A control method for a kinetic energy launch device

Abstract

The present invention provides a control method for a kinetic energy launch device, which is applied to a control system, wherein the control system is connected to a plurality of external devices, including a motor, a pressure sensor, a plurality of solenoid valves and a feed sensor, and the control system is connected to a control platform; the control method comprises S1: judging the operation mode of the control system; S2: in the automatic mode state, the control system extracts the setting parameters of the feed mode and the number of bursts in the command; S3: controlling the opening and closing of the inflation valve to inflate; S4: if the control system receives an instruction to terminate the launch, the induction valve is opened to reduce the air pressure in the air chamber, otherwise S5 is executed; S5: controlling the motor to rotate to the corresponding feed bin position to detect whether the projectile is in place; S6: when a projectile in place signal is detected, the motor rotates back to the zero position, opens the induction valve, and when the remaining pressure value is lower than the set threshold value, it indicates that the launch is successful; when the predetermined number of launches is completed, the automatic operation mode is terminated.

Description

Technical Field

[0001] The present invention relates to the technical field of kinetic energy device launch control, and in particular to a control method for a kinetic energy launch device. Background Art

[0002] The existing prototypes of hydrogen cannons used in the aerospace field are large in size and the control system is not suitable. There are many unstable factors during use, and the system preparation cannot be completed quickly; there is no interface to access the aviation main control system, and the automatic control process cannot be flexibly adjusted according to test needs. At present, it is urgent to develop a hydrogen cannon control system and automatic control method suitable for the aviation field and various test needs on the newly developed lightweight, dual-battery hydrogen cannon. Summary of the invention

[0003] To solve the above problems, the present invention provides a control method for a kinetic energy launch device, which is used for controlling the system. The control system can receive commands from a control platform and has three operating modes. According to the set parameters of the control platform, the inflation valve, the induction valve and the motor are controlled to complete the automatic launch process. The control system has five analog channels for real-time detection of the system operating voltage. At the same time, the action of the solenoid valve device is monitored by monitoring the feedback loop to achieve stable operation of the system.

[0004] The present invention provides a control method for a kinetic energy launcher, which is applied to a control system, wherein the control system is connected to a plurality of external devices, including a motor, a pressure sensor, a plurality of solenoid valves and a feed sensor, and the control system is connected to a control platform;

[0005] The control method is as follows:

[0006] S1: Determine the operating mode of the control system;

[0007] If the automatic operation command is received from the control platform, the system enters the automatic mode and executes the following steps:

[0008] S2: The control system extracts the setting parameters of the feeding mode and the number of bursts in the command;

[0009] S3: Control the opening and closing of the inflation valve to inflate, and monitor whether the air chamber pressure reaches the set pressure value. If the set pressure value is reached, close the inflation valve;

[0010] S4: Determine whether the control system has received a command to terminate the launch. When the control system receives the command to terminate the launch, the control system controls the induction valve to open to discharge the high-pressure gas in the gas chamber. Otherwise, continue to execute the following steps;

[0011] S5: Control the motor to rotate to the corresponding magazine position, and detect whether there is a bullet arrival signal within the set second preset time;

[0012] If there is a projectile arrival signal, the automatic process continues to be executed; if there is no projectile arrival signal, the control system returns an abnormal code to the control platform and ends the automatic operation mode.

[0013] S6: The motor rotates back to the zero position. After reaching the zero position, the induction valve automatically opens and the residual pressure value of the air chamber is detected after the third preset time.

[0014] When the remaining pressure value is lower than the set threshold, it means the launch is successful; otherwise, the system will default to launch failure;

[0015] When the preset number of transmissions is completed, the automatic operation mode ends.

[0016] Furthermore, the control system is provided with at least one CAN interface, a plurality of communication ports and a plurality of analog input channels;

[0017] The control system includes a control module, a power module and a motor drive module;

[0018] The control module is connected to the control platform via the CAN interface, the control platform is connected to the power supply module and the power supply end of the control module via an OC switch, the control module is connected to the fire control system via two communication ports, the control module is connected to the launch device body via the communication port, the launch device body is connected to the motor drive module via the communication port, and the motor drive module is connected to the motor.

[0019] Furthermore, the control system is provided with one CAN interface, one RS485 port, two RS422 ports and five analog input channels;

[0020] The IO port of the control module is connected to two switch signal telemetry;

[0021] The five analog channels connected to the control module are two-way switch state telemetry, pressure telemetry, 15V voltage switch state and analog quantity telemetry, and 28V voltage switch state and analog quantity telemetry;

[0022] The two-way switch status telemetry corresponds to the inflation solenoid valve and the induction solenoid valve respectively.

[0023] Furthermore, step S5 also includes interrupt signal detection. When the motor rotates to 75°, the interrupt signal detection is turned on. After the interrupt signal lasts for 1ms, it is identified as a normal input signal, and after receiving a signal lasting for 1ms, the interrupt is turned off.

[0024] Furthermore, the solenoid valve is provided with a feedback detection circuit to monitor the action of the solenoid valve.

[0025] Further, in step S3, during the opening and closing process of the inflation valve, it is set that the inflation valve is opened no more than three times, and each opening time is executed according to the set first preset time.

[0026] Furthermore, the first preset time cannot exceed 10 seconds, and the first preset time is set to 3 seconds.

[0027] Furthermore, the second preset time is set to 1 second.

[0028] Furthermore, in step S6, the air pressure in the air chamber is reduced by opening the induction valve multiple times. The specific process is as follows:

[0029] S601: After the motor rotates back to the zero position, the induction valve is opened for a third preset time, and the rate of change of the air chamber pressure is detected at the same time;

[0030] S602: If the pressure reduction rate in the air chamber exceeds the threshold, the induction valve is closed, and whether the launch is successful is determined by the remaining pressure value in the air chamber; if the pressure reduction rate in the air chamber does not exceed the threshold, it is determined whether the number of times the induction valve is opened is less than or equal to the preset number of times. If the number of times the induction valve is opened is less than or equal to the preset number of times, the induction valve is closed and returned to step S601 to reopen the induction valve. If the number of times the induction valve is opened is greater than the preset number of times, a fault prompt of the induction valve is fed back.

[0031] Furthermore, the third preset time is set to 3 seconds.

[0032] The beneficial effects of the present invention are as follows:

[0033] The motor is controlled in communication mode, and a monitoring feedback loop is provided on the solenoid valve, which can accurately control the current position of the motor. At the same time, an interrupt signal detection mechanism is set up to improve the accuracy of projectile feeding control and achieve smooth and uninterrupted action from feeding to firing. The control system is connected to the control platform through an interface, and an automatic firing process is realized based on the instructions of the control platform. The firing parameters and modes are set by the staff on the control platform to meet various testing requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the system structure of the present invention;

[0035] Figure 2 is a schematic diagram of the method flow of Example 1 of the present invention;

[0036] Figure 3 It is a schematic diagram of the method flow of Example 2 of the present invention. DETAILED DESCRIPTION

[0037] The following description clearly and completely describes the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0038] Example 1

[0039] Embodiment 1 of the present invention discloses a control method for a kinetic energy launch device, which is applied to a control system, wherein the control system is connected to a plurality of external devices, and the external devices mainly include a motor, a pressure sensor, a solenoid valve, and a feed sensor;

[0040] The control system is equipped with one CAN interface, one RS485 port, two RS422 ports and five analog input channels;

[0041] The control system includes a control module, a power module and a motor drive module;

[0042] The control module is connected to the control platform via the CAN interface, the control platform is connected to the power supply module and the power supply end of the control module via an OC switch, the control module is connected to the fire control system via two RS422 ports, the control module is connected to the launch device body via an RS485 port, the launch device body is connected to the motor drive module via the RS485 port, and the motor drive module is connected to the motor;

[0043] In this embodiment, the motor drive module stores different motor drive programs, so as to avoid the situation where the motor used cannot meet the use environment requirements due to insufficient torque and inaccurate positioning, and it is convenient to quickly replace different motors for testing;

[0044] The IO port of the control module is connected to two switch signal telemetry, which are the left proximity switch and the right proximity switch; the five analog channels connected to the control module are two switch state telemetry, pressure telemetry, 15V voltage switch state and analog telemetry, and 28V voltage switch state and analog telemetry;

[0045] Among them, the two-way switch status telemetry corresponds to the inflation solenoid valve and the induction solenoid valve respectively.

[0046] In this embodiment, the motor driving module controls the motor using wireless communication.

[0047] In this embodiment, a feedback detection circuit is provided on the solenoid valve to monitor the action of the solenoid valve.

[0048] The current position of the valve body cannot use the current position of the motor as the basis for the mechanical angle position. In actual use, there will be gaps in the mechanical fit, and a position sensor must be installed on the valve body to detect the true position of the mechanical parts.

[0049] like Figure 1 As shown, the specific steps of the method are as follows:

[0050] S1: Determine the operating mode of the control system;

[0051] If the automatic operation command is received from the control platform, it will enter the automatic mode state;

[0052] S2: The control system extracts the setting parameters of the feeding mode and the number of bursts in the command;

[0053] S3: Control the opening and closing of the inflation valve to inflate, and monitor whether the air chamber pressure reaches the set pressure value. If the set pressure value is reached, close the inflation valve;

[0054] After the inflation valve is closed, during this period, the control platform may send a command to terminate the launch to the control system;

[0055] In this embodiment, during the process of opening and closing the inflation valve for inflation, the time of opening the inflation valve each time cannot exceed 10 seconds. Specifically, each launch process can automatically open the valve 3 times, and the inflation valve is opened for 3 seconds each time.

[0056] S4: Check whether the system has a command to terminate the launch. When the system receives the command to terminate the launch, the control induction valve is opened to discharge the high-pressure gas in the air chamber, thereby reducing the safety threat posed by the high-pressure air chamber and its related accessories to the entire carrying environment.

[0057] If the system does not receive the command to terminate the transmission, it will continue to automatically execute the action according to the normal working process.

[0058] S5: Control the motor to rotate to the corresponding magazine position, wait for 1 second and then detect whether there is a bullet in place signal;

[0059] Specifically, the feeding motor is controlled to rotate 90° to the left or right to rotate it to the corresponding feeding compartment position;

[0060] If there is a bullet arrival signal, the automatic process continues to execute; if there is no bullet arrival signal, an abnormal problem related to bullet jam may have occurred. At this time, the control system will return an abnormal code to the control platform and end the automatic operation mode.

[0061] When the motor power line and signal on the launcher body are connected to the control board, the wiring can only be parallel. This wiring method can easily cause the power line to interfere with the signal line. In actual use, there are many cases where the magazine sensor does not receive the projectile movement and outputs a signal to the controller. Since the feed detection sensor uses an external interrupt input method, the interference signal causes the system to continuously enter the interrupt program, and the normal process cannot continue to execute.

[0062] In this embodiment, after the valve body rotates to 75°, the interrupt signal detection is turned on, and the interrupt signal is considered to be a normal input signal only after it lasts for 1ms. After receiving the signal lasting for 1ms, the interrupt is closed.

[0063] S6: The motor rotates 90° towards the zero position. After reaching the zero position, the induction valve automatically opens and the residual pressure value of the air chamber is detected after 3 seconds.

[0064] When the remaining pressure value is lower than the set threshold, it means the launch is successful. Otherwise, the system will default to launch failure;

[0065] When the preset number of transmissions is completed, the automatic operation mode ends.

[0066] In this embodiment, the operation modes of the control system include a safety mode, an automatic mode and a manual mode;

[0067] Among them, safe mode: In this mode, no device that can execute actions can be operated, and only the current power supply voltage of the system, the remaining number of projectiles, and the current pressure of the gas chamber can be monitored;

[0068] Manual mode: In this mode, all components can be operated in single-step execution;

[0069] Automatic mode: This mode automatically completes the entire launch process according to the two different launch modes selected by the control platform.

[0070] The power supply of the entire control system is controlled by the OC on / off switch of the platform. When OC is on, the system control program will automatically enter the safe mode after initialization. In this mode, neither the motor nor the solenoid valve can perform any action. After the platform gives the manual operation mode command, the fire control system can be powered on manually. 2 seconds after the fire control system is powered on, the system will automatically determine whether the motor is in absolute zero position. If the motor is in zero position, the system operation motor command is valid and other action function commands are also effective. If the motor is not in zero position at this time, the system will send a return to zero point command to the motor to let the motor return to zero position and stand by.

[0071] Example 2

[0072] Embodiment 2 of the present invention discloses a control method for a kinetic energy launch device, such as Figure 1 and Figure 3As shown, the method is applied to a control system, the control system is connected to a number of external devices, the external devices mainly include a motor, a pressure sensor, a solenoid valve, and a feed sensor;

[0073] The control system is equipped with one CAN interface, one RS485 port, two RS422 ports and five analog input channels;

[0074] The control system includes a control module, a power module and a motor drive module;

[0075] The control module is connected to the control platform via the CAN interface, the control platform is connected to the power supply module and the power supply end of the control module via an OC switch, the control module is connected to the fire control system via two RS422 ports, the control module is connected to the launch device body via an RS485 port, the launch device body is connected to the motor drive module via the RS485 port, and the motor drive module is connected to the motor;

[0076] In this embodiment, the motor drive module stores different motor drive programs, so as to avoid the situation where the motor used cannot meet the use environment requirements due to insufficient torque and inaccurate positioning, and it is convenient to quickly replace different motors for testing;

[0077] The IO port of the control module is connected to two switch signal telemetry, which are the left proximity switch and the right proximity switch; the five analog channels connected to the control module are two switch state telemetry, pressure telemetry, 15V voltage switch state and analog telemetry, and 28V voltage switch state and analog telemetry;

[0078] Among them, the two-way switch status telemetry corresponds to the inflation solenoid valve and the induction solenoid valve respectively.

[0079] In this embodiment, the motor driving module controls the motor using wireless communication.

[0080] In this embodiment, a feedback detection circuit is provided on the solenoid valve to monitor the action of the solenoid valve.

[0081] The current position of the valve body cannot use the current position of the motor as the basis for the mechanical angle position. In actual use, there will be gaps in the mechanical fit, and a position sensor must be installed on the valve body to detect the true position of the mechanical parts.

[0082] like Figure 1 As shown, the specific steps of the method are as follows:

[0083] S1: Determine the operating mode of the control system;

[0084] If the automatic operation command is received from the control platform, it will enter the automatic mode state;

[0085] S2: The control system extracts the setting parameters of the feeding mode and the number of bursts in the command;

[0086] S3: Control the opening and closing of the inflation valve to inflate, and monitor whether the air chamber pressure reaches the set pressure value. If the set pressure value is reached, close the inflation valve;

[0087] After the inflation valve is closed, during this period, the control platform may send a command to terminate the launch to the control system;

[0088] In this embodiment, during the process of opening and closing the inflation valve for inflation, the time of opening the inflation valve each time cannot exceed 10 seconds. Specifically, each launch process can automatically open the valve 3 times, and the inflation valve is opened for 3 seconds each time.

[0089] S4: Check whether the system has a command to terminate the launch. When the system receives the command to terminate the launch, the control induction valve is opened to discharge the high-pressure gas in the air chamber, thereby reducing the safety threat posed by the high-pressure air chamber and its related accessories to the entire carrying environment.

[0090] If the system does not receive the command to terminate the transmission, it will continue to automatically execute the action according to the normal working process.

[0091] S5: Control the motor to rotate to the corresponding magazine position, wait for 1 second and then detect whether there is a bullet in place signal;

[0092] Specifically, the feeding motor is controlled to rotate 90° to the left or right to rotate it to the corresponding feeding compartment position;

[0093] If there is a bullet arrival signal, the automatic process continues to execute; if there is no bullet arrival signal, an abnormal problem related to bullet jam may have occurred. At this time, the control system will return an abnormal code to the control platform and end the automatic operation mode.

[0094] When the motor power line and signal on the launcher body are connected to the control board, the wiring can only be parallel. This wiring method can easily cause the power line to interfere with the signal line. In actual use, there are many cases where the magazine sensor does not receive the projectile movement and outputs a signal to the controller. Since the feed detection sensor uses an external interrupt input method, the interference signal causes the system to continuously enter the interrupt program, and the normal process cannot continue to execute.

[0095] In this embodiment, after the valve body rotates to 75°, the interrupt signal detection is turned on, and the interrupt signal is considered to be a normal input signal only after it lasts for 1ms. After receiving the signal lasting for 1ms, the interrupt is closed.

[0096] S6: The motor rotates 90° towards the zero position. When it reaches the zero position, the induction valve automatically opens to reduce the pressure in the air chamber and judge whether the launch is successful. The judgement is made based on the residual pressure value. If the residual pressure value in the air chamber is lower than the set threshold, it means the launch is successful; otherwise, the system will default to a launch failure.

[0097] When the predetermined number of shots is completed, the automatic operation mode ends. If the predetermined number of shots is not met, the process returns to step S5.

[0098] The specific process is as follows:

[0099] S601: After the motor rotates to zero position, the induction valve opens for 3 seconds and detects the rate of change of the air chamber pressure at the same time;

[0100] S602: If the pressure reduction rate in the air chamber exceeds a threshold, the induction valve is closed, and the success of the launch is determined by the residual pressure value in the air chamber;

[0101] If the pressure reduction rate in the air chamber does not exceed the threshold, determine whether the induction valve is opened less than or equal to 3 times. If the number of openings is less than or equal to 3, close the induction valve and return to step S601 to reopen the induction valve. If the number of openings is greater than 3, a fault prompt of the induction valve is fed back.

[0102] In this embodiment, the operation modes of the control system include a safety mode, an automatic mode and a manual mode;

[0103] Among them, safe mode: In this mode, no device that can execute actions can be operated, and only the current power supply voltage of the system, the remaining number of projectiles, and the current pressure of the gas chamber can be monitored;

[0104] Manual mode: In this mode, all components can be operated in single-step execution;

[0105] Automatic mode: This mode automatically completes the entire launch process according to the two different launch modes selected by the control platform.

[0106] The power supply of the entire control system is controlled by the OC on / off switch of the platform. When OC is on, the system control program will automatically enter the safe mode after initialization. In this mode, neither the motor nor the solenoid valve can perform any action. After the platform gives the manual operation mode command, the fire control system can be powered on manually. 2 seconds after the fire control system is powered on, the system will automatically determine whether the motor is in absolute zero position. If the motor is in zero position, the system operation motor command is valid and other action function commands are also effective. If the motor is not in zero position at this time, the system will send a return to zero point command to the motor to let the motor return to zero position and stand by.

[0107] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. A control method for a kinetic energy launch device, characterized in that: Applied to a control system, the control system is connected to a number of external devices, the external devices include a motor, a pressure sensor, a number of solenoid valves and a feed sensor, and the control system is connected to a control platform; The control method is as follows: S1: Determine the operating mode of the control system; If the automatic operation command is received from the control platform, the system enters the automatic mode and executes the following steps: S2: The control system extracts the setting parameters of the feeding mode and the number of bursts in the command; S3: Control the opening and closing of the inflation valve to inflate, and monitor whether the air chamber pressure reaches the set pressure value. If the set pressure value is reached, close the inflation valve; S4: Determine whether the control system has received a command to terminate the launch. When the control system receives the command to terminate the launch, the control system controls the induction valve to open to discharge the high-pressure gas in the gas chamber. Otherwise, continue to execute the following steps; S5: Control the motor to rotate to the corresponding magazine position, and detect whether there is a bullet in place signal within the set second preset time; If there is a projectile arrival signal, continue to execute the automatic process; If there is no projectile arrival signal, the control system returns an abnormal code to the control platform to end the automatic operation mode; S6: The motor rotates back to the zero position. After reaching the zero position, the induction valve automatically opens and the residual pressure value of the air chamber is detected after the third preset time. When the remaining pressure value is lower than the set threshold, it means the launch is successful; otherwise, the system will default to launch failure; When the predetermined number of launches is completed, the automatic operation mode ends; The air pressure in the air chamber is reduced by opening the induction valve multiple times. The specific process is as follows: S601: After the motor rotates back to the zero position, the induction valve is opened for a third preset time, and the rate of change of the air chamber pressure is detected at the same time; S602: If the pressure reduction rate in the air chamber exceeds the threshold, the induction valve is closed, and whether the launch is successful is determined by the remaining pressure value in the air chamber; if the pressure reduction rate in the air chamber does not exceed the threshold, it is determined whether the induction valve is opened less than or equal to the preset number of times. If the number of openings is less than or equal to the preset number of times, the induction valve is closed and returned to step S601 to reopen the induction valve. If the number of openings is less than or equal to the preset number of times or greater than the preset number of times, an induction valve fault prompt is fed back.

2. The control method of the kinetic energy launch device according to claim 1, characterized in that: The control system is provided with at least one CAN interface, a plurality of communication ports and a plurality of analog input channels; The control system includes a control module, a power module and a motor drive module; The control module is connected to the control platform via the CAN interface, the control platform is connected to the power supply module and the power supply end of the control module via an OC switch, the control module is connected to the fire control system via two communication ports, the control module is connected to the launch device body via the communication port, the launch device body is connected to the motor drive module via the communication port, and the motor drive module is connected to the motor.

3. The control method of the kinetic energy launch device according to claim 2, characterized in that: The control system is equipped with one CAN interface, one RS485 port, two RS422 ports and five analog input channels; The IO port of the control module is connected to two switch signal telemetry; The five analog channels connected to the control module are two-way switch state telemetry, pressure telemetry, 15V voltage switch state and analog quantity telemetry, and 28V voltage switch state and analog quantity telemetry; The two-way switch status telemetry corresponds to the inflation solenoid valve and the induction solenoid valve respectively.

4. The control method of the kinetic energy launch device according to claim 1, characterized in that: Step S5 also includes interrupt signal detection. When the motor rotates to 75°, the interrupt signal detection is turned on. After the interrupt signal lasts for 1ms, it is identified as a normal input signal, and after receiving a signal lasting for 1ms, the interrupt is turned off.

5. The control method of the kinetic energy launch device according to claim 1, characterized in that: The solenoid valve is provided with a feedback detection circuit to monitor the action of the solenoid valve.

6. The control method of the kinetic energy launch device according to claim 1, characterized in that: In step S3, during the opening and closing process of the inflation valve, it is set that the inflation valve is opened no more than three times, and each opening time is executed according to the set first preset time.

7. The control method of the kinetic energy launch device according to claim 6, characterized in that: The first preset time cannot exceed 10 seconds, and the first preset time is set to 3 seconds.

8. The control method of the kinetic energy launch device according to claim 1, characterized in that: The second preset time is set to 1 second.

9. The control method of the kinetic energy launch device according to claim 1, characterized in that: The third preset time is set to 3 seconds.

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