A fully rotating attitude control nozzle for a solid attitude and orbit control engine

Abstract

The present invention provides a full-circle rotary attitude control nozzle for a solid attitude and orbit control engine, comprising a nozzle body, a bearing and a servo motor, wherein the servo motor is mounted on the solid attitude and orbit control engine, and a transmission gear is fixedly connected to the output end; the nozzle body is an L-shaped structure, one end of which is mounted on the solid attitude and orbit control engine through a bearing, connected to the gas pipeline of the solid attitude and orbit control engine, and a gear structure is fixedly connected to the outer wall, meshing with the transmission gear, and the nozzle body rotates around its own rotation axis under the drive of the motor, thereby changing the direction of the other end of the nozzle body in a plane perpendicular to the axis of the solid attitude and orbit control engine. The present invention has a simple structure, light weight, high reliability, and can achieve the required thrust / torque output through fewer nozzles.

Description

Technical Field

[0001] The invention relates to an attitude control nozzle, belonging to the technical field of solid attitude and orbit control engines. Background Art

[0002] Attitude control nozzles are mainly used in various types of attitude and orbit control power systems, relying on the output thrust to adjust and stabilize the attitude of the aircraft.

[0003] At present, the main forms of attitude control nozzles used in solid attitude and orbit control engines are divided into two categories: one is a one-time working pulse attitude control nozzle, which is commonly used in pulse array attitude and orbit control systems. In this system, multiple attitude control nozzles are installed at least one circle around the aircraft. Each attitude control nozzle is equivalent to a small solid rocket engine. When impulse output is required, attitude control nozzles in a specific position and number work; the other is a continuously working attitude control nozzle with adjustable switches or thrust size, which is commonly used in gas-fired solid multi-nozzle attitude and orbit control systems. In this system, attitude control nozzles are arranged according to specific positions, and gas generators or other gas supply systems continuously provide working fluids. Attitude control nozzles in different positions and combinations are adjusted through switches or thrust to output the required thrust.

[0004] Each small engine of the above-mentioned pulse array attitude and orbit control system can only be ignited once, and continuous vector adjustment cannot be achieved, and the control accuracy is low; although the multi-nozzle gas attitude and orbit control system can achieve continuous vector adjustment and has high control accuracy, it needs to adjust the working fluid continuously supplied by the ultra-high temperature gas system, which involves a series of problems such as high-temperature ablation resistance, heat protection, and dynamic adjustment of valves under high temperature. It has high requirements for current material technology and basic industry, and the technical difficulty is relatively high. In addition, both types of nozzles are fixedly placed nozzles. In order to meet the attitude adjustment requirements of pitch, roll and yaw, at least 6 attitude control nozzles are required to work in combination to meet the output requirements.

[0005] The existing rotatable vector nozzles for aircraft, each nozzle is usually driven by two or more hydraulic systems or motors, and contains relatively complex connecting structures such as connecting rods. There are problems such as large structural volume, heavy structural weight, and limited rotation angle. In addition, the working fluid of the aircraft vector nozzle is quite different from that of the solid rocket engine, which cannot meet the requirements of air defense, anti-missile and space confrontation aircraft for mass, volume and working characteristics, and cannot be directly transplanted and used. Summary of the invention

[0006] In order to overcome the deficiencies of the prior art, the present invention provides a full-circle rotating attitude control nozzle for a solid attitude and orbit control engine, which can achieve the required thrust / torque output through fewer nozzles.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a full-circle rotating attitude control nozzle for a solid attitude and orbit control engine, comprising a nozzle body, a bearing and a servo motor.

[0008] The servo motor is installed on the solid attitude and orbit control engine, and the output end is fixedly connected to a transmission gear; the nozzle body is an L-shaped structure, one end of which is installed on the solid attitude and orbit control engine through a bearing, connected to the gas pipeline of the solid attitude and orbit control engine, and the outer wall is fixedly connected with a gear structure, which meshes with the transmission gear. The nozzle body rotates around its own rotation axis under the drive of the motor, thereby changing the direction of the other end of the nozzle body in a plane perpendicular to the axis of the solid attitude and orbit control engine.

[0009] A side dynamic sealing structure is adopted between the nozzle body and the gas pipeline, and the sealing ring is made of fully fluorinated high temperature resistant and wear-resistant rubber.

[0010] The servo motor is a brushless DC motor.

[0011] The flight direction is defined as +X direction, the plane formed by the nozzle thrust axis is defined as YZ plane, the projection of X axis on YZ plane is the coordinate origin O, and the +Y and +Z directions conform to the right-hand rule; the rotation axes of the four nozzles are located in the dividing circle with a diameter of D, respectively in the four quadrants formed by the Y axis and the Z axis, and the nozzles are arranged symmetrically along the Y axis and along the Z axis; the nozzles in the +Y and -Z quadrants are defined as the 1# nozzle, the nozzles in the +Y and +Z quadrants are defined as the 2# nozzle, the nozzles in the -Y and +Z quadrants are defined as the 3# nozzle, and the nozzles in the -Y and -Z quadrants are defined as the 4# nozzle; the angle between the projection of the nozzle rotation axis and the missile body coordinate origin O on the YZ plane and the +Y direction is β, and the thrust output by each nozzle is F; the pitch control During roll control, the nozzles of the 1# and 2# nozzles face the +Y direction, the nozzle of the 3# nozzle faces the +Z direction, and the nozzle of the 4# nozzle faces the -Z direction. Then the thrust direction is in the -Y direction, and the thrust magnitude is 2F. The thrust in the +Y direction is similar. During roll control, the angle between the nozzle of the 1# nozzle and the +Y axis is β, the angle between the nozzle of the 3# nozzle and the -Y axis is β, the nozzle of the 2# nozzle faces the +Z direction, and the nozzle of the 4# nozzle faces the -Z direction. Then a counterclockwise moment is formed, and the moment magnitude is F×D×cosβ. The clockwise moment is similar. During yaw control, the nozzles of the 2# and 3# nozzles face the +Z direction, the nozzle of the 1# nozzle faces the +Y direction, and the nozzle of the 4# nozzle faces the -Y direction. Then the thrust direction is in the -Z direction, and the thrust magnitude is 2F. The thrust in the +Z direction is similar.

[0012] The projection of the line connecting the rotation axes of the 1# and 3# nozzles on the YOZ plane has an angle of 20° to 25° with the Y axis, and the projection of the line connecting the rotation axes of the 2# and 4# nozzles on the YOZ plane has an angle of 20° to 25° with the Y axis.

[0013] The beneficial effects of the present invention are:

[0014] 1) A small number of nozzles are required, and thrust can be output continuously: compared with the once-ignited pulse attitude control nozzles arranged in an array around the aircraft, thrust can be output continuously; compared with the continuously working attitude control nozzles with adjustable switches or thrust size, the nozzles described in the present invention only need 4 nozzles to be arranged around the engine to achieve the required thrust / torque output, and can output thrust continuously.

[0015] 2) Simple structure, light weight and high reliability: Compared with the conventional proportionally adjustable attitude control nozzle, the present invention does not require a complex high-temperature gas valve to adjust the nozzle flow, does not have high requirements on material technology and basic science, and has a relatively simple overall structure and high reliability; compared with the rotatable vector nozzle for aircraft, the present invention does not include more complex hydraulic transmission, connecting rod and other connecting structure components, has a small size, light weight, and can achieve full-circle rotation.

[0016] 3) Flexible structure: With the attitude control nozzle of the present invention, at least four attitude control nozzles are required to be arranged around the attitude and orbit control engine. Through the rotational combination of the attitude and orbit control nozzles along the axis of the engine, the attitude control of the pitch, roll and yaw of the missile body can be achieved. This conceptual design meets the requirements of attitude and orbit control while reducing the technical difficulty of the engine. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is an overall structural diagram of the full-circle rotating attitude control nozzle of the present invention.

[0018] Figure 2 It is a top view of the present invention installed on the attitude control engine.

[0019] Figure 3 Schematic diagram of three typical output modes when the present invention is installed on an attitude control engine.

[0020] In the figure, 1-pipe system, 2-small rolling bearing, 3-gear, 4-motor mounting seat, 5-servo motor, 6-nozzle body, 7-cover plate, 8-large rolling bearing. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments. The present invention includes but is not limited to the following embodiments.

[0022] The present invention provides a fully rotatable attitude control nozzle. Different from the conventional rotatable vector nozzle for aircraft, the attitude control nozzle of the present invention does not require a complex hydraulic system and connecting rod structure, and has the characteristics of small size, simple structure, high reliability, etc. Since the attitude control nozzle can rotate in all directions, when it is applied to attitude and orbit control engines, at least four attitude control nozzles are required to achieve attitude control of pitch, roll and yaw.

[0023] The full-circle rotating nozzle is installed on the pipeline system of the attitude and orbit control engine as required, including the nozzle body, rolling bearings, transmission gears, servo motors and connecting structures; a partial gear structure is designed on the axial outer side of the root of the nozzle body, and large rolling bearings are designed on the upper and lower sides of the gear structure, which are installed in the corresponding mounting holes in the pipeline system; the servo motor next to the nozzle body is connected to the small transmission gear through a key shaft structure, and a small rolling bearing is designed under the transmission gear to form a gear pair with the gear of the nozzle assembly; the connecting structure includes a motor mounting seat and a cover plate, and the motor mounting seat connects the servo motor and the cover plate, and the cover plate is used to press the bearing. When working, the servo motor acts according to the control command, and the output shaft of the servo motor rotates, driving the gear connected to its key shaft to rotate. The rotation of the gear structure also drives the gear of the nozzle assembly that cooperates with it to rotate, and finally drives the nozzle body connected to it to rotate.

[0024] The entire attitude control engine is located in the annular area, and the coordinate system is defined as follows: the flight direction of the projectile is the +X direction, the plane formed by the nozzle thrust axis is the YZ plane, the projection of the X axis on the YZ plane is the coordinate origin O, and the +Y and +Z directions conform to the right-hand rule.

[0025] The rotation axes of the four nozzles are located in the pitch circle with a diameter of D, and are respectively located in the four quadrants formed by the Y axis and the Z axis, and the nozzles are arranged symmetrically along the Y axis and the Z axis. The nozzles in the +Y and -Z quadrants are defined as the 1# nozzle, the nozzles in the +Y and +Z quadrants are defined as the 2# nozzle, the nozzles in the -Y and +Z quadrants are defined as the 3# nozzle, and the nozzles in the -Y and -Z quadrants are defined as the 4# nozzle. The angle between the projection of the arrangement position and the line connecting the nozzle axis and the missile body axis in the YZ plane and the +Y direction is β, and the thrust output by each nozzle is F.

[0026] During pitch control, the nozzles of the 1# and 2# nozzles face the +Y direction, the nozzle of the 3# nozzle faces the +Z direction, and the nozzle of the 4# nozzle faces the -Z direction. Then the thrust direction is in the -Y direction, and the thrust magnitude is 2F; the thrust in the +Y direction is similar.

[0027] During roll control, the angle between the nozzle of No. 1 nozzle and the +Y axis is β, the angle between the nozzle of No. 3 nozzle and the -Y axis is β, the nozzle of No. 2 nozzle is towards the +Z direction, and the nozzle of No. 4 nozzle is towards the -Z direction, then a counterclockwise moment is formed, the magnitude of which is F×D×cosβ; the clockwise moment is similar.

[0028] During yaw control, the nozzles of the 2# and 3# nozzles face the +Z direction, the nozzle of the 1# nozzle faces the +Y direction, and the nozzle of the 4# nozzle faces the -Y direction. Then the thrust direction is in the -Z direction, and the thrust magnitude is 2F; the thrust in the +Z direction is similar.

[0029] Preferably, the attitude and orbit control engine is arranged in the area of ​​the annular envelope, and is particularly suitable for a missile body attitude control engine.

[0030] Preferably, a side dynamic sealing structure is adopted between the nozzle body and the pipeline system, and the sealing ring is made of fully fluorinated high temperature resistant and wear-resistant rubber.

[0031] Preferably, the servo motor is a brushless DC motor.

[0032] Preferably, the projection of the line connecting the rotation axes of the 1# and 3# nozzles on the YOZ plane forms an angle of 20° to 25° with the Y axis, and the projection of the line connecting the rotation axes of the 2# and 4# nozzles on the YOZ plane forms an angle of 20° to 25° with the Y axis.

[0033] In the embodiment of the present invention, the rotatable nozzle is installed on the pipeline system of the attitude and orbit control engine, and its structure is as follows: Figure 1 As shown, it includes a pipeline system 1, a small rolling bearing 2, a gear 3, a motor mounting seat 4, a servo motor 5, a nozzle body 6, a cover plate 7, and a large rolling bearing 8; a gear structure is designed around the outside of the root of the nozzle body 6, and a large rolling bearing 8 is installed on the upper and lower parts of the gear structure; the upper part of the root of the servo motor 5 is connected to the motor mounting seat 4 through a threaded structure, and the lower part of the root of the motor 5 is connected to the transmission gear 3 through a key shaft. A small rolling bearing 2 is installed below the transmission gear 3, which cooperates with the gear structure at the root of the nozzle body 6 to form a gear pair. The cover plate 7 is used to fix the bearing structure, and the above structure is installed in the corresponding mounting hole in the pipeline system 1. When the servo motor 5 is in motion, it drives the gear connected to its key shaft to rotate, and the rotation of the gear structure also drives the gear of the nozzle assembly matched with it to rotate, and finally drives the nozzle body 6 connected to it to rotate.

[0034] The embodiment of the present invention adopts 4 rotatable nozzles, the attitude and orbit control engine is arranged in an annular area with an envelope of φ510×φ290, the rotation axes of the 4 nozzles are arranged in a pitch circle with a diameter of 425, and the rotation axes of the 4 nozzles are parallel to the axis of the missile body. The structure is as shown in the top view. Figure 2 shown.

[0035] In the embodiment of the present invention, the projection of the line connecting the rotation axes of the 1# and 3# nozzles on the YOZ plane is at an angle of 21° to the Y axis, and the projection of the line connecting the rotation axes of the 2# and 4# nozzles on the YOZ plane is at an angle of 21° to the Y axis.

[0036] In the embodiment of the present invention, the thrust output by each nozzle is 200N.

[0037] In the embodiment of the present invention, the four rotatable nozzles can output different attitude control thrusts by rotating at different angles:

[0038] During pitch control: the nozzles of the 1# and 2# nozzles face the +Y direction, the nozzle of the 3# nozzle faces the +Z direction, and the nozzle of the 4# nozzle faces the -Z direction, then the thrust direction is the -Y direction, and the thrust magnitude is 400N; the nozzles of the 3# and 4# nozzles face the -Y direction, the nozzle of the 1# nozzle faces the -Z direction, and the nozzle of the 2# nozzle faces the +Z direction, then the thrust direction is the +Y direction, and the thrust magnitude is 400N.

[0039] During roll control, the angle between the nozzle of No. 1 nozzle and the +Y axis is 21°, the angle between the nozzle of No. 3 nozzle and the -Y axis is 21°, the nozzle of No. 2 nozzle is toward the +Z direction, and the nozzle of No. 4 nozzle is toward the -Z direction, thus forming a counterclockwise moment with a magnitude of 79.3 N·m; the angle between the nozzle of No. 2 nozzle and the +Y axis is 21°, the angle between the nozzle of No. 4 nozzle and the -Y axis is 21°, the nozzle of No. 1 nozzle is toward the -Z direction, and the nozzle of No. 4 nozzle is toward the +Z direction, thus forming a clockwise moment with a magnitude of 79.3 N·m.

[0040] During yaw control, the nozzles of the 2# and 3# nozzles face the +Z direction, the nozzle of the 1# nozzle faces the +Y direction, and the nozzle of the 4# nozzle faces the -Y direction, then the thrust direction is the -Z direction, and the thrust magnitude is 400N; the nozzles of the 1# and 4# nozzles face the -Z direction, the nozzle of the 2# nozzle faces the +Y direction, and the nozzle of the 3# nozzle faces the -Y direction, then the thrust direction is the +Z direction, and the thrust magnitude is 400N.

[0041] Typical nozzle motion patterns for pitch, roll and yaw attitude control are as follows: Figure 3 shown.

[0042] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. A full-circle rotating attitude control nozzle for a solid attitude and orbit control engine, comprising a nozzle body, a large rolling bearing, a small rolling bearing, a transmission gear, a connecting structure and a servo motor, characterized in that: The full-circle rotating attitude control nozzle is installed on the pipeline system of the solid attitude and orbit control engine; the nozzle body is an L-shaped structure, and one end of the nozzle body is installed in the corresponding installation hole in the pipeline system to connect the gas pipeline of the solid attitude and orbit control engine; a gear structure is designed on the axial outer side of the root of the nozzle body, and the large rolling bearings are designed above and below the gear structure. The servo motor and the transmission gear are connected through a key shaft structure, and the small rolling bearing is designed below the transmission gear to form a gear pair with the gear structure of the nozzle body; the connection structure includes a motor mounting seat and a cover plate, the motor mounting seat is used to connect the servo motor and the cover plate, and the cover plate is used to press the large rolling bearing and the small rolling bearing; When working, the servo motor moves according to the control instruction, the output shaft rotates, and drives the transmission gear connected to its key shaft to rotate. The rotation of the transmission gear drives the gear structure of the nozzle body to rotate, and finally drives the nozzle body to rotate, thereby changing the orientation of the other end of the nozzle body in a plane perpendicular to the axis of the solid attitude and orbit control engine; The number of the full-circle rotating attitude control nozzles is 4, the flight direction is defined as +X direction, the plane formed by the nozzle thrust axis is the YZ plane, the projection of the X axis on the YZ plane is the coordinate origin O, and the +Y and +Z directions conform to the right-hand rule; The rotation axes of the four full-circle rotating attitude control nozzles are located within a pitch circle with a diameter of D, respectively within the four quadrants formed by the Y axis and the Z axis, and are arranged symmetrically along the Y axis and the Z axis; The nozzle in the +Y and -Z quadrants is defined as the 1# nozzle, the nozzle in the +Y and +Z quadrants is defined as the 2# nozzle, the nozzle in the -Y and +Z quadrants is defined as the 3# nozzle, and the nozzle in the -Y and -Z quadrants is defined as the 4# nozzle. The angle between the projection of the nozzle rotation axis and the line connecting the origin O of the missile body coordinates on the YZ plane and the +Y direction is β, and the thrust output by each nozzle is F; During pitch control, the nozzles of the 1# and 2# nozzles face the +Y direction, the nozzle of the 3# nozzle faces the +Z direction, the nozzle of the 4# nozzle faces the -Z direction, the thrust direction is the -Y direction, the thrust magnitude is 2F, and the thrust in the +Y direction is similar; During roll control, the angle between the nozzle direction of the 1# nozzle and the +Y axis is β, the angle between the nozzle direction of the 3# nozzle and the -Y axis is β, the nozzle direction of the 2# nozzle is towards the +Z direction, and the nozzle direction of the 4# nozzle is towards the -Z direction, forming a counterclockwise moment with a magnitude of F×D×cosβ, and the clockwise moment is similar; During yaw control, the nozzles of No. 2 and No. 3 nozzles are directed toward the +Z direction, the nozzle of No. 1 nozzle is directed toward the +Y direction, the nozzle of No. 4 nozzle is directed toward the -Y direction, the thrust direction is in the -Z direction, the thrust magnitude is 2F, and the thrust in the +Z direction is similar.

2. The full-circle rotating attitude control nozzle for a solid attitude and orbit control engine according to claim 1, characterized in that: A side dynamic sealing structure is adopted between the nozzle body and the gas pipeline, and the sealing ring is made of fully fluorinated high temperature resistant and wear-resistant rubber.

3. The full-circle rotating attitude control nozzle for a solid attitude and orbit control engine according to claim 1, characterized in that: The servo motor is a brushless DC motor.

4. The full-circle rotating attitude control nozzle for a solid attitude and orbit control engine according to claim 1, characterized in that: The projection of the line connecting the rotation axes of the 1# and 3# nozzles on the YOZ plane has an angle of 20° to 25° with the Y axis, and the projection of the line connecting the rotation axes of the 2# and 4# nozzles on the YOZ plane has an angle of 20° to 25° with the Y axis.

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