A nozzle thrust vector control device

Abstract

The present invention relates to a nozzle thrust vector control device, comprising: a nozzle, which can be at least configured as the engine nozzle of a missile or rocket; a nozzle expansion section, which is flexibly connected to the nozzle; the nozzle expansion section is configured to be able to receive the medium ejected by the nozzle, so as to control the thrust vector of the missile or rocket by controlling the swing of the nozzle expansion section; N sets of telescopic components, where N≥3, are arranged around the outside of the nozzle and / or the nozzle expansion section; one end of the telescopic component is connected to the nozzle, the other end of the telescopic component is connected to the nozzle expansion section, and the length of the telescopic component is adjustable, so as to adjust the swing angle of the nozzle expansion section by adjusting the length of at least part of the telescopic components.

Description

Technical Field

[0001] The present invention relates to the technical field of missile and rocket flight control, and in particular to a nozzle thrust vector control device. Background Art

[0002] Generally, missiles and rockets need to have strong maneuverability control performance during flight. The common thrust vector control methods for small solid rocket engines are the control methods of gas rudders, yaw rings, and guide vanes. Among them, the most commonly used is the control method of gas rudders. The main reason is that small missiles and rockets mostly use single-nozzle engines, and guide vanes need to be used in combination with multiple nozzles to achieve effective attitude control. The gas rudder has the characteristics of simple structure, fast response speed, and not being affected by flight altitude, etc. However, the gas rudder also has many disadvantages. Its rudder wing surface is small, resulting in a small control moment generated by it. The resistance of the gas rudder will cause a large loss of the axial thrust of the engine, and the gas residue is easy to block the gas path, etc. Summary of the Invention

[0003] In view of the above analysis, the embodiments of the present invention aim to provide a nozzle thrust vector control device, which can at least solve one of the above problems.

[0004] The present invention provides a nozzle thrust vector control device, including:

[0005] A nozzle, which can be configured as at least the engine nozzle of a missile or rocket;

[0006] A nozzle expansion section, which is flexibly connected to the nozzle; the nozzle expansion section is configured to be able to receive the medium ejected by the nozzle, so as to control the thrust vector of the missile or rocket by controlling the swing of the nozzle expansion section;

[0007] N sets of telescopic components, N≥3, are arranged around the outside of the nozzle and / or the nozzle expansion section; one end of the telescopic component is connected to the nozzle, the other end of the telescopic component is connected to the nozzle expansion section, and the length of the telescopic component is adjustable, so as to adjust the swing angle of the nozzle expansion section by adjusting the length of at least part of the telescopic components.

[0008] Further, the nozzle thrust vector control device includes three sets of telescopic components, and the three sets of telescopic components are evenly arranged around the outside of the nozzle.

[0009] Further, the nozzle is provided with a fixed seat, the fixed seat is provided with N first connecting parts, and the first connecting seat is rotatably connected to the telescopic component.

[0010] Further, the nozzle expansion section is provided with a swing seat;

[0011] The swing seat is arranged parallel to the fixed seat, and their center lines coincide;

[0012] A second connecting member is provided at a position corresponding to the first connecting member of the swing seat and the fixed seat, and the second connecting member is rotatably connected to the telescopic assembly.

[0013] Further, the fixed seat is located at the head end of the nozzle;

[0014] The swing seat is located at the head end of the divergent section of the nozzle and surrounds the outside of the nozzle;

[0015] The telescopic assembly is located between the first connecting member and the second connecting member.

[0016] Further, the nozzle is provided with a first channel, the first channel extends from the head end to the tail end of the nozzle, the first channel is provided with a constriction portion, and the cross-section of at least one place of the constriction portion is configured to be smaller than the orifice areas of the inlet and outlet of the first channel;

[0017] The divergent section of the nozzle is provided with a second channel, the second channel extends from the head end to the tail end of the divergent section of the nozzle, and the second channel is a gradually expanding channel;

[0018] At least a part of the first channel extends into the second channel.

[0019] Further, the telescopic assembly includes:

[0020] A housing provided with a first lug, and the first lug is hinged to the first connecting member of the nozzle;

[0021] A motor located inside the housing;

[0022] A transmission rod located inside the housing; the transmission rod is connected to the output shaft of the motor and rotates synchronously with the output shaft of the motor;

[0023] A moving member located inside the housing; the moving member is located on the transmission rod and moves on the transmission rod as the transmission rod rotates;

[0024] A sliding rod connected to the moving member and moving synchronously with the moving member on the transmission rod; one end of the sliding rod extends into the housing and is connected to the moving member, and the other end is provided with a second lug, and the second lug is hinged to the second connecting member of the divergent section of the nozzle.

[0025] Further, the telescopic assembly further includes an anti-rotation element and a sensor;

[0026] The sensor is connected to one end of the sliding rod away from the second lug through the anti-rotation element, and the sensor moves synchronously with the sliding rod to detect the displacement of the sliding rod;

[0027] Inside the housing, there is a slideway that cooperates with the sensor, and the extending direction of the slideway is the same as that of the transmission rod.

[0028] Furthermore, the telescopic assembly further includes an external connector, which is connected to the motor and the sensor to transmit control instructions to the motor and transmit the signals detected by the sensor.

[0029] Furthermore, the nozzle thrust vector control device further includes a main controller, which is connected to the telescopic assembly through the external connector to control the telescopic length of each telescopic assembly, and thus control the swing of the nozzle expansion section.

[0030] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0031] (1) Small engine thrust loss. The swing of the nozzle expansion section of the present invention is an overall control of the gas flow direction. There are no structures such as gas rudders and guide vanes in the gas flow that hinder the gas flow and cause mutual disturbance, so the engine thrust loss is small.

[0032] (2) Small power of the actuator. The control object of the present invention is the nozzle expansion section, which is different from the full-axis swing nozzle. Since the nozzle does not participate in the swing, the swing inertia is small, and the change in internal pressure has no effect on the friction damping load, so the power requirement for the actuator is small. At the same time, it is also convenient to achieve miniaturization and low cost.

[0033] (3) High control accuracy. The present invention controls the nozzle expansion section through more than three (including three) telescopic assemblies, which can accurately control the swing angle and swing center of the nozzle expansion section, with good gas flow directivity, and can reduce the structural resonance of the nozzle, improving the control accuracy of the thrust vector.

[0034] (4) Good dynamic response. The present invention jointly controls the nozzle expansion section through more than three telescopic assemblies, and can effectively improve the response frequency of the control device through the driving ability and control algorithm after the combination of multiple telescopic assemblies, which is beneficial to improving the maneuverability of the missile and rocket flight.

[0035] (5) Convenient test verification. The swing part of the nozzle expansion section of the present invention is convenient for maintenance and replacement. At the same time, due to the small change in the cold and hot load of the engine and the small change in the swing center, it is convenient for repeated ground cold tests, and there is no need to perform compensation operations on the swing center displacement in the flight control algorithm.

[0036] In the present invention, the above technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the following specification. Moreover, some advantages will be obvious from the specification or can be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained from the content specifically pointed out in the specification and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings are only for the purpose of showing specific embodiments and are not considered as a limitation to the present invention. Throughout the drawings, the same reference signs denote the same components.

[0038] Figure 1 FIG. 1 is a schematic structural view (I) of the nozzle thrust vector control device in the specific embodiment;

[0039] Figure 2 FIG. 2 is a schematic structural view (II) of the nozzle thrust vector control device in the specific embodiment;

[0040] Figure 3 FIG. 3 is a schematic structural view (III) of the nozzle thrust vector control device in the specific embodiment;

[0041] Figure 4 FIG. 4 is a sectional view of the nozzle thrust vector control device in the specific embodiment;

[0042] Figure 5 FIG. 5 is a schematic structural view of the nozzle in the specific embodiment;

[0043] Figure 6 FIG. 6 is a schematic structural view of the nozzle expansion section in the specific embodiment;

[0044] Figure 7 FIG. 7 is a schematic structural view of the telescopic assembly in the specific embodiment;

[0045] Figure 8 FIG. 8 is a sectional view of the telescopic assembly in the specific embodiment.

[0046] Reference Signs:

[0047] 1 - nozzle; 101 - first channel; 102 - first inlet; 103 - first outlet; 11 - fixed seat; 111 - first connecting piece; 12 - constriction part; 2 - nozzle expansion section; 201 - second channel; 202 - second inlet; 203 - second outlet; 21 - swing seat; 211 - second connecting piece; 3 - telescopic assembly; 301 - motor assembly cavity; 302 - transmission cavity; 31 - housing; 311 - first ear; 32 - motor; 321 - output shaft; 33 - transmission rod; 34 - moving part; 35 - sliding rod; 351 - second ear; 352 - slideway; 353 - fixing block; 354 - assembly groove; 36 - anti - rotation element; 37 - sensor; 38 - slide rail; 39 - external connector. Detailed implementation manners

[0048] The following will specifically describe the preferred embodiments of the present invention in conjunction with the accompanying drawings, where the accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principles of the present invention, rather than to limit the scope of the present invention.

[0049] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] The terms "top", "bottom", "above...", "below" and "on..." described throughout the text are relative positions with respect to the components of the device, such as the relative positions of the top and bottom substrates inside the device. It can be understood that the device is multifunctional and is independent of its orientation in space.

[0051] The normal working surface of the present invention can be a plane or a curved surface, which can be inclined or horizontal. For the convenience of description, the embodiments of the present invention are placed on a horizontal plane and used on the horizontal plane, and "high - low" and "up - down" are defined accordingly.

[0052] The adjustment of the flight attitude of a rocket is mainly achieved in two ways. One is that the aerodynamic rudder on the rocket body adjusts the flight attitude of the rocket through aerodynamic force, and the other is that the thrust vector control of the rocket engine adjusts the thrust direction of the engine to control the attitude of the rocket. The aerodynamic rudder has low efficiency at low speeds and high altitudes, and the initial attitude adjustment efficiency is also low, while the thrust vector control method can meet the control requirements of the entire flight mission profile.

[0053] The thrust vector control device of a solid - rocket engine is mainly realized by a movable nozzle and a fixed nozzle with a gas - deflection device added.

[0054] Due to constraints such as high-altitude flight conditions, installation space, and the value of missiles and rockets, large solid rocket motors generally adopt thrust vector control methods with movable nozzles. However, due to installation space limitations, small solid rocket motors generally use fixed nozzles and vector control is achieved through two methods: secondary injection and mechanical deflector plates.

[0055] The thrust vector control method using secondary injection fluid requires adding a storage tank for storing the fluid and also adding structures such as valves and pipelines for secondary flow injection, resulting in a relatively large volume. Therefore, it is rarely used in the thrust vector control of small solid rocket motors.

[0056] Common thrust vector control methods for small solid rocket motors are the control methods of gas rudders, yaw rings, and deflector plates. Among them, the most commonly used is the control method of gas rudders. The main reason is that small missiles and rockets mostly use single-nozzle motors, and deflector plates need to be used in combination with multiple nozzles to achieve effective attitude control. Gas rudders also have many disadvantages. The small rudder wing surface results in a small control moment generated by them. The resistance of the gas rudder will cause a large loss of the axial thrust of the motor, and the gas residue is easy to block the gas path, etc. Since the yaw ring is in the gas flow field after full expansion and work, and has the function of converging and directionally releasing the gas, this method can achieve a relatively large thrust deflection angle and less thrust loss. However, since this method usually can only swing uniaxially, multiple nozzles need to be used in combination to achieve three-axis control of missiles and rockets.

[0057] The present invention proposes a nozzle thrust vector control device for a low-cost and high-precision small solid motor, which controls the swing of the nozzle expansion section through more than three sets of telescopic components to control the direction of the medium ejected by the missile or rocket, and further realizes the control of the thrust vector of the missile or rocket. It has the advantages of high control precision, good dynamic response, small thrust loss of the motor, and small power of the actuator. In addition, the present invention can achieve the full-circle swing of the nozzle expansion section, and further realize the three-axis control of the flight of the missile or rocket. Applying the present invention to the thrust vector control of small solid motors can effectively improve the control efficiency of the flight control system, improve the system control precision, improve the system dynamic response, and reduce the thrust loss of the motor.

[0058] A specific embodiment of the present invention discloses a nozzle thrust vector control device (hereinafter referred to as the control device), as Figures 1 to 8 shown, including:

[0059] Nozzle 1, which can be configured as at least the engine nozzle of the missile or rocket, that is, the control device of the present invention can at least be used as a thrust vector control mechanism of the missile or rocket;

[0060] The nozzle expansion section 2 is flexibly connected to the nozzle 1. The nozzle expansion section 2 is configured to receive the medium (such as gas) ejected from the nozzle 1, so as to control the thrust vector of the projectile by controlling the swing of the nozzle expansion section 2. Preferably, the nozzle expansion section 2 surrounds the outside of the nozzle 1, so that all the medium ejected from the nozzle 1 is led out through the nozzle expansion section 2, so as to control the thrust vector of the projectile by controlling the swing angle and swing center of the nozzle expansion section 2.

[0061] N sets of telescopic components 3, where N≥3 (N is an integer), are arranged around the outside of the nozzle 1 or / and the nozzle expansion section 2. One end of the telescopic component 3 is connected to the nozzle 1, the other end of the telescopic component 3 is connected to the nozzle expansion section 2, and the length of the telescopic component 3 is adjustable, so as to adjust the swing of the nozzle expansion section 2 by adjusting the length of at least part of the telescopic component 1 (the swing includes at least the swing angle and swing center).

[0062] The nozzle thrust vector control device of the present invention controls the swing of the nozzle expansion section 2 through more than three sets of telescopic components 3 to control the direction of the medium ejected by the projectile, and further control the thrust vector of the projectile. It has the advantages of high control accuracy, good dynamic response, small engine thrust loss, and small power of the actuator.

[0063] To facilitate the control of the swing of the nozzle expansion section 2, both ends of the telescopic component 3 are rotatably connected to the nozzle 1 and the nozzle expansion section 2 respectively. Exemplarily, both ends of the telescopic component 3 are hinged to the nozzle 1 and the nozzle expansion section 2 respectively. Preferably, multiple sets of telescopic components 3 are evenly distributed on the outside of the nozzle 1 or / and the nozzle expansion section 2, which not only makes the swing of the nozzle expansion section more stable and reliable, but also facilitates the fine control of the swing of the nozzle expansion section.

[0064] According to a preferred embodiment of the present invention, the nozzle thrust vector control device includes three sets of telescopic components 3, and the three sets of telescopic components 3 are evenly arranged around the outside of the nozzle 1. In this way, in addition to ensuring the multi-degree-of-freedom and stable swing control of the nozzle expansion section 2, it can also more conveniently and quickly realize the swing control of the nozzle expansion section 2, saving calculation cost, control cost and time cost.

[0065] According to an embodiment of the present invention, the nozzle 1 is provided with a fixed seat 11, the fixed seat 11 is provided with N first connectors 111 (that is, the number of the first connectors 111 is the same as the number of the telescopic components 3), and the first connection seats 111 are in one-to-one correspondence and rotatably connected to one end of the telescopic components 3. Exemplarily, the first connection seats 111 are in one-to-one correspondence and hinged to one end of the telescopic components 3. Preferably, the fixed seat 11 is fixedly connected to the outer wall of the projectile engine.

[0066] The nozzle expansion section 2 is provided with a swing seat 21. The swing seat 21 is arranged in parallel with the fixed seat 11, and the center lines of both coincide (that is, the center lines of both are A-A). The nozzle expansion section 2 swings synchronously with the swing of the swing seat 21. The closer the position of the swing seat 21 is to the head end of the nozzle expansion section 2, the larger the swing range of the nozzle expansion section 2.

[0067] At a position corresponding to the first connecting member 111 of the fixed seat 11, the swing seat 21 is provided with a second connecting member 211. That is, there are N second connecting members 211 on the swing seat 21. The second connecting members 211 are arranged in one-to-one correspondence with the first connecting members 111. The number of the second connecting members 211, the first connecting members 111, and the telescopic assembly 3 is equal. The second connecting members 211 are respectively and rotatably connected to the other ends of the telescopic assembly 3. Exemplarily, the second connecting members 211 are respectively and hingedly connected to the other ends of the telescopic assembly 3.

[0068] Under the action of the telescopic assembly 3, the swing seat 21 swings relative to the fixed seat 11, thereby controlling the swing of the nozzle expansion section 2.

[0069] Therefore, the telescopic assembly 3 is located between the first connecting member 111 and the second connecting member 211. That is, one end of the telescopic assembly 3 is rotatably connected to the first connecting member 111, and the other end of the telescopic assembly 3 is rotatably connected to the second connecting member 211.

[0070] Preferably, one end of the telescopic assembly 3 is connected to the head end of the nozzle 1, and the other end of the telescopic assembly 3 is connected to the head end of the nozzle expansion section 2. That is, the fixed seat 11 is located at the head end of the nozzle 1, and the swing seat 21 is located at the head end of the nozzle expansion section 2.

[0071] To ensure the control force of the control device on the thrust vector, the swing seat 21 surrounds the outside of the nozzle 2. On the one hand, it ensures that all the medium ejected from the nozzle enters the nozzle expansion section; on the other hand, it ensures the control intensity of the thrust vector when the swing seat swings.

[0072] It should be noted that the head end of the nozzle and the nozzle expansion section refers to the end where the ejected medium passes through first, and the end where the ejected medium passes through later is the tail end.

[0073] Preferably, the head end of the nozzle expansion section is flexibly connected to the tail end of the nozzle to more conveniently control the swing of the nozzle expansion section.

[0074] According to an embodiment of the present invention, the nozzle 1 is provided with a first passage 101 for the injection medium to pass through. The first passage 101 is provided with a first inlet 102 and a first outlet 103, and the first passage 101 extends from the first inlet 102 to the first outlet 103. Preferably, the first passage 101 extends from the head end of the nozzle 1 to the tail end of the nozzle 1, that is, the first inlet 102 is located at the head end of the nozzle, and the first outlet 103 is located at the tail end of the nozzle.

[0075] The fixing seat 11 is arranged around the outside of the first passage 101, that is, a hole for the first passage 101 to pass through is provided in the center of the fixing seat 11 (that is, the shape of the fixing seat 11 is circular or non-circular). Preferably, the fixing seat 11 is arranged around the outside of the first inlet 102, and the shape of the fixing seat 11 matches the shape of the first inlet 102. At this time, the first inlet 102 is the hole of the fixing seat 11.

[0076] The nozzle expansion section 2 is provided with a second passage 201 for the injection medium to pass through. The second passage 201 is provided with a second inlet 202 and a second outlet 203, and the second passage 201 extends from the second inlet 202 to the second outlet 203. Preferably, the second passage 201 extends from the head end of the nozzle expansion section 2 to the tail end of the nozzle expansion section 2, that is, the second inlet 202 is located at the head end of the nozzle expansion section 2, and the second outlet 203 is located at the tail end of the nozzle expansion section 2.

[0077] The swing seat 21 is arranged around the outside of the second passage 201, that is, a hole for the second passage 201 to pass through is provided in the center of the swing seat 21 (that is, the shape of the swing seat 21 is circular or non-circular). Preferably, the swing seat 21 is arranged above the second inlet 202, and the side wall of the hole of the swing seat 21 is flush with the orifice wall of the second inlet 202.

[0078] To ensure that all the injection medium in the nozzle 1 enters the nozzle expansion section 2, at least a part of the first passage 101 extends into the second passage 201, that is, the first outlet 103 is located in the second passage 201, and the nozzle expansion section 2 can at least surround the end of the nozzle 1.

[0079] Preferably, the first passage 101 is provided with a constriction part 12, and the cross-sectional area of at least one place of the constriction part 12 is smaller than the orifice areas of the first inlet 102 and the first outlet 103 (the cross-sectional area of at least one place of the constriction part 12 is simultaneously smaller than the areas of the first inlet 102 and the first outlet 103), that is, the place with the smallest cross-section of the first passage 11 is located at the constriction part 12, so as to increase the injection speed of the injection medium and increase the thrust of the projectile.

[0080] The first channel 101 extends from the first inlet 102 to the constriction portion 12, and its cross-sectional area gradually decreases, and then extends from the constriction portion 12 to the first outlet 103, and its cross-sectional area gradually increases. That is, the cross-sectional area in the first channel first gradually decreases and then gradually increases along the direction of the medium injection, and the place with the smallest cross-sectional area is located at the constriction portion 12. Such a setting can ensure the stability of the first channel 101 and avoid excessive impact force on a certain part of the channel wall surface. Preferably, the orifice area of the first inlet 102 ≥ the orifice area of the first outlet 103 > the minimum cross-sectional area at the constriction portion 12.

[0081] Preferably, the ratio of the orifice area of the first inlet 102 to the minimum cross-sectional area at the constriction portion 12 is not less than 4:1. In this embodiment, the ratio of the orifice area of the first inlet 102 to the minimum cross-sectional area at the constriction portion 12 is 8:1.

[0082] Preferably, the constriction portion 12 is located at the central part of the side wall of the nozzle.

[0083] The second channel 201 is a gradually expanding channel, that is, the cross-sectional area of the second channel 201 gradually increases along its extending direction, that is, its cross-sectional area gradually increases from the second inlet 202 along the second channel 201 to the second outlet 203. The orifice area of the second inlet 202 < the orifice area of the second outlet 203.

[0084] Preferably, the ratio of the orifice area of the second inlet to the orifice area of the second outlet is not less than 1:6. In this embodiment, the ratio of the orifice area of the second inlet to the orifice area of the second outlet is 1:4.

[0085] In this embodiment, the shape of the side wall of the nozzle 1 is hourglass-shaped. The side wall of the nozzle 1 encloses a channel similar to an hourglass shape (i.e., the first channel 101 is a channel similar to an hourglass shape), and any cross-section of the first channel is circular. The fixing seat 11 is an annular plate. The fixing seat 11 is disposed around the top end of the side wall of the nozzle 1. The inner diameter of the fixing seat 11 is equal to the diameter of the first inlet 102. The outer diameter of the fixing seat 11 is larger than the diameter of the top end of the side wall of the nozzle 1. The top wall of the fixing seat 11 is flush with the top end of the side wall of the nozzle. The fixing seat 11 includes three first connecting members 111. The first connecting members 111 are uniformly arranged on the bottom end face of the annular plate, that is, facing the position where the swing seat 21 is located. That is, the included angle after connecting the first connecting members 111 with the center of the fixing seat 11 is 120°. The shape of the side wall of the nozzle expansion section 2 is trumpet-shaped. The side wall of the nozzle expansion section 2 encloses a trumpet-shaped channel (i.e., the second channel 201 is a trumpet-shaped channel, and any cross-section of the second channel is circular). The swing seat 21 is an annular plate. The swing seat 21 is located at the top end of the side wall of the nozzle expansion section 2, and the inner and outer diameters of the swing seat 21 are respectively not larger than the inner and outer diameters of any cross-section of the side wall of the nozzle expansion section 2. The swing seat 21 includes three second connecting members 211. The second connecting members 211 are uniformly distributed on the top end face of the swing seat 21, that is, facing the position where the fixing seat is located. That is, the included angle after connecting the second connecting members 211 with the center of the swing seat 21 is 120°. The center lines of the first channel 101, the second channel 201, the nozzle 1, and the nozzle expansion section 2 are A-A.

[0086] It should be noted that in this embodiment, the end of the nozzle 1 extends into the nozzle expansion section 2, and there is a certain distance between the outer side wall of the nozzle 1 and the inner side wall of the nozzle expansion section 2. With the connection of the telescopic assembly 3, the flexible connection between the nozzle 1 and the nozzle expansion section 2 is realized. That is, when the nozzle expansion section 2 does not swing (i.e., when the nozzle expansion section 2 is in its original position), there is no contact between the nozzle and the nozzle expansion section. In practical applications, in order to ensure that the injection matrix in the nozzle expansion section 2 completely exits only from the second outlet 203, a flexible sealing fold layer can also be provided between the second inlet 202 and the outer side wall of the nozzle 1 to ensure the sealing performance of the second inlet 202 on the premise of not affecting the swing of the nozzle expansion section 2.

[0087] According to an embodiment of the present invention, the telescopic assembly 3 includes:

[0088] A housing 31, the housing is provided with a first ear 311, and the first ear 311 is hinged to the first connecting member 111 of the nozzle 1;

[0089] A motor 32, located inside the housing 31, for providing power for the telescopic movement of the telescopic assembly 3;

[0090] The transmission rod 33 is located inside the housing 31; the transmission rod 33 is connected to the output shaft 321 of the motor 32 and rotates synchronously with the output shaft 321;

[0091] The moving member 34 is located inside the housing 31; the moving member 34 is located on the transmission rod and moves on the transmission rod as the transmission rod rotates;

[0092] The sliding rod 35 is connected to the moving member 34 and moves synchronously with the moving member 34 on the transmission rod 33; one end of the sliding rod 35 extends into the housing 31 and is connected to the moving member 34, and the other end of the sliding rod 35 is provided with a second ear 351, and the second ear 351 is hinged to the second connecting member 211 of the nozzle expansion section 2.

[0093] Specifically, one end of the housing 31 is provided with a first ear 311, and the other end is provided with a perforation for the sliding rod 35 to pass through, and the sliding rod 35 is slidably connected to the housing 31. Exemplarily, a sliding bearing is provided in the perforation of the housing 31 for slidably connecting with the sliding rod 35. Preferably, the first ear 311 and the perforation are oppositely arranged at both ends of the housing 31, that is, the first ear 311 and the second ear 351 are respectively arranged at opposite ends of the housing 31.

[0094] To ensure the structural stability and telescopic stability of the sliding assembly 3, the housing is provided with two assembly cavities, namely a motor assembly cavity 301 and a transmission cavity 302. The motor is installed in the motor assembly cavity 301, and part of the transmission rod 33, the moving member 34 and the sliding rod 35 are installed in the transmission cavity 302.

[0095] The shape of the motor assembly cavity 301 is matched with the shape of the motor 32 to prevent the motor 32 from shaking and ensure the transmission stability inside the telescopic assembly.

[0096] One end of the transmission rod 33 penetrates into the motor assembly cavity 301 and is in transmission connection with the output shaft 321 to enable it to rotate synchronously with the output shaft 321. Exemplarily, the transmission rod 33 is a transmission screw rod, that is, a transmission thread is provided on the side wall of the transmission rod 33. The moving member 34 is sleeved on the transmission rod 33 and moves linearly on the transmission rod 33 as the transmission rod 33 rotates. Preferably, the moving member 34 is slidably connected to the transmission rod 33 through balls. On the one hand, the sliding friction between the moving member 34 and the transmission rod 33 is reduced, and on the other hand, the positioning accuracy of the moving member 34 on the transmission rod 33 is improved.

[0097] The sliding rod 35 is provided with a slideway 352. The other end of the transmission rod 33 (the end opposite to the end connected to the output shaft 321) passes through the moving member 34 and extends into the slideway 351, that is, the sliding rod 35 is partially sleeved on the transmission rod 33. Preferably, the length of the slideway 352 is not less than the length of the transmission rod 33.

[0098] To ensure the synchronous movement and movement stability of the sliding rod 35 and the moving member 34, one end of the sliding rod 35 is provided with a fixing block 353, and at least a part of the moving member 34 is embedded in the fixing block 353. Specifically, the fixing block 353 is provided with an assembly groove 354 communicating with the slideway 352, and the moving member 34 is detachably fixed in the assembly groove 354. Preferably, the groove depth of the assembly groove 354 is at least 1 / 2 of the length of the moving member 34 (the length of the moving member 34 refers to its length along the extending direction of the transmission rod), that is, most of the moving member 34 is embedded in the fixing block 353 to ensure the movement stability of the sliding rod 35.

[0099] The fixing block 353 is always located in the transmission cavity 302. The fixing block and the second ear are located at opposite ends of the sliding rod, and the second ear is always located outside the housing 31.

[0100] It should be noted that the central axes of the output shaft 321, the transmission rod 33, the moving member 34, and the sliding rod 35 are collinear.

[0101] According to a preferred embodiment of the present invention, the telescopic assembly 3 further includes an anti-rotation element 36 and a sensor 37. The anti-rotation element 36 is connected to the end of the sliding rod 35 away from the second ear 351, that is, the anti-rotation element 36 is connected to the fixing block 353 to prevent the sliding rod 35 from rotating. The sensor 37 is configured to at least detect the displacement of the sliding rod 35 so that the control device can control the length of the telescopic assembly, and further facilitate the control of the swing of the nozzle expansion section 2. The sensor 37 is connected to the fixing block 353 through the anti-rotation element 36 so that the sensor 37 can move synchronously with the sliding rod 35.

[0102] To ensure the detection stability of the sensor 37, a chute or slide rail 38 matching with the sensor 37 is provided in the housing 32, and the extending direction of the chute is the same as the extending direction of the transmission rod 33. The length of the chute or slide rail 38 is equal to the length of the transmission rod 33.

[0103] In addition, the telescopic assembly 3 further includes an external connector 39, which is connected to the motor 32 and the sensor 37 to transmit control instructions to the motor 32 and transmit the signals detected by the sensor 37. The external connector 39 can be a wireless connector or a wired connector. In this embodiment, the external connector 39 is a wireless connector.

[0104] To facilitate the control of multiple telescopic assemblies 3 to act synergistically to ultimately control the swing posture of the nozzle expansion section 2, the control device further includes a main controller (not shown in the figure). The main controller is connected to the telescopic assembly through the external connector 39 to control the telescopic length of each telescopic assembly, thereby controlling the swing of the nozzle expansion section 2.

[0105] The main controller is connected to the console of the missile or rocket. The main console sends the flight posture of the missile or rocket or the swing posture of the nozzle expansion section 2 calculated according to the flight posture to the main controller. The main controller calculates the corresponding length of each telescopic assembly according to the flight posture of the missile or rocket or the swing posture of the nozzle expansion section 2, sends corresponding control instructions to each telescopic assembly, and assisted by the detection data returned by the sensor, accurately controls the telescopic assembly to extend or shorten to its corresponding length, realizes the control of the swing posture of the nozzle expansion section 2, and further realizes the control of the flight posture of the missile or rocket.

[0106] Specifically, the main controller is used to receive the instructions from the missile or rocket console, resolve them into motion parameters that the telescopic assembly can execute, send corresponding execution instructions to the motor of the telescopic assembly, and constrain the orientation of the nozzle expansion section through the transmission of the motor, transmission rod, moving part, and sliding rod, ultimately realizing the thrust vector control of the small solid rocket engine.

[0107] The nozzle thrust vector control device of the present invention is particularly suitable for the vector control of low-cost and high-precision small missiles or rockets. The present invention has at least three degrees of freedom and can achieve roll on the X and Y axes and translational motion in the Z direction.

[0108] In practical applications, the fixed seat can also be replaced with an installation interface on the inner wall of the rocket tail or the rear sealing flange of the engine. When the control device includes three telescopic assemblies, the three telescopic assemblies are evenly distributed around the circumference of the engine at an angle of 120°. The main controller can be arranged between two electromechanical actuators on the inner wall of the rocket compartment section. The present invention can control the swing center to remain stationary according to the usage requirements of the rocket engine, and the plane of the swing seat rotates around the swing center, thereby realizing the swing control of the nozzle expansion section of the engine.

[0109] The present invention can control the nozzle expansion section through three sets of telescopic components, accurately and quickly control the swing angle and swing center of the nozzle expansion section, with good directivity of the gas flow, and can reduce the structural resonance of the nozzle, improving the control accuracy of the thrust vector. The present invention controls the nozzle expansion section through three sets of telescopic components, and can effectively improve the response frequency of the control device through the driving ability and control algorithm after the combination of the telescopic components, which is more conducive to improving the maneuverability of the missile and rocket flight. The present invention controls the nozzle expansion section through three sets of telescopic components, with more uniform force in vector control. At the same time, the power of each set of telescopic components is relatively small and the volume is small, which has more advantages for the narrow space of the nozzle of a small solid rocket motor.

[0110] The present invention can also miniaturize the motor, reduction mechanism, sensor, etc., realize modular functions, reduce the processing difficulty, shorten the production cycle, and reduce the production cost. Preferably, the motor adopts a DC brushless motor solution. The high power density is to meet the requirements of installation space and light weight, and the speed-torque characteristics should adapt to the load force and dynamic characteristics of the engine to meet the requirements of overall performance and parameter matching. At the same time, the motor design should take into account issues such as ambient temperature and working reliability. The reduction mechanism and output mechanism need to consider transmitting and outputting torque within a limited space, and also consider the influence of transmission clearance and transmission efficiency on the system to make it reach the optimal performance, so as to meet the usage requirements of high-precision control. At the same time, the issue of low cost should also be considered during the design. Based on the project index requirements, the most direct and economical design method is used to obtain the optimal design result. The controller needs to meet the layout requirements of small-sized missiles and rockets and needs to be miniaturized to meet the layout requirements of different-sized missiles and rockets. By adopting a control drive circuit with a high specific power, the driving control of the telescopic components is realized. At the same time, a low-cost domestic control driver solution is realized.

[0111] In the prior art, for the vector control of the nozzle of a rocket engine, the entire engine is usually swung by a driver. Therefore, its characteristics are large volume, large inertia, and large weight, requiring a relatively large output power of the driver. At the same time, the swing center of the engine is usually formed by direct contact of components to form a friction pair. After the engine is ignited, a positive pressure is applied to the swing center, resulting in a relatively large friction force at the swing center and a certain power loss during vector control. However, the present invention cancels the actual swing center, uses three sets of telescopic components to control a plane (i.e., the swing seat), regards the center point of the circle of the cross-section of the plane and the rocket engine nozzle as the swing center, and realizes vector control by swinging the nozzle expansion section. The moving part has a small volume and small inertia, so the required power is small, and the volume of the corresponding telescopic components will be small.

[0112] In the present invention, three sets of small telescopic components are evenly distributed circumferentially around the rocket engine at 120°, with more degrees of freedom controlled, more sensitive and precise control, and can achieve precise vector control of the engine. In addition, it also has the characteristics of high power utilization efficiency, fast dynamic response, easy digitization, and good robustness. An efficient control strategy can achieve high-speed response and flexible control of rocket engine vector control.

[0113] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A nozzle thrust vector control device, characterized in that, it includes: a nozzle, which can be configured as at least the engine nozzle of a projectile or rocket; a nozzle expansion section, which is flexibly connected to the nozzle; the nozzle expansion section is configured to be able to receive the medium ejected from the nozzle, so as to control the thrust vector of the projectile or rocket by controlling the swing of the nozzle expansion section; N sets of telescopic components, N≥3, are arranged around the outside of the nozzle or / and the nozzle expansion section; one end of the telescopic component is connected to the nozzle, the other end of the telescopic component is connected to the nozzle expansion section, and the length of the telescopic component is adjustable, so as to adjust the swing angle of the nozzle expansion section by adjusting the length of at least part of the telescopic components; The telescopic component includes: a housing, the housing is provided with a first ear, and the first ear is hinged to a first connecting member of the nozzle; a motor, located inside the housing; a transmission rod, located inside the housing; the transmission rod is connected to the output shaft of the motor and rotates synchronously with the output shaft of the motor; a moving member, located inside the housing; the moving member is located on the transmission rod and moves on the transmission rod as it rotates with the transmission rod; a sliding rod, connected to the moving member and moves synchronously with the moving member on the transmission rod; one end of the sliding rod extends into the housing and is connected to the moving member, and the other end is provided with a second ear, and the second ear is hinged to a second connecting member of the nozzle expansion section; The telescopic component further includes an anti-rotation element and a sensor; The sensor is connected to one end of the sliding rod away from the second ear through the anti-rotation element, and the sensor moves synchronously with the sliding rod to detect the displacement of the sliding rod; A slideway matching the sensor is provided inside the housing, and the extending direction of the slideway is the same as the extending direction of the transmission rod.

2. The nozzle thrust vector control device according to claim 1, characterized in that, it includes three sets of telescopic components, and the three sets of telescopic components are evenly arranged around the outside of the nozzle.

3. The nozzle thrust vector control device according to claim 1, characterized in that, the nozzle is provided with a fixed seat, the fixed seat is provided with N first connecting members, and the first connecting members are rotatably connected to the telescopic components.

4. The nozzle thrust vector control device according to claim 3, characterized in that, the nozzle expansion section is provided with a swing seat; the swing seat is arranged parallel to the fixed seat, and their center lines coincide; at a position corresponding to the first connecting member of the swing seat and the fixed seat, a second connecting member is provided, and the second connecting member is rotatably connected to the telescopic component.

5. The nozzle thrust vector control device according to claim 4, characterized in that, the fixed seat is located at the head end of the nozzle; the swing seat is located at the head end of the nozzle expansion section and is arranged around the outside of the nozzle; the telescopic component is located between the first connecting member and the second connecting member.

6. The nozzle thrust vector control device according to claim 5, characterized in that, The nozzle is provided with a first channel that extends from the head end to the tail end of the nozzle. The first channel is provided with a constriction portion, and the cross-section of at least one place of the constriction portion is configured to be smaller than the orifice areas of the inlet and outlet of the first channel; The diverging section of the nozzle is provided with a second channel that extends from the head end to the tail end of the diverging section of the nozzle. The second channel is a gradually expanding channel; At least a part of the first channel extends into the second channel.

7. The nozzle thrust vector control device according to claim 1, wherein, The telescopic assembly further includes an external connector, and the external connector is connected to the motor and the sensor to transmit control instructions to the motor and transmit the signals detected by the sensor.

8. The nozzle thrust vector control device according to claim 7, wherein, It further includes a total controller, and the total controller is connected to the telescopic assembly through the external connector to control the telescopic length of each group of telescopic assemblies, and further control the swing of the diverging section of the nozzle.

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