A yaw attitude adjustment system for airdrop vehicles

Abstract

The present invention belongs to the field of vehicle airdrop, and specifically relates to a yaw attitude adjustment system for airdrop vehicles. It includes a yaw attitude sensing device, a yaw attitude information processing device, a yaw attitude adjustment device and a fixed shell; the yaw attitude sensing device includes a heading sail, a heading sail connecting rod, a fixed bearing and an angular displacement sensor; the angular displacement sensor collects the heading angle signal of the airdrop vehicle; the signal is processed by the yaw attitude information processing device, and the corresponding execution action signal is output to the yaw attitude adjustment device; the yaw attitude adjustment device is a motor fixed to a fixed shell, and when the motor rotates, it gives the shell a rotational force in the same direction to adjust the heading angle of the airdrop vehicle in real time. The present invention is small in size and simple in structure, and can correct the heading angle of the airdrop vehicle in real time, and can effectively solve the rollover problem of the airdrop vehicle during the landing stage.

Description

Technical Field

[0001] The invention belongs to the field of vehicle airdrop, and in particular relates to a yaw posture adjustment system for an airdrop vehicle. Background Art

[0002] Unlike ordinary airdrop cargo platforms, airdrop vehicles are rectangular in length and width. If the length direction is inconsistent with the actual direction of movement during landing, there is a high risk of rollover. When military transport aircraft carry out medium- and low-altitude long-distance delivery of special military vehicles such as armored vehicles, the airdrop vehicles will produce irregular heading angles that deviate from the longitudinal axis of the vehicle vertically after the parachute is opened due to multiple factors such as air flow disturbance and initial exit posture. This heading angle will cause the airdrop vehicle to show a roll tendency under the inertial impact of the landing phase. When uncontrollable factors such as high wind speed or large landing ground slope occur, the airdrop vehicle is very likely to roll over.

[0003] Patent CN109466777B discloses a self-adjusting system for heavy-duty airdrop equipment, which uses airflow traction to adjust the posture of the airdrop equipment in real time through devices such as swing amplitude. However, the system has a complex structure and is large in size. It is not easy to load and unload quickly, and it is easy to interfere with the parachute system during the parachute opening process, resulting in parachute opening failure. Summary of the invention

[0004] The purpose of the present invention is to provide an airdrop vehicle yaw attitude adjustment system for solving the problem of irregular heading angle of an airdrop vehicle during its landing phase.

[0005] The technical solution to achieve the purpose of the present invention is: a yaw attitude adjustment system for an airdrop vehicle, the yaw attitude adjustment system is detachably fixedly arranged on the top of the airdrop vehicle, and includes a yaw attitude sensing device, a yaw attitude information processing device, a yaw attitude adjustment device and a fixed shell;

[0006] The yaw attitude sensing device is used to sense the heading angle of the airdrop vehicle in real time, and transmit the heading angle information to the yaw attitude information processing device. The yaw attitude information processing device outputs a driving signal to the yaw attitude adjustment device through A / D conversion, signal comparison, D / A conversion, and signal amplification processes; the yaw attitude adjustment device acts to correct the vehicle's heading angle so that the longitudinal axis direction of the airdrop vehicle is consistent with the actual movement direction; the adjustment system is set on the top of the vehicle through a fixed shell.

[0007] Further, the fixed housing includes a fixed outer shell, an upper end cover and a fan cover;

[0008] There are four fixing buckles on the fixed shell, which are fixed to the top of the airdrop vehicle by fixing bolts; the four fixing buckles are symmetrically arranged along the longitudinal axis of the airdrop vehicle; the upper end cover is provided with two circular holes, one large and one small, along the longitudinal axis of the vehicle body;

[0009] The fan cover is located at the large circular hole of the upper end cover, and its centroid coincides with the center of the large circular hole; the fixed housing, the upper end cover and the fan cover are non-detachably connected.

[0010] Further, the yaw attitude sensing device includes a heading sail, a heading sail connecting rod, a fixed bearing, an angular displacement sensor, an angular displacement transfer key and a vehicle longitudinal axis reference line;

[0011] The heading sail is fixedly connected to the top of the heading sail connecting rod, and the height of the heading sail is higher than the upper surface of the fan cover; the middle of the heading sail connecting rod is fixed to the small round hole of the upper end cover through a fixed bearing; an angular displacement transmission key slot is opened at the bottom of the heading sail connecting rod, and is connected to the angular displacement sensor through the angular displacement transmission key; the heading sail connecting rod only retains the rotational freedom along the axis;

[0012] The angular displacement transfer key is fixedly connected to the rotating shaft of the angular displacement sensor; the vehicle longitudinal axis reference line is a fixed mark at the zero scale of the angular displacement sensor; and the angular displacement sensor is fixed to the bottom of the fixed housing by fixing bolts.

[0013] Further, the yaw attitude information processing device includes a yaw attitude adjustment controller, an angular displacement input signal line, a power supply line and a drive signal output line;

[0014] The yaw attitude adjustment controller receives the heading angle signal input from the angular displacement input signal line, and outputs the driving signal through A / D conversion, signal comparison, D / A conversion, and signal amplification processes;

[0015] When the airdrop vehicle rotates clockwise, the heading angle at this time is specified as a positive value, and the output drive motor rotates counterclockwise, and vice versa;

[0016] The power supply line supplies power to the angular displacement sensor, the yaw attitude adjustment controller and the adjustment motor;

[0017] The angular displacement input signal line connects the angular displacement sensor and the yaw attitude adjustment controller to transmit the heading angle signal; the yaw attitude adjustment controller is fixed to the bottom of the fixed housing by fixing bolts.

[0018] Furthermore, the power source is a mobile battery fixed inside the yaw attitude adjustment system, or a battery on board the airdrop vehicle.

[0019] Further, the yaw attitude adjustment device includes an adjustment motor and an auxiliary fan blade;

[0020] The regulating motor receives the driving signal output by the yaw attitude regulating controller according to different heading angles to rotate; the auxiliary fan blades are connected to the rotating shaft of the regulating motor through the shaft end cover of the regulating motor, and the interaction between the air fluid and the fan blades enhances the unidirectional rotational force applied by the regulating motor to the airdrop vehicle; the auxiliary fan blades are arranged in the fan cover.

[0021] Compared with the prior art, the present invention has the following significant advantages:

[0022] (1) The present invention utilizes the principle of the interaction between the rotational force and the easy rotation of the airdrop vehicle during suspension, and can adjust the heading angle of the airdrop vehicle by rotating a small motor. By adjusting the motor output power, the airdrop vehicle of different weights can be adapted, and the adaptability is strong. Compared with a large adjustment system with a holding rope and other devices, the present invention has a small size, a simple structure, and is easy to disassemble and arrange. There will be no motion interference with the parachute system during the parachute opening and landing stages.

[0023] (2) The present invention utilizes a heading sail and an angular displacement sensor to complete the acquisition process of the heading angle signal of the airdrop vehicle, and outputs a correction signal through a yaw attitude adjustment controller, which can actively adjust the heading angle of the airdrop vehicle in real time with high accuracy and fast response. The heading angle correction success rate and the landing stability of the airdrop vehicle are higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The overall schematic diagram of the yaw attitude adjustment system.

[0025] Figure 2 Schematic diagram of the yaw attitude adjustment system without a fan cover.

[0026] Figure 3 The internal structure of the yaw posture adjustment system.

[0027] Figure 4 This is the schematic diagram of the yaw posture perception and adjustment principle.

[0028] Figure 5 Schematic diagram of the posture sensing device.

[0029] Figure 6 This is a working principle diagram of the posture sensing device.

[0030] Figure 7 Schematic diagram of the layout of the yaw attitude adjustment system.

[0031] Description of Reference Numerals

[0032] 1-fixed housing, 2-adjusting motor, 3-auxiliary fan blades, 4-adjusting motor shaft end cover, 5-driving signal output line, 6-power supply line, 7-navigation sail, 8-navigation sail connecting rod, 9-fixed bearing, 10-angular displacement sensor, 11-angular displacement input signal line, 12-fixing bolt, 13-upper end cover, 14-fan cover, 15-angular displacement transfer key, 16-vehicle longitudinal axis reference line, 17-angular displacement transfer key slot, 18-airdrop vehicle, 19-yaw attitude adjustment system, 20-yaw attitude adjustment controller. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0034] like Figure 1 , Figure 2 , Figure 3 As shown, a yaw attitude adjustment system 19 for an airdrop vehicle includes a fixed housing 1, an upper end cover 13, a heading sail 7, an angular displacement sensor 10, a yaw attitude adjustment controller 20, and an adjustment motor 2;

[0035] like Figure 1 As shown, the fan cover 14, the upper end cover 13 and the fixed housing 1 are fixedly connected together by welding or other connection methods; the heading sail 7 is fixed to the top of the heading sail connecting rod 8, and its height is higher than the upper surface of the fan cover 14, so as to prevent the fan cover 14 from blocking the effect of the fluid on the heading sail 7 during the movement of the airdrop vehicle 18;

[0036] like Figure 1 and Figure 7 As shown, the fixed shell 1 has four fixing buckles symmetrically arranged along the longitudinal axis direction of the airdrop vehicle 18, and is fixed to the top of the airdrop vehicle 18 by fixing bolts 12;

[0037] like Figure 2 As shown, the upper end cover 13 is provided with two large and small circular holes along the longitudinal axis direction of the airdrop vehicle, the large circular hole is a fixing hole for the adjusting motor 2, and the small circular hole is a fixing hole for the fixed bearing 9 of the heading sail connecting rod 8; under the joint constraint of the fixed bearing 9 and the angular displacement sensor 10, the heading sail connecting rod 8 only retains the rotational freedom along the axial direction, and transmits the rotation of the heading sail 7 to the angular displacement sensor 10;

[0038] like Figure 2 As shown, the centroid of the fan cover 14 coincides with the center of the large circular hole and is fixedly connected to the surface of the upper end cover 13; the fan cover 14 ensures that the system is not affected by the impact of debris and rainwater erosion during the operation of the system; the auxiliary fan blades 3 are fixedly connected to the rotating shaft of the regulating motor 2 through the regulating motor shaft end cover 4, and the interaction between the air fluid and the regulating fan blades 3 enhances the same-direction rotation force applied by the regulating motor 2 to the airdrop vehicle 18;

[0039] like Figure 3 As shown, the angular displacement sensor 10, the yaw attitude adjustment controller 20 and the adjustment motor 2 are fixedly connected to the bottom of the fixed housing 1 by means of fixing bolts 12;

[0040] like Figure 4 As shown, the heading angle information collected by the yaw angular displacement sensor 10 is transmitted to the yaw attitude adjustment controller 20 via the angular displacement input signal line 11, and after the analog signal-digital signal (A / D) conversion, signal comparison, digital signal-analog signal (D / A) conversion and signal amplification process, the driving signal required for controlling the adjustment motor is generated, and is transmitted to the adjustment motor 2 via the driving output signal line 5, completing the yaw attitude adjustment process of the airdrop vehicle;

[0041] like Figure 5 As shown, when the heading angle θ of the airdrop vehicle 18 is not zero, that is, when a yaw angle displacement occurs, the heading sail 7 is deflected under the action of the fluid in the actual moving direction of the airdrop vehicle 18, and at this time, the direction of the heading sail 7 is consistent with the actual moving direction of the airdrop vehicle 18;

[0042] like Figure 5 As shown, the bottom end surface of the heading sail connecting rod 8 is provided with an angular displacement transmission key groove 17, and the key groove cooperates with the angular displacement transmission key 15 to transmit the motion angular displacement of the heading sail 7 to the angular displacement sensor 10; the angular displacement transmission key 15 is fixedly connected to the rotating shaft of the angular displacement sensor 10; the vehicle longitudinal axis reference line 16 is a fixed mark at the zero scale of the angular displacement sensor, and its direction is always consistent with the longitudinal axis direction of the airdrop vehicle 18 and the direction of the heading sail 7;

[0043] like Figure 6 As shown, it is stipulated that the heading angle generated by the clockwise rotation of the airdrop vehicle 18 is a positive value. When the airdrop vehicle 18 generates a clockwise rotation angle θ, the longitudinal axis direction of the airdrop vehicle 18 will deviate from the actual movement direction, and the heading sail 7 drives the angular displacement transmission key 15 to generate a rotational displacement θ through the heading sail connecting rod 8, thereby driving the angular displacement sensor to generate a heading angle θ; at this time, the yaw attitude adjustment controller 20 will compare and judge the size and positive and negative states of the heading angle θ according to the zero scale of the angular displacement sensor, and output a corresponding adjustment motor control signal;

[0044] When θ is a positive value, that is, the airdrop vehicle 18 rotates clockwise, the output signal of the regulating motor 2 is counterclockwise rotation. When the regulating motor 2 rotates, due to the relationship between the action force and the reaction force, the regulating motor 2 will apply a same-direction rotation force to the airdrop vehicle 18, so that the airdrop vehicle 18 rotates counterclockwise until the heading angle θ is zero; since the airdrop vehicle 18 is in a suspended state during the landing process, its rotational freedom along the vertical direction of the vehicle body is not constrained, and the rotational torque required to adjust its yaw posture is small, and the interaction between the auxiliary blades 3 and the air fluid, the present invention adopts a small drive motor to complete the above-mentioned adjustment process; taking a light airdrop vehicle weighing 10t as an example, with the help of the auxiliary blades, the motor power required to rotate the vehicle in the suspended state is less than 3kW, and the power of the regulating motor varies with the weight of different vehicle models and the adjustment rate requirements;

[0045] When θ is a negative value, the above adjustment process is the same; during the landing of the airdrop vehicle 18, the yaw attitude adjustment system 19 continuously performs the above adjustment process to ensure that the longitudinal axis direction of the airdrop vehicle 18 is consistent with the actual movement direction when landing, so as to achieve the purpose of never causing rollover problems under any airflow disturbance and ground slope conditions.

Claims

1. A yaw attitude adjustment system for an airdrop vehicle, characterized in that: The yaw attitude adjustment system is detachably fixed on the top of the airdrop vehicle, and includes a yaw attitude sensing device, a yaw attitude information processing device, a yaw attitude adjustment device and a fixed housing; The yaw attitude sensing device is used to sense the heading angle of the airdrop vehicle in real time, and transmit the heading angle information to the yaw attitude information processing device. The yaw attitude information processing device outputs a driving signal to the yaw attitude adjustment device through A / D conversion, signal comparison, D / A conversion, and signal amplification processes; the yaw attitude adjustment device performs an action to correct the heading angle of the vehicle so that the longitudinal axis direction of the airdrop vehicle is consistent with the actual movement direction; The adjustment system is arranged on the top of the vehicle through a fixed housing; The fixed housing comprises a fixed outer shell (1), an upper end cover (13) and a fan cover (14); The fixed housing (1) is provided with four fixing buckles, which are fixed to the top of the airdrop vehicle by fixing bolts; the four fixing buckles are symmetrically arranged along the longitudinal axis direction of the airdrop vehicle; the upper end cover (13) is provided with two circular holes, one large and one small, along the longitudinal axis direction of the vehicle body; The fan cover (14) is located at the large circular hole of the upper end cover (13), and its centroid coincides with the center of the large circular hole; the fixed housing (1), the upper end cover (13) and the fan cover (14) are non-detachably connected; The yaw attitude sensing device comprises a heading sail (7), a heading sail connecting rod (8), a fixed bearing (9), an angular displacement sensor (10), an angular displacement transmission key (15) and a vehicle longitudinal axis reference line (16); The heading sail (7) is fixedly connected to the top of the heading sail connecting rod (8), and the height of the heading sail is higher than the upper surface of the fan cover (14); the middle of the heading sail connecting rod (8) is fixed to the small round hole of the upper end cover (13) through a fixed bearing (9); an angular displacement transmission key slot (17) is opened at the bottom of the heading sail connecting rod (8), and is connected to the angular displacement sensor (10) through an angular displacement transmission key (15); the heading sail connecting rod (8) only retains the rotational freedom along the axis; The angular displacement transmission key (15) is fixedly connected to the rotating shaft of the angular displacement sensor; the vehicle longitudinal axis reference line is a fixed mark at the zero scale of the angular displacement sensor; The angular displacement sensor is fixed to the bottom of the fixed housing (1) by means of fixing bolts; The yaw posture adjustment device comprises an adjustment motor (2) and an auxiliary fan blade (3); The regulating motor (2) receives a driving signal outputted by a yaw attitude regulating controller (20) according to different heading angles and performs a rotational movement; the auxiliary blades (3) are connected to the rotating shaft of the regulating motor through the shaft end cover of the regulating motor, and the interaction between the air fluid and the blades enhances the same-direction rotational force applied by the regulating motor to the airdrop vehicle; The auxiliary fan blades are arranged in the fan cover.

2. The system according to claim 1, characterized in that The yaw attitude information processing device comprises a yaw attitude adjustment controller (20), an angular displacement input signal line (11), a power supply line (6) and a drive signal output line (5); The yaw attitude adjustment controller (20) receives the heading angle signal inputted from the angular displacement input signal line, and outputs a driving signal through A / D conversion, signal comparison, D / A conversion and signal amplification processes; When the airdrop vehicle rotates clockwise, the heading angle at this time is specified as a positive value, and the output drive motor rotates counterclockwise, and vice versa; The power supply line supplies power to the angular displacement sensor, the yaw attitude adjustment controller and the adjustment motor; The angular displacement input signal line connects the angular displacement sensor (10) and the yaw attitude adjustment controller (20) to transmit a heading angle signal; the yaw attitude adjustment controller (20) is fixed to the bottom of the fixed housing (1) by means of fixing bolts.

3. The system according to claim 2, characterized in that The power source is a mobile battery fixed inside the yaw attitude control system, or a battery on board the airdrop vehicle.

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