantized by a 24-bit counter, is accurate to 0.1 nanoseconds. Taking into account the system operating frequency, this measurement accuracy can resolve phase deviations as small as 0.001 degrees, providing fundamental data for torque calculations. Nonlinear compensation: Due to the temperature drift of the magnetoelastic effect of magnetoelectric sensors, the measurement module features a built-in multi-stage calibration engine. This engine stores twelve sets of calibration curves covering the temperature range of -40°C to +85°C, each containing compensation coefficients for fifty characteristic points. The system monitors the ambient temperature in real time using an NTC temperature sensor, automatically calling the corresponding calibration parameters and performing nonlinear correction on the raw phase difference data, eliminating measurement deviations caused by temperature. Analog-to-digital conversion process: The phase difference is first digitized using a Σ-Δ analog-to-digital converter. This converter uses oversampling technology with a sampling frequency of 6.144MHz and a five-stage digital filter to effectively suppress quantization noise. The resulting 24-bit digital signal undergoes sampling rate conversion and is downsampled to a standard 1kHz sampling rate, forming a continuous digital signal stream. Dynamic digital filtering: The digital signal enters the control module's Kalman filter, which establishes a state equation based on the launcher's kinematic model. This filter estimates and eliminates vibration noise (frequency range 10-50Hz) and mechanical resonance interference (characteristic frequency 85Hz) in real time. The filtering algorithm uses an adaptive adjustment mechanism. When the rocket ignition shock is detected, it automatically switches to fast tracking mode to ensure that the transient torque signal is not distorted. Final numerical conversion: The filtered and calibrated digital signal enters the torque calculation unit, which has a built-in twelve-segment piecewise linearization model. Based on the correspondence between phase difference and torque value, the digital quantity is converted into an engineering torque value with a conversion resolution of 0.1N·m. The resulting real-time torque data includes a quality indicator: when the measurement uncertainty is less than 1%, it is marked as high-precision data. In the presence of sudden temperature fluctuations or signal distortion, it is automatically downgraded to standard precision data, providing a reliable reference for subsequent analysis and judgment. S4 Analysis, Judgment and Early Warning: The control module 14 then filters, calibrates, and thresholds the torque value obtained in step S3. When the torque value exceeds a preset safety range, the early warning submodule is triggered. The early warning submodule issues an alarm upon receiving the signal and sends the abnormal data to the recording submodule via the communication submodule. S5 records storage data: After receiving the signal sent in step S4, the recording submodule records and stores the detection data and abnormal events; The magnetoelectric induction torque sensor 11 in step S2 uses a non-contact measurement method. The magnetoelectric induction torque sensor 11 is composed of a magnetoelectric conversion element and a signal conditioning circuit. The magnetoelectric conversion element operates based on the principle of magnetoelastic effect. When the pitch transmission shaft 3 is subjected to torque, the magnetic permeability of the magnetoelectric conversion element changes, which is then converted into an electrical signal output. The signal conditioning circuit amplifies, filters, and shapes the electrical signal. The measurement module in step S3 includes a phase difference measurement unit and an AD conversion unit. The phase difference measurement unit uses a zero-crossing comparator to shape the two sinusoidal signals output by the sensor to obtain two square wave signals. The phase difference between the two signals is calculated by measuring the time difference between the rising edge or falling edge of the two square wave signals. The AD conversion unit uses an analog-to-digital converter to convert the analog signal output by the phase difference measurement unit into a digital signal. The digital signal is digitally filtered and calibrated to obtain a real-time torque value, ensuring accurate conversion of the torque value. The control module 14 in step S4 uses the Kalman filter algorithm to dynamically filter the real-time torque value and performs nonlinear compensation on the torque value through a preset calibration curve. The early warning submodule includes a buzzer and an LED indicator light, and the communication submodule uploads abnormal data to the remote monitoring center in real time through 4G and LoRa wireless networks; The recording submodule in step S5 uses a large-capacity solid-state memory. The recording submodule is internally configured with two modes: cyclic storage and event-triggered storage. The cyclic storage mode stores continuous detection data in chronological order, while the event-triggered storage mode automatically saves complete data packets for a period of time before and after an abnormal event is detected. The specific implementation process of the above method is as follows: Solid-state storage architecture: The recording submodule utilizes high-capacity solid-state memory based on NAND flash memory. The storage medium is divided into two independently managed storage areas: a cyclic storage area and an event storage area. Each storage area is equipped with an independent data buffer pool and file management system to ensure that the two storage modes do not interfere with each other. The memory also features a built-in wear-leveling algorithm that extends its lifespan by dynamically allocating storage blocks. Initializing Circular Storage Mode: After the system is powered on, the Circular Storage area automatically creates a continuous time-indexed linked list, establishing virtual storage volumes based on a 24-hour cycle. Each storage volume is divided into 3600 equal-length data blocks, each corresponding to one second of test data. Data is written using a circular queue mechanism. When the latest data is written to the last data block, the first data block is automatically released, forming a first-in, first-out storage closed loop. Continuous Data Acquisition: During the launch preparation phase, the recording submodule continuously receives torque data packets from the control module at a 1kHz sampling rate. Each packet contains four pieces of information: a timestamp, torque value, temperature value, and a checksum. Data is first stored in a circular buffer in the cyclic storage area. After a CRC check to confirm integrity, it is written to the corresponding storage block in chronological order, ensuring the complete preservation of continuous monitoring data throughout the launch process. Establish an event trigger mechanism: When the control module detects a torque overrun event, it immediately sends an interrupt signal to the recording submodule. The recording submodule responds to the interrupt within 50 microseconds and initiates the event storage process: First, the write pointer of the current circular storage area is locked to obtain the event trigger time T0; then, based on the preset pre-trigger time (default 5 seconds), all data blocks from T0-5 seconds to T0 are back-traced from the circular storage area; finally, a separate event storage file is created, merging the back-traced data with the real-time data after T0. Dual-mode data encapsulation: Event storage files use a three-level directory structure: the first level identifies the event type (e.g., torque overload, vibration limit violation), the second level contains the year-month-day timestamp, and the third level contains the event sequence number. The file contains a metadata header and a continuous data body. The metadata header records key parameters such as the rocket launch pad number, event trigger time, and duration. The data body stores complete monitoring records at a granularity of 10 milliseconds, ensuring that the entire event can be accurately restored during subsequent analysis. Configure storage protection policies: After an event storage file is generated, the system automatically marks it as "read-only" and copies it to a reserved area of ​​solid-state storage. This area uses a RAID1 mirrored storage structure, with data written simultaneously to two independent storage chips. Even if a single chip is physically damaged, the remaining data can still be restored from the other chip. The circular storage area continues to be dynamically updated to ensure that subsequent monitoring data is not affected. Intelligent storage management: When the remaining capacity of the solid-state storage falls below 15%, the system automatically initiates a data cleanup process. For the cyclic storage area, the oldest complete storage volume is deleted first. For the event storage area, differentiated retention policies are implemented based on the event level: common events are automatically archived after 90 days, while major events (such as failures that caused launch aborts) are permanently stored. All deletion operations require a second confirmation to prevent data loss caused by accidental operations. Multi-dimensional Data Retrieval: The recording submodule features an embedded database engine, supporting queries based on multiple criteria, including time range, event type, and torque threshold. Users can access the data remotely via the host software, and the system automatically generates data heat maps, visually demonstrating the spatiotemporal distribution of torque changes during launch. For major events, a complete analysis package containing leading data, event body, and subsequent data can be exported, providing a complete chain of evidence for root cause analysis.

[0021] See also Figure 2 The present invention provides a dynamic detection system for the pitch transmission shaft torque of a human shadow rocket launcher, which adopts the above-mentioned dynamic detection method for the pitch transmission shaft torque of a human shadow rocket launcher, comprising: The basic platform 1 is equipped with bearings 2 in the middle of the left and right sides of the basic platform 1. The pitch transmission shaft 3 is inserted into the bearing 2. The basic platform 1 is welded with alloy steel. The bottom of the basic platform 1 is provided with anti-slip rubber pads and anchor bolt mounting holes. A shock-absorbing rubber pad is provided between the bearing 2 and the basic platform 1; The reducer 4 is installed on the right side of the bottom of the base frame 1. The input shaft of the reducer 4 is installed with a stepping motor 5, and the output shaft of the reducer 4 is coaxially connected with a driving gear 6; The transmission gear 7 is coaxially sleeved on the middle position of the outside of the pitch transmission shaft 3. The detection gears 8 are sleeved on the left and right sides of the outside of the pitch transmission shaft 3. The magnets 9 are installed on the left and right sides of the top of the base frame 1. The signal coil 10 is installed on the outside of the magnetic steel 9. The positions corresponding to the signal coil 10 on both sides of the top of the base frame 1 are both installed with a magnetic induction torque sensor 11. The outside of the pitch transmission shaft 3 is located between the transmission gear 7 and the detection gear 8 and is provided with a rotating bracket 12. Figure 3 , a orienter 13 is installed on the top of the rotating bracket 12; The measuring module is installed inside the magnetoelectric induction torque sensor 11. A control module 14 is installed on the top of the basic stand 1, located outside the magnetoelectric induction torque sensor 11. The control module 14 is connected to the measuring module through a data cable. The control module 14 is integrated with a communication sub-module, an early warning sub-module and a recording sub-module. The driving gear 6 and the transmission gear 7 are both made of alloy steel. The tooth surfaces of the driving gear 6 and the transmission gear 7 are ground and surface hardened. The magnet 9 is a neodymium iron boron permanent magnet, and the surface of the magnet 9 is nickel-plated. The signal coil 10 is arranged with a multi-layer winding structure, and the outside of the signal coil 10 is provided with an electromagnetic shielding cover.

[0022] This solution achieves real-time dynamic acquisition of the torque of the pitch transmission shaft 3 through the coordinated design of the magnetoelectric induction torque sensor 11, the transmission gear 7, and the detection gear 8. Compared with the lag of traditional detection methods, this system can synchronously capture the continuous changes in the shaft torque during the launch process, and through the millisecond-level phase difference measurement and AD conversion of the signal processing module, it improves the transient response speed, avoids the problem of missed detection of impact torque due to detection delay, and effectively prevents hidden damage to the shaft caused by instantaneous overload.

[0023] This solution uses the differential sensing structure of the dual detection gears 8 and the magnetic steel 9, combined with the high sensitivity of the magneto-electric induction torque sensor 11, to accurately sense tiny fluctuations in the shaft torque. By quantitatively analyzing the signal phase difference through the measurement module, it can distinguish between normal operating fluctuations and abnormal impact characteristics. Even under low-speed and high-torque conditions, torque pulsations that are difficult to identify with traditional methods can be captured, thereby improving the response speed.

[0024] This system utilizes a magneto-electric torque sensor and a gear train. Through a differential sensing structure comprised of dual detection gears and magnets, it achieves continuous, millisecond-level measurement of shaft torque. This non-contact measurement design avoids the creep errors of traditional strain gauge sensors. Incorporating the magnetoelastic effect, torque signal acquisition is fully synchronized with the launcher's mechanical motion, effectively capturing transient events such as ignition shock and sudden operating condition changes. This overcomes the challenge of missed impact torque detection caused by sampling intervals in traditional detection methods. Furthermore, dual-channel phase difference measurement technology converts torque changes into quantifiable electrical signal phase shifts. The measurement module uses a zero-crossing comparator to shape the sensor's sinusoidal output signal. Combined with time-to-digital conversion technology, this achieves time difference resolution down to 0.1 nanoseconds. Furthermore, a differential sensing layout and digital filtering algorithms provide multiple anti-interference mechanisms. The magnet assembly utilizes neodymium iron boron permanent magnets and a nickel-plated finish, and the signal coil is equipped with an electromagnetic shield to effectively suppress electromagnetic interference. The measurement module has a built-in fifth-order Butterworth filter circuit that can filter out motor harmonics above 200Hz and spatial noise above 10kHz. Combined with the Kalman filter algorithm, it ensures that the measurement accuracy of ±0.5%FS can be maintained even in the strong vibration and wide temperature range environment of rocket launch.

[0025] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0026] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A dynamic detection method for the torque of the pitch transmission shaft of a human shadow rocket launcher, characterized in that: The following steps are involved: S1 drive pitch adjustment: First, the stepper motor and reducer drive the driving gear to rotate, and then the transmission gear drives the pitch transmission shaft and the rotating bracket to rotate, thus achieving pitch angle adjustment; S2 collects torque signal: During pitch adjustment, the torque signal of the pitch transmission shaft is collected in real time through the magnetoelectric induction torque sensor; S3 signal processing conversion: Secondly, the torque signal collected in step S2 is measured for phase difference and AD conversion by the measurement module to obtain the real-time torque value; S4 Analysis, Judgment and Early Warning: The control module then filters, calibrates, and threshold-judges the torque value obtained in step S3. When the torque value exceeds a preset safety range, the early warning submodule is triggered. The early warning submodule issues an alarm upon receiving the signal and sends the abnormal data to the recording submodule via the communication submodule. S5 records storage data: After receiving the signal sent in step S4, the recording submodule records and stores the detection data and abnormal events.

2. The method for dynamic detection of the pitch transmission shaft torque of a human shadow rocket launcher according to claim 1 is characterized in that: In step S1, the stepping motor and the reducer are connected by a coupling, the output shaft of the reducer is connected to the driving gear through a keyway structure, the driving gear is meshed with the transmission gear for transmission, and the transmission gear is coaxially connected to the pitch transmission shaft through a flange structure.

3. The method for dynamic detection of the pitch transmission shaft torque of a human shadow rocket launcher according to claim 1, characterized in that: The magnetoelectric induction torque sensor in step S2 adopts a non-contact measurement method. The magnetoelectric induction torque sensor is composed of a magnetoelectric conversion element and a signal conditioning circuit. The magnetoelectric conversion element operates based on the principle of magnetoelastic effect. When the pitch transmission shaft is subjected to torque, the magnetic permeability of the magnetoelectric conversion element changes, which is then converted into an electrical signal output. The signal conditioning circuit amplifies, filters and shapes the electrical signal.

4. The method for dynamic detection of torque of the pitch transmission shaft of a human shadow rocket launcher according to claim 1, characterized in that: The measurement module in step S3 includes a phase difference measurement unit and an AD conversion unit. The phase difference measurement unit uses a zero-crossing comparator to shape the two sinusoidal signals output by the sensor to obtain two square wave signals. The phase difference between the two signals is calculated by measuring the time difference between the rising edge or the falling edge of the two square wave signals. The AD conversion unit uses an analog-to-digital converter to convert the analog signal output by the phase difference measurement unit into a digital signal. The digital signal is digitally filtered and calibrated to obtain a real-time torque value, ensuring accurate conversion of the torque value.

5. The method for dynamic detection of torque of the pitch transmission shaft of a human shadow rocket launcher according to claim 1, characterized in that: The control module in step S4 uses a Kalman filter algorithm to perform dynamic filtering on the real-time torque value, and at the same time performs nonlinear compensation on the torque value through a preset calibration curve.

6. The method for dynamic detection of torque of the pitch transmission shaft of a human shadow rocket launcher according to claim 1, characterized in that: The early warning submodule in step S4 includes a buzzer and an LED indicator light, and the communication submodule uploads abnormal data to a remote monitoring center in real time via 4G and LoRa wireless networks.

7. The method for dynamic detection of torque of the pitch transmission shaft of a human shadow rocket launcher according to claim 1, characterized in that: The recording submodule in step S5 uses a large-capacity solid-state memory, and two modes of cyclic storage and event-triggered storage are set inside the recording submodule. The cyclic storage mode saves continuous detection data in chronological order, and the event-triggered storage mode automatically saves the complete data packet within a period of time before and after the abnormal event is detected.

8. A dynamic detection system for the pitch transmission shaft torque of a human shadow rocket launcher, which adopts the dynamic detection method for the pitch transmission shaft torque of a human shadow rocket launcher according to any one of claims 1 to 7, characterized in that: include: A basic platform, wherein bearings are installed in the middle of the left and right sides of the basic platform, and a pitch transmission shaft is inserted into the bearing; A reducer is installed on the right side of the bottom of the basic platform, the input shaft of the reducer is installed with a stepper motor, and the output shaft of the reducer is coaxially connected with a driving gear; A transmission gear is coaxially sleeved on the middle position of the outside of the pitch transmission shaft. Detection gears are sleeved on both the left and right sides of the outside of the pitch transmission shaft. Magnets are installed on both the left and right sides of the top of the base frame. The signal coil is installed on the outside of the magnetic steel. Magnetoelectric induction torque sensors are installed on both sides of the top of the base frame at positions corresponding to the signal coil. A rotating bracket is sleeved on the outside of the pitch transmission shaft between the transmission gear and the detection gear. A direction finder is installed on the top of the rotating bracket. The measuring module is installed inside the magnetoelectric induction torque sensor. The control module is installed on the top of the basic stand, located outside the magnetoelectric induction torque sensor. The control module is connected to the measuring module through a data cable. The control module integrates a communication submodule, an early warning submodule and a recording submodule.

9. The dynamic detection system for the pitch transmission shaft torque of the shadow rocket launcher according to claim 8 is characterized in that: The basic frame is formed by welding alloy steel. The bottom of the basic frame is provided with an anti-skid rubber pad and anchor bolt mounting holes. A shock-absorbing rubber pad is provided between the bearing and the basic frame.

10. The dynamic detection system for the pitch transmission shaft torque of the shadow rocket launcher according to claim 8, characterized in that: The driving gear and the transmission gear are both made of alloy steel, the tooth surfaces of the driving gear and the transmission gear are ground and surface hardened, the magnetic steel is a neodymium iron boron permanent magnet, the surface of the magnetic steel is nickel-plated, the signal coil is arranged with a multi-layer winding structure, and the outside of the signal coil is provided with an electromagnetic shielding cover.

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