A consumption reducing device for a controlled fire rocket guidance system

Abstract

The application provides a consumption reduction device for a controlled rocket guidance system, and belongs to the technical field of motor control. The consumption reduction device is used in a motor driving circuit of the controlled rocket guidance system. The consumption reduction device comprises a useless work consumption circuit connected between a positive power supply line and a negative power supply line of the motor driving circuit. The useless work consumption circuit comprises two resistors RL and RH connected in series, a diode D1, a resistor RL1 and a capacitor CL1 connected in series, a capacitor CH and a resistor RL2 connected in series, and a capacitor CL and a capacitor CH1. One end of the capacitor CL is connected to a connection end of the resistors RL and RH, and the connection end is also connected to a cathode of the diode D1. The other end of the capacitor CL is connected to the negative power supply line. One end of the capacitor CH1 is connected to a connection end of the capacitor CH and the resistor RL2, and the other end of the capacitor CH1 is connected to a connection end of the resistor RL1 and the capacitor CL1 D1.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of motor control technology, and particularly relates to a consumption reducing device for a controlled rocket. BACKGROUND

[0002] The basic components of the controlled rocket include a propulsion system, a rocket body, a payload and a guidance system, wherein the guidance system is composed of a motor and a rudder wing, the stator of the motor is fixedly connected to the rocket shaft, and the rotor of the motor is fixedly connected to the rudder wing. The controlled rocket integrates sensors and a control unit, and the actuator of the guidance system has a rotation characteristic. After the controlled rocket is launched, it first flies without control, and then flies with control according to the control condition.

[0003] When flying without control, the rocket rotates at high speed around the rocket shaft, and the control circuit on the rocket is not powered. The stator of the motor of the guidance system rotates at the same frequency as the rocket shaft, and the rudder wing keeps inertial motion. The motor is in a power generation mode, and the electric energy generated by the unpowered motor often destroys the electronic components on the circuit board in the rocket.

[0004] When flying with control, the guidance system calculates the execution amount of the actuator according to the real-time measurement values of the rocket trajectory parameters and the sensors and sends a control instruction, and the motor controls the bias of the rudder wing according to the control instruction. Due to the inherent physical characteristics of the motor drive circuit, there is a voltage overshoot in the motor drive circuit, which interferes with the control signal and easily causes the upper and lower drive tubes to be turned on at the same time, resulting in the burning of circuit components.

[0005] The solution to the above problem is generally to connect a large power resistor in parallel on the power supply bus of the motor of the guidance system, and to use the power resistor to consume the back electromotive force generated in the circuit during the flight without control and the voltage overshoot generated in the circuit during the flight with control. This method has four weaknesses:

[0006] (1) Wasting space on the rocket. The volume of the power resistor itself is large, and the volume of the tooth-shaped fin attached to the large power resistor is also large, which occupies the space of the rocket.

[0007] (2) The power resistor consumes energy for a long time. The power resistor consumes energy throughout the entire power supply period, i.e. from the beginning of the battery power supply of the rocket to the depletion of the battery energy.

[0008] (3) The resistance value of the large power resistor is small, and the power consumption is large, which increases the battery volume to complete the same work index. According to the formula P=V*V / R, the general power resistor needs to consume several watts of power for stable work, and the ratio of power consumption to useful power of the power resistor is close to 25%; Therefore, the battery volume of the rocket with the same working time increases by about 25%.

[0009] (4) High-power resistors generate a large amount of heat, requiring additional conductive heat dissipation devices, which complicates the rocket structure, increases assembly workload, and reduces system reliability. High-power resistors are generally installed via heat sinks or bonded to a part of the rocket. The heat generated by the high-power resistors is radiated and conducted to the rocket shell, where it is dissipated. The confined space on a rocket requires accommodating as much payload as possible within a limited volume. The safety of rocket storage, transportation, and launch requires compact, simple, safe, and reliable circuits with low heat generation. Therefore, high-power resistors are generally installed on or near circuit boards. If the heat from the high-power resistors cannot be conducted away in time, the temperature around the circuit board will rise rapidly. The increased temperature will reduce the resistance of the power resistors, further increasing the power dissipation of the resistors and thus further increasing the heat power of the resistors. The high temperature in the confined space of the rocket will cause changes in the electrical performance of the components on the circuit board. Some components will break down, and the withstand voltage of other components will decrease, causing the circuit to malfunction and increasing the product defect rate.

[0010] The back electromotive force (EMF) waveform and flux density of the rocket's motor are intrinsic characteristics, and both vary over time. Fourier transform results of the back EMF waveform indicate that it consists of multiple frequency components, with most of the energy belonging to the low-frequency components. Actual testing shows that the back EMF waveform approximates a sine wave, with an instantaneous maximum amplitude of less than 20V and an instantaneous maximum current of less than 0.8A.

[0011] The battery Vbus of the rocket motor supplies a voltage of 24V to 48V. The power consumed by the motor during controlled rocket flight is about 18W. The equivalent inductance of each phase of the three-phase brushless DC motor is about 0.3mH and the resistance is about 0.7Ω.

[0012] The existing motor drive circuit is shown in the attached figure. Figure 1 As shown, a high-power resistor PR is typically used to consume the useless power during uncontrolled rocket flight. The value of resistor PR is 100Ω to 200Ω. Due to the inherent characteristics of resistors, when the rocket is in controlled flight, the high-power resistor PR always consumes useful power. The power consumed is approximately Vbus*Vbus / PR = 5.8W to 11.6W. It can be seen that the power consumed by the high-power resistor PR accounts for about 25% of the power supplied by the battery.

[0013] Therefore, for controlled rockets, there is an urgent need to find a circuit that can absorb back electromotive force energy during the uncontrolled flight phase, and a circuit design method that does not consume useful work during the controlled flight phase, while also reducing heat energy and minimizing circuit space volume. Summary of the Invention

[0014] To solve the above technical problems, the first aspect of the present application provides a consumption reduction device for a controlled rocket guidance system, the controlled rocket guidance system comprising a motor driving circuit; the consumption reduction device comprising: a useless work consumption circuit connected between a positive power supply line and a negative power supply line of the motor driving circuit, the useless work consumption circuit comprising:

[0015] two resistors RL and RH connected in series, wherein one end of the resistor RL is connected to the positive power supply line, the other end of the resistor RL is connected to one end of the resistor RH, and one end of the resistor RH is connected to the negative power supply line;

[0016] a diode D1, a resistor RL1 and a capacitor CL1 connected in series, wherein the anode of the diode D1 is connected to the positive power supply line, the cathode of the diode D1 is connected to one end of the resistor RL1, the other end of the resistor RL1 is connected to one end of the capacitor CL1, and the other end of the capacitor CL1 is connected to the negative power supply line;

[0017] a capacitor CH and a resistor RL2 connected in series, wherein one end of the capacitor CH is connected to the positive power supply line, the other end of the capacitor CH is connected to one end of the resistor RL2, and one end of the resistor RL2 is connected to the negative power supply line;

[0018] the useless work consumption circuit further comprising: a capacitor CL and a capacitor CH1;

[0019] wherein one end of the capacitor CL is connected to the connection end of the resistors RL and RH, and the connection end is also connected to the cathode of the diode D1;

[0020] the other end of the capacitor CL is connected to the negative power supply line;

[0021] one end of the capacitor CH1 is connected to the connection end of the capacitor CH and the resistor RL2, and the other end of the capacitor CH1 is connected to the connection end of the resistor RL1 and the capacitor CL1.

[0022] The device according to the first aspect of the present application, the motor driving circuit is a three-phase bridge motor driving circuit, the middle point of each bridge arm is connected to one terminal of any one driving coil of the motor, and the other terminals of the three driving coils are interconnected; the high potential end of each bridge arm is connected to the positive power supply line, and the low potential end of each bridge arm is connected to the negative power supply line.

[0023] The device according to the first aspect of the present application, the motor driving circuit is not provided with a large-power, low-resistance power consumption resistor connected in parallel between the positive power supply line and the negative power supply line.

[0024] The device according to the first aspect of the present application, the resistors RL, RL1 and RL2 are low-resistance resistors, and the resistance value is 1-100Ω; the resistor RH is a high-resistance resistor, and the resistance value is ≥10KΩ.

[0025] The resistance of the low resistance resistor is 5.1-20 ohms; and the resistance of the high resistance resistor is greater than or equal to 100K ohms.

[0026] The resistance RL, the resistance RL1 and the resistance RL2 each comprise a plurality of resistors in parallel; and the plurality of resistors have the same resistance.

[0027] The capacitor CL and the capacitor CL1 are large capacitors, and the capacitance of the large capacitors is greater than or equal to 1uF; and the capacitor CH and the capacitor CH1 are small capacitors, and the capacitance of the small capacitors is less than or equal to 1uF.

[0028] The capacitance of the large capacitors is 5uF-10uF; and the capacitance of the small capacitors is less than or equal to 0.1uF.

[0029] The capacitor CL and the capacitor CL1 comprise a plurality of capacitors in parallel, and the plurality of capacitors have the same or different capacitances.

[0030] The circuit of the present application has the advantages of small size, only consuming useless work, almost zero useful work loss, no generation of large amount of heat, and the ability to suppress voltage overshoot and undershoot generated by the driving tube switch of the control circuit. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a prior motor drive circuit diagram containing a high-power energy consumption resistor;

[0032] Figure 2 is a motor drive circuit diagram of the present application with useless work consumption circuit

[0033] Figure 3 is the current flow principle of the useless work consumption circuit of the present application Figure 1 ;

[0034] Figure 4 is the current flow principle of the useless work consumption circuit of the present application Figure 2 ;

[0035] Figure 5 is the current flow principle of the useless work consumption circuit of the present application Figure 3 . DETAILED DESCRIPTION

[0036] The application provides a circuit design scheme with small volume, useless work consumption, overshoot and undershoot voltage suppression, extremely small heat generation and no waste of useful work.

[0037] The specific embodiment of the application is described in detail below with reference to the accompanying drawings.

[0038] As shown in the accompanying Figure 2 The figure is a motor drive circuit containing the useless work consumption circuit of the application.

[0039] The first aspect of the application provides a consumption reduction device for a controlled rocket guidance system, wherein the controlled rocket guidance system comprises a motor drive circuit; the consumption reduction device comprises a useless work consumption circuit connected between the positive power supply line and the negative power supply line of the motor drive circuit, and the useless work consumption circuit comprises:

[0040] two resistors RL and RH connected in series, wherein one end of the resistor RL is connected to the positive power supply line, the other end is connected to one end of the resistor RH, and one end of the resistor RH is connected to the negative power supply line;

[0041] a diode D1, a resistor RL1 and a capacitor CL1 connected in series, wherein the anode of the diode D1 is connected to the positive power supply line, the cathode of the diode D1 is connected to one end of the resistor RL1, the other end of the resistor RL1 is connected to one end of the capacitor CL1, and the other end of the capacitor CL1 is connected to the negative power supply line;

[0042] a capacitor CH and a resistor RL2 connected in series, wherein one end of the capacitor CH is connected to the positive power supply line, the other end is connected to one end of the resistor RL2, and one end of the resistor RL2 is connected to the negative power supply line;

[0043] The useless work consumption circuit further comprises a capacitor CL and a capacitor CH1.

[0044] One end of the capacitor CL is connected to the connection end of the resistors RL and RH, and the connection end is also connected to the cathode of the diode D1.

[0045] The other end of the capacitor CL is connected to the negative power supply line.

[0046] One end of the capacitor CH1 is connected to the connection end of the capacitor CH and the resistor RL2, and the other end of the capacitor CH1 is connected to the connection end of the resistor RL1 and the capacitor CL1.

[0047] The useless work consumption circuit of the application is composed of RL, RL1, RL2, CL, CL1, CH, CH1, D1 and RH, wherein RL, RL1 and RL2 are low resistance, the resistance range is 5.1-20Ω, and the circuit mainly consumes the back electromotive force of the rocket body rotary motor in the power generation mode; RH is high resistance, generally greater than 100KΩ, and the role in the circuit is to release the static electricity of the capacitors CL, CL1, CH and CH1. CL and CL1 are MLCC capacitors with rated voltage 63V and capacity 5uF-10uF; CH and CH1 are capacitors with rated voltage 100V and capacity 0.1uF. C4, C5 and C6 are MLL capacitors with rated voltage 63V and capacity 5uF-10uF, which absorb the back electromotive force energy in the uncontrolled flight and store energy in the controlled flight.

[0048] In the controlled flight, the consumed useful work Vbus*Vbus / RH is much smaller than 0.05W, and in the uncontrolled flight, the varying back electromotive force flows through the current of Figure 3 、 Figure 4 and Figure 5 to form a potential closed loop, at this time, RH is equivalent to an open circuit and does not consume useless work; RL, RL1 and RL2 are low resistance; CL and CL1 are large-capacity capacitors; CH and CH1 are small-capacity capacitors. The RL, CL branch, the RL1, CL1 branch and the D1, RL1, CL1 branch with different frequency constants are used to consume various low-frequency components of useless work; the CH, RL2 branch is used to consume high-frequency components of useless work.

[0049] The device as claimed in the first aspect of the application, the motor driving circuit is a three-phase bridge motor driving circuit, the middle point of each bridge arm is connected to one terminal of any one driving coil of the motor, and the other terminals of the three driving coils are interconnected; the high potential end of each bridge arm is connected to the positive power line, and the low potential end of each bridge arm is connected to the negative power line.

[0050] The device as claimed in the first aspect of the application, the motor driving circuit is not provided with a large-power, low-resistance power consumption resistor connected in cross between the positive power line and the negative power line.

[0051] The device as claimed in the first aspect of the application, the resistors RL, RL1 and RL2 are low resistance, and the resistance value is 1-100Ω; the resistor RH is high resistance, and the resistance value is greater than or equal to 10KΩ.

[0052] The device as claimed in the first aspect of the application, the resistance value of the low resistance is 5.1-20Ω; and the resistance value of the high resistance is greater than or equal to 100KΩ.

[0053] The resistance RL, the resistance RL1 and the resistance RL2 each adopt a plurality of resistances in parallel; the plurality of resistances have the same resistance value.

[0054] The capacitor CL and the capacitor CL1 are large-capacity capacitors, and the capacitance of the large-capacity capacitors is ≥1uF; the capacitor CH and the capacitor CH1 are small-capacity capacitors, and the capacitance of the small-capacity capacitors is ≤1uF.

[0055] The capacitance of the large-capacity capacitors is 5uF-10uF; the capacitance of the small-capacity capacitors is ≤0.1uF.

[0056] The motor driving circuit is not provided with a large-power, low-resistance power consumption resistor connected in parallel between the positive power supply line and the negative power supply line.

[0057] The capacitor CL and the capacitor CL1 adopt a plurality of capacitors in parallel, and the plurality of capacitors have the same or different capacitance values.

[0058] The RC circuit features that C1R1, C2R2 and C3R3 constitute an RC filter circuit, R1, R2 and R3 are selected as 0.01-0.02Ω sampling resistors, and C1, C2 and C3 are selected as MLCC with a rated voltage of 63V and a capacitance of 5uF-10uF; experiments prove that the RC circuit effectively suppresses overshoot and undershoot pulses generated when the driving tube is switched in the controlled flight stage, and the robustness of the circuit is enhanced.

[0059] The useless work consumption circuit consumes high-frequency and low-frequency energy of the motor in the power generation mode state during the uncontrolled flight of the rocket, and the useful work consumption during the controlled flight is much smaller than 0.05W, which can be ignored.

[0060] The energy storage circuit absorbs the energy of the motor in the power generation mode state through the capacitors C5, C6 and C7 during the uncontrolled flight of the rocket, and adjusts the supply of energy during the controlled flight of the rocket.

[0061] Embodiment

[0062] As shown in Figure 2 The three-phase DC brushless motor and its control circuit have symmetry, and the working principle of eliminating the opposite potential of each phase is similar.

[0063] RL can be connected in parallel with a plurality of resistors according to actual requirements; CL can be connected in parallel with capacitors of different capacitance values or capacitors of the same capacitance value according to actual conditions.

[0064] When a rocket is in controlled flight, the rudder is generally controlled using a six-step method, BLDC, or FOC control method. These methods have different control accuracies, but the control laws have commonalities. A typical cycle is used to illustrate the back electromotive force working characteristics under this state.

[0065] like Figure 3 As shown, when the upper transistor of Q1 is on and the lower transistors of Q4 and Q6 are on, the DC power bus supplies power to the motor. Due to the "DC blocking, AC passing" characteristic of capacitors, the capacitor in the right-hand circuit is equivalent to an "open circuit," so only the series resistor RL+RH has DC current. According to power = V*V / R 24*24 / 100K 0.006W, that is, the resistors RL and RH are conducting. Since the resistance of RH is large, the power consumed by the useless circuit is less than 0.05W and can be ignored, approximating the pure energy consumption of the motor. According to the control law, when the upper transistor of Q1 is off and the lower transistors of Q4 and Q6 are on, the current freewheeling circuit is as follows. Figure 4 As shown. With the upper transistor Q1 off, and the upper transistor Q3 and the lower transistor Q6 on, the freewheeling circuit is as follows: Figure 5 As shown. During controlled rocket flight, in the motor rotation mode, the back electromotive force is consumed by the motor, as well as R1, R2, and R3, with the motor consuming the largest proportion, typically over 98%. Other control states follow a similar pattern.

[0066] The waste energy consumption circuit of this invention consists of RL, RL1, RL2, CL, CL1, CH, CH1, D1, and RH. RL, RL1, and RL2 are low-resistance resistors with a resistance range of 5.1–20Ω, primarily consuming the back electromotive force (EMF) generated by the rocket's rotary motor in power generation mode. RH is a high-resistance resistor, typically greater than 100KΩ, and its function is to release the static electricity stored in capacitors CL, CL1, CH, and CH1. CL and CL1 are MLCC capacitors with a rated voltage of 63V and a capacitance of 5–10uF; CH and CH1 are capacitors with a rated voltage of 100V and a capacitance of 0.1uF. C4, C5, and C6 are MLL capacitors with a rated voltage of 63V and a capacitance of 5–10uF, absorbing back EMF energy during uncontrolled flight and storing energy during controlled flight.

[0067] During controlled flight, the useful work consumed, Vbus*Vbus / RH, is much less than 0.05W. During uncontrolled flight, the changing back electromotive force... Figures 3 to 5 The flow direction forms a closed potential loop, at which point RH is equivalent to an open circuit and does not consume useless work; RL, RL1, and RL2 are low-resistance resistors; CL and CL1 are high-capacitance capacitors; CH and CH1 are low-capacitance capacitors. The RL and CL branches, the RL, RL1, and CL1 branches, and the D1, RL1, and CL1 branches consume the low-frequency components of useless work; the CH, RL2 branches and the CH1, RL2 branches consume the high-frequency components of useless work.

[0068] The RC circuit feature shows that C1R1, C2R2, C3R3 constitute an RC filter circuit, R1, R2, R3 are selected as 0.01-0.02Ω sampling resistors, C1, C2, C3 are selected as MLCC with rated voltage 63V and capacity 5uF-10uF; the test proves that the RC circuit effectively suppresses the overshoot and undershoot pulses generated when the driving tube switch is turned on in the controlled flight stage, and the circuit robustness is enhanced.

[0069] The useless work consumption circuit feature shows that the circuit consumes the high-frequency and low-frequency energy of the motor in the power generation mode state when the rocket is in uncontrolled flight, and the useful work consumption is much smaller than 0.05W when the rocket is in controlled flight, and the useful work consumption can be ignored.

[0070] The energy storage circuit feature shows that when the rocket is in uncontrolled flight, the circuit capacitors C5, C6, C7 absorb the energy of the motor in the power generation mode state, and adjust the energy supply when the rocket is in controlled flight.

[0071] Table 1 result comparison:

[0072]

[0073] Conclusion: Through the above experimental results, it can be clearly seen that the conventional resistance power consumption circuit of the existing motor driving circuit as shown in Figure 1 as a comparative example 1, and the useless work absorption circuit of the present application as shown in Figure 2 as a comparative example 2, the comparative example 2 has better energy saving and consumption reduction, useless work absorption of the "generator", overshoot absorption, and volume reduction effects.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application and are not limiting, although the embodiments of the present application have been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solutions of the embodiments of the present application can be modified or replaced without departing from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A consumption reducing device for a guided rocket guidance system, said guided rocket guidance system comprising a motor drive circuit; characterized by, The consumption reducing device comprises a useless work consumption circuit connected between the positive power line and the negative power line of the motor driving circuit, wherein the useless work consumption circuit comprises: two resistors RL and RH connected in series, wherein one end of the resistor RL is connected to the positive power line, the other end of the resistor RL is connected to one end of the resistor RH, and one end of the resistor RH is connected to the negative power line; a diode D1, a resistor RL1 and a capacitor CL1 connected in series, wherein the anode of the diode D1 is connected to the positive power line, the cathode of the diode D1 is connected to one end of the resistor RL1, the other end of the resistor RL1 is connected to one end of the capacitor CL1, and the other end of the capacitor CL1 is connected to the negative power line; a capacitor CH and a resistor RL2 connected in series, wherein one end of the capacitor CH is connected to the positive power line, the other end of the capacitor CH is connected to one end of the resistor RL2, and one end of the resistor RL2 is connected to the negative power line; the useless work consumption circuit further comprises a capacitor CL and a capacitor CH1; one end of the capacitor CL is connected to the connection end of the resistors RL and RH, and the connection end is also connected to the cathode of the diode D1; the other end of the capacitor CL is connected to the negative power line; one end of the capacitor CH1 is connected to the connection end of the capacitor CH and the resistor RL2, and the other end of the capacitor CH1 is connected to the connection end of the resistor RL1 and the capacitor CL1; the resistors RL, RL1 and RL2 are low resistance resistors, and the resistance value of the resistors is 1-100Ω; the resistor RH is a high resistance resistor, and the resistance value of the resistor is ≥10KΩ; the capacitors CL and CL1 are large capacity capacitors, and the capacitance value of the large capacity capacitors is ≥1uF; the capacitors CH and CH1 are small capacity capacitors, and the capacitance value of the small capacity capacitors is ≤1uF.

2. The apparatus of claim 1, wherein, the motor driving circuit is a three-phase bridge motor driving circuit, the middle point of each bridge arm is connected to one terminal of any one driving coil of the motor, and the other terminals of the three driving coils are interconnected; the high potential end of each bridge arm is connected to the positive power line, and the low potential end of each bridge arm is connected to the negative power line.

3. The apparatus of claim 2, wherein, the motor driving circuit is not provided with a large power, low resistance consumption resistor connected between the positive power line and the negative power line.

4. The apparatus of claim 1, wherein, the resistance value of the low resistance resistor is 5.1-20Ω; and the resistance value of the high resistance resistor is ≥100KΩ.

5. The apparatus of claim 4, wherein, each of the resistors RL, RL1 and RL2 adopts a plurality of resistors connected in parallel; and the resistance values of the plurality of resistors are the same.

6. The apparatus of claim 1, wherein, the capacitance value of the large capacity capacitor is 5uF-10uF; and the capacitance value of the small capacity capacitor is ≤0.1uF.

7. The apparatus of claim 6, wherein, the capacitors CL and CL1 adopt a plurality of capacitors connected in parallel, and the capacitance values of the plurality of capacitors are the same or different.

Images