A dual-power control method and system for a weapon platform

Abstract

The present invention relates to the field of motor control technology, and in particular to a dual-power control method and system for a weapon platform, which receives and responds to a trigger signal of a second motor under unmanned conditions; receives and responds to a trigger signal of a first motor and a stop signal of a second motor under human control conditions; detects the output torque of the first motor and compares it with a set torque limit value; detects the actual speed of the first motor and records the detection result; calculates the output power of the first motor and compares it with a set output power limit value; and calculates the output torque limit value of the first motor based on the comparison result, and controls the first motor. The present invention provides a dual-power control method and system for a weapon platform, which realizes comprehensive optimization control of dual power, completes energy consumption optimization of high-power equipment, prolongs the discharge time and service life of energy storage batteries, and effectively improves the installability and reliability of the weapon platform.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a dual-power control method and system for a weapon platform. Background Art

[0002] For the use of weapon platforms, border areas with harsh environments are one of the main application scenarios; in the above environment, the power of the weapon platform needs to rely on energy storage batteries, the size of the weapon platform will be smaller, and it will mainly perform non-lethal strike tasks such as warning, deterrence and expulsion, and perform corresponding tasks with light firepower. Based on the above needs, a dual-motor power control system compatible with the same transmission system has been developed to provide power for the rotation of the weapon platform. The dual power achieves different power requirements through differences in operating conditions and maximum power.

[0003] Through the above method, under normal working conditions, the use requirements can be met by a small-power power device; and when it is necessary to enter a combat state, higher power requirements can be met by switching to a high-power power device. The two can also serve as backup power devices for each other to ensure continuous working conditions under fault conditions.

[0004] However, the above process involves not only the switching of the power device, but also the switching of the power device control mode; specifically, in the power output process of the low-power power device, in order to reduce the workload of personnel on duty, unmanned operation is often used. Under this condition, the power device often outputs rotational power in a single direction and at a lower speed, thereby achieving reconnaissance work by driving part of the device of the weapon platform to rotate; and in the power output process of the high-power power device, human operation is often required to meet the actual and changing combat status. At this time, the speed of the rotational power output will still vary within a lower range, but the direction of rotation will inevitably change irregularly. In this case, higher requirements are placed on the working stability of the motor, and higher requirements are also placed on control.

[0005] How to optimize the control method of the above-mentioned dual-motor power so as to maximize the advantages of the dual-power configuration and extend the service life of the energy storage battery while extending the battery power supply time has become one of the issues that need to be studied. Summary of the invention

[0006] The present invention provides a dual-power control method and system for a weapon platform, which effectively solves the problems pointed out in the background technology.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A dual-power control method for a weapon platform is used to control dual-power for transmitting rotational power to the same transmission system, wherein the dual-power comprises a first motor and a second motor, and the maximum power of the first motor is greater than the maximum power of the second motor;

[0009] Including control under unmanned conditions and under human-controlled conditions:

[0010] In the absence of manual operation, receiving and responding to a trigger signal of the second motor, controlling the second motor to rotate at a constant speed and in a set direction;

[0011] Under human control conditions, the following control steps are included:

[0012] receiving and responding to a trigger signal of the first motor, and receiving and responding to a stop signal of the second motor;

[0013] Detecting the output torque Tem of the first motor at a set frequency, recording the detection result and comparing it with a set torque limit value Tem';

[0014] Detecting the actual rotation speed Wr of the first motor at the same frequency and recording the detection result;

[0015] Calculate the output power P of the first motor = Tem*Wr, and compare it with the set output power limit value P';

[0016] When P>P' and Tem>Tem', the output torque limit value Temx=Tem*X1*X2 of the first motor is calculated, and the first motor is controlled with the output torque limit value Temx, and at the same time, a trigger signal of the second motor is received and responded to, wherein 1>X2>X1>0;

[0017] When P>P' and Tem≤Tem', the output torque limit value Temx=Tem*X2 of the first motor is calculated, and the first motor is controlled with the output torque limit value Temx;

[0018] When P≤P' and Tem>Tem', the output torque limit value Temx=Tem*X1 of the first motor is calculated, and the first motor is controlled with the output torque limit value Temx;

[0019] When P≤P' and Tem≤Tem', the first motor is controlled with the output torque limit Temx=Tem'.

[0020] Furthermore, under each personnel control condition, the number of occurrences n1, n2, n3 and n4 of the four situations of P>P' and Tem>Tem', P>P' and Tem≤Tem', P≤P' and Tem>Tem' and P≤P' and Tem≤Tem' are counted, and X1 and X2 under the next personnel control condition are adjusted according to the statistical results.

[0021] Further, a first reference value and a second reference value are set, wherein the first reference value is smaller than the second reference value;

[0022] When the ratio of n1 / n2 is less than the first reference value, both X1 and X2 are increased; when the ratio of n1 / n2 is greater than the second reference value, both X1 and X2 are decreased; otherwise, both remain unchanged.

[0023] Furthermore, the gap between X1 and X2 is adjusted according to the ratio of n3 / n4.

[0024] Further, a third reference value and a fourth reference value are set, wherein the third reference value is smaller than the fourth reference value;

[0025] When the ratio of n3 / n4 is less than the third reference value, the gap between X1 and X2 is reduced; when the ratio of n3 / n4 is greater than the fourth reference value, the gap between X1 and X2 is increased; otherwise, the gap between the two is kept unchanged.

[0026] A dual power control system for a weapon platform, used for controlling dual power for transmitting rotational power to the same transmission system, wherein the dual power comprises a first motor and a second motor, wherein the maximum power of the first motor is greater than the maximum power of the second motor;

[0027] include:

[0028] A receiving module, used for receiving control signals of the first motor and the second motor;

[0029] A processing module, used to respond to the control signal and realize the switching between the unmanned condition and the human-controlled condition;

[0030] a detection module, comprising a torque detection unit for detecting and recording the output torque Tem of the first motor, and a speed detection unit for detecting and recording the speed Wr of the first motor;

[0031] A calculation module, calculating an output power P=Tem*Wr of the first motor, and calculating an output torque limit Temx of the first motor;

[0032] A comparison module, for comparing the recorded output torque Tem with the stored set torque limit value Tem', and for comparing the calculated output power P with the stored set output power limit value P';

[0033] The control module controls the first motor and the second motor as follows according to the comparison result of the comparison module and the specific working conditions:

[0034] In the absence of manual operation, sending a trigger signal for the second motor and a control signal for controlling the second motor to rotate at a uniform speed and in a set direction;

[0035] In a human-controlled working condition, a trigger signal of the first motor and a stop signal of the second motor are sent, and:

[0036] When the comparison result of the comparison module is P>P' and Tem>Tem', according to the output torque limit value Temx=Tem*X1*X2 of the first motor calculated by the calculation module, a control signal for the first motor is sent, and at the same time, a trigger signal for the second motor is sent, wherein 1>X2>X1>0;

[0037] When the comparison result of the comparison module is P>P' and Tem≤Tem', according to the output torque limit value Temx=Tem*X2 of the first motor calculated by the calculation module, a control signal for the first motor is sent;

[0038] When the comparison result of the comparison module is P≤P' and Tem>Tem', according to the output torque limit value Temx=Tem*X1 of the first motor calculated by the calculation module, a control signal for the first motor is sent;

[0039] When the comparison result of the comparison module is P≤P′ and Tem≤Tem′, a control signal for the first motor is sent according to the output torque limit value Temx=Tem′ of the first motor calculated by the calculation module.

[0040] Furthermore, it also includes a statistical module connected to the comparison module;

[0041] The statistical module counts the number of occurrences n1, n2, n3 and n4 of the four situations of P>P' and Tem>Tem', P>P' and Tem≤Tem', P≤P' and Tem>Tem' and P≤P' and Tem≤Tem' under each personnel control condition;

[0042] The control module adjusts X1 and X2 under the next human control condition according to the statistical results.

[0043] Furthermore, the calculation module is also used to calculate the ratio of n1 / n2;

[0044] The comparison module is further used to compare the ratio with a first reference value and a second reference value;

[0045] The control module makes the following adjustments to X1 and X2 in the next human control condition according to the comparison result:

[0046] When the ratio of n1 / n2 is less than the first reference value, both X1 and X2 are increased; when the ratio of n1 / n2 is greater than the second reference value, both X1 and X2 are decreased; otherwise, both remain unchanged.

[0047] Furthermore, the calculation module is also used to calculate the ratio of n3 / n4;

[0048] The control module controls the difference between X1 and X2 according to the calculation result.

[0049] Furthermore, the calculation module is also used to calculate the ratio of n3 / n4;

[0050] The comparison module is further used to compare the ratio with a third reference value and a fourth reference value;

[0051] The control module adjusts X1 and X2 as follows according to the comparison result:

[0052] When the ratio of n3 / n4 is less than the third reference value, the gap between X1 and X2 is reduced; when the ratio of n3 / n4 is greater than the fourth reference value, the gap between X1 and X2 is increased; otherwise, the gap between the two is kept unchanged.

[0053] The technical solution of the present invention can achieve the following technical effects:

[0054] The present invention provides a dual-power control method and system for a weapon platform, which realizes comprehensive optimization control of dual power, optimizes energy consumption of high-power equipment, prolongs the discharge time and service life of energy storage batteries, and effectively improves the installability and reliability of the weapon platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1It is a flow chart of the dual-power control method of the weapon platform in the present invention;

[0057] Figure 2 It is a schematic diagram of the structure of a miniaturized weapon platform;

[0058] Figure 3 A simplified schematic diagram of power transmission to a transmission system through a first motor and a second motor;

[0059] Figure 4 It is a framework diagram of the dual power control system of the weapon platform in the present invention;

[0060] Figure 5 for Figure 4 Optimized schematic diagram of dual power control system for medium weapon platform;

[0061] Attached figure numbers: 01, transmission system input end; 02, first motor output end; 03, second motor output end; 04, receiving module; 05, processing module; 06, detection module; 061, torque detection unit; 062, speed detection unit; 07, calculation module; 08, comparison module; 09, control module; 10, weapon platform; 11, weapon launch end; 12, sound / light alarm box; 13, control box. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0063] Embodiment 1

[0064] like Figures 1 to 3 As shown, a dual-power control method for a weapon platform is used to control dual-power transmission of rotational power to the same transmission system of the weapon platform, such as Figure 2 As shown, a miniaturized weapon platform 10 is shown, which can perform warning tasks through the sound / light alarm box 12, perform light fire strikes through the weapon launch end 11, and the corresponding control system is installed and protected through the control box 13, and the reconnaissance task can be achieved through the reconnaissance device. Among them, the dual power includes a first motor and a second motor, and the maximum power of the first motor is greater than the maximum power of the second motor, see Figure 3, three gears respectively represent the transmission system input terminal 01, the first motor output terminal 02 and the second motor output terminal 03, which is a simplified schematic diagram of power transmission to the transmission system through the first motor and the second motor; in this schematic method, the first motor and the second motor are in an idling state when there is no power output, or when there is power output but the speed of the transmission system input terminal is greater than the corresponding own speed after calculation according to the transmission ratio, they are also in an idling state, thereby avoiding affecting the other motor.

[0065] The dual power control method of the weapon platform includes control under unmanned conditions and under human control conditions, see Figure 1 :

[0066] A1: Under no human condition, receiving and responding to the trigger signal of the second motor, controlling the second motor to rotate at a constant speed and in a set direction;

[0067] In this state, reconnaissance work is often performed, the speed is stable and the speed value is low, so the output power value calculated by the speed and output torque of the second motor is often small. It is a power saving mode and can extend the service life of the energy storage battery. In this state, the demand for the discharge power of the energy storage battery is also small. At this time, the energy storage battery's power supply demand for other loads is also low, so there is no need for more precise control.

[0068] When an abnormal situation is detected and it is necessary to enter a combat readiness state, it is necessary to switch to the personnel-controlled working condition. The control performed in this condition is often remote. Of course, direct control at a nearby position of the weapon platform 10 is also possible. It should also be noted that the switch between the two working conditions is often not automatic, because the demand for personnel control cannot be met before real human participation. Therefore, the unmanned condition will often continue to be maintained before the human-controlled working condition responds, and in this process, continuous and multiple optional alarm forms can be used to remind personnel's attention.

[0069] Under human control conditions, the following control steps are included:

[0070] B1: receiving and responding to a trigger signal of the first motor, and receiving and responding to a stop signal of the second motor;

[0071] From the moment the trigger signal responds, the personnel control working condition is started to realize the switching between different motors. This switching depends on the discovery of abnormal conditions in the environment where the weapon platform 10 is located, and the confirmation of the need to enter the combat readiness state based on the conditions. This confirmation is manually confirmed by the operator; wherein, the parts driven to rotate by the first motor and the second motor can be the same or different; when the weights driven to rotate by the two motors are different, the weight driven by the second motor is less than the weight driven by the first motor;

[0072] B2: Detect the output torque Tem of the first motor at the set frequency, record the detection result and compare it with the set torque limit value Tem';

[0073] The specific detection can be carried out by using a torque sensor or other methods that meet the requirements. By comparing Tem with Tem', the limit state of the first motor can be monitored so as to make timely and effective treatment measures to avoid working failure in a more urgent combat or combat readiness state. This is extremely important for application requirements in the field environment. During the rotation of the weapon platform 10, the rotation speed is often controlled within a relatively low range, and the requirements for the output torque of the first motor are relatively high. In addition, according to the movement of the target, the direction of the power supply will also change relatively frequently. Of course, it should be noted that before changing direction, the first motor needs to be stopped quickly first, and then the rotation power is output in a changed direction. Specifically, according to the comparison results, the following measures can be implemented to maximize the advantages of the dual-power configuration:

[0074] B3: Detect the actual speed Wr of the first motor at the same frequency and record the detection result;

[0075] B4: Calculate the output power P of the first motor = Tem * Wr, and compare it with the set output power limit value P', wherein the setting of the output power limit value P' may be selected based on the discharge power of the energy storage battery, at least to ensure that the energy storage battery does not over-discharge;

[0076] B51: When P>P' and Tem>Tem', the output torque limit value Temx=Tem*X1*X2 of the first motor is calculated, and the first motor is controlled with the output torque limit value Temx, and at the same time, a trigger signal of the second motor is received and responded, wherein 1>X2>X1>0;

[0077] X1 and X2 are preset values. Under this detection result, the output torque Tem is too large, and the output power P is too large. In this case, the first motor may not be able to output power effectively, and due to its excessive output power, it may also cause the energy storage battery to over-discharge. Therefore, by multiplying with X1 and X2, the output torque Tem can be adjusted in two stages to ensure the stable operation of the first motor and the safe operation of the energy storage battery. When P>P' and Tem>Tem', the present invention also has a control action of triggering the second motor, and the second motor assists the first motor in working. By controlling the output power of the second motor within a certain range, the risk of over-discharging the energy storage battery will not be caused. The measure of reducing the output torque limit of the first motor by two stages also ensures the avoidance of this risk. The two-stage reduction method provides power margin for the use of the second motor.

[0078] X1 and X2 can be involved in subsequent calculations and participate in specific control as adjustment coefficients;

[0079] B52: When P>P' and Tem≤Tem', the output torque limit of the first motor Temx=Tem*X2 is calculated, and the first motor is controlled with the output torque limit Temx; in this case, the excessive output power is related to the increase of the rotation speed Wr, which is obviously related to the moving speed of the tracked target. This situation often occurs to a low degree, so the output torque limit can be adjusted to a small extent through X2, and the energy storage battery can be protected;

[0080] B53: When P≤P' and Tem>Tem', the output torque limit Temx=Tem*X1 of the first motor is calculated, and the first motor is controlled with the output torque limit Temx; in this case, there is no risk of over-discharge for the energy storage battery, but a greater degree of adjustment is required to ensure the service life of the first motor.

[0081] B54: When P≤P' and Tem≤Tem', the first motor is controlled with the output torque limit Temx=Tem'.

[0082] As shown in Table 1 below, the Temx calculation models corresponding to the above four groups of conditions are shown.

[0083]

[0084] Table 1

[0085] In the above embodiment, X1 and X2 are preset values, which participate in the calculation process of the output torque limit through pre-storage. As the service life of the first motor and the working environment change, they preferably adapt to the changes of the first motor through dynamic changes, so that the control of the first motor can be more optimized. Specifically, under each human control condition, the number of occurrences n1, n2, n3 and n4 of the four situations of P>P' and Tem>Tem', P>P' and Tem≤Tem', P≤P' and Tem>Tem' and P≤P' and Tem≤Tem' are counted, and X1 and X2 under the next human control condition are adjusted according to the statistical results.

[0086] As a further refinement of the above optimization scheme, the adjustment of X1 and X2 can be achieved through the following scheme: set a first reference value and a second reference value, the first reference value is smaller than the second reference value; when the ratio of n1 / n2 is smaller than the first reference value, both X1 and X2 are increased; when the ratio of n1 / n2 is greater than the second reference value, both X1 and X2 are reduced; otherwise, both are kept unchanged.

[0087] For the synchronous adjustment method of X1 and X2 in this optimization scheme, when P>P', when Tem over-limit occurs less frequently, the adjustment range of X1 and X2 can be appropriately reduced, so that the motor can work in a relatively stable state; on the contrary, when Tem over-limit occurs more frequently, it is necessary to increase the adjustment range of X1 and X2 for Tem, so as to ensure the safety of the energy storage battery and the motor with a relatively high probability.

[0088] After determining the adjustment direction, it is also necessary to determine the adjustment amplitude of X1 and X2 in the same adjustment direction. As a preferred method, the gap between X1 and X2 is adjusted according to the ratio of n3 / n4.

[0089] Based on the above technical solution, more specifically, a third reference value and a fourth reference value are set, and the third reference value is smaller than the fourth reference value; wherein, when the ratio of n3 / n4 is smaller than the third reference value, the gap between X1 and X2 is reduced; when the ratio of n3 / n4 is greater than the fourth reference value, the gap between X1 and X2 is increased; otherwise, the gap between the two is kept unchanged.

[0090] When P≤P', when the ratio of n3 / n4 is small, the situation of Tem exceeding the limit occurs less frequently. At this time, the ability of X1 to adjust the amplitude independently of Tem can be appropriately reduced, that is, the gap with X2 can be appropriately reduced relative to X1; conversely, when the situation of Tem exceeding the limit occurs more frequently, the ability of X1 to adjust Tem independently can be increased, that is, the gap with X2 can be appropriately increased relative to X1.

[0091] Embodiment 2

[0092] like Figure 4 As shown, a dual power control system of a weapon platform, as described in the above embodiment, is used to control dual power for transmitting rotational power to the same transmission system, the dual power comprising a first motor and a second motor, the maximum power of the first motor being greater than the maximum power of the second motor;

[0093] The weapon platform's dual power control system includes:

[0094] A receiving module 04, used for receiving control signals of the first motor and the second motor;

[0095] Processing module 05, used to respond to control signals and realize the switching between unmanned conditions and human-controlled conditions;

[0096] The detection module 06 includes a torque detection unit 061 for detecting and recording the output torque Tem of the first motor, and a speed detection unit 062 for detecting and recording the speed Wr of the first motor;

[0097] A calculation module 07 calculates the output power P=Tem*Wr of the first motor and calculates the output torque limit Temx of the first motor;

[0098] A comparison module 08, for comparing the recorded output torque Tem with the stored set torque limit value Tem', and for comparing the calculated output power P with the stored set output power limit value P';

[0099] The control module 09 controls the first motor and the second motor as follows according to the comparison result of the comparison module 08 and the specific working conditions:

[0100] Under no human intervention, a trigger signal for the second motor is sent, as well as a control signal for controlling the second motor to rotate at a uniform speed and in a set direction;

[0101] Under human control, a trigger signal of the first motor and a stop signal of the second motor are sent, and:

[0102] When the comparison result of the comparison module 08 is P>P' and Tem>Tem', according to the output torque limit value Temx=Tem*X1*X2 of the first motor calculated by the calculation module 07, a control signal for the first motor is sent, and at the same time, a trigger signal for the second motor is sent, wherein 1>X2>X1>0;

[0103] When the comparison result of the comparison module 08 is P>P' and Tem≤Tem', a control signal for the first motor is sent according to the output torque limit value Temx=Tem*X2 of the first motor calculated by the calculation module 07;

[0104] When the comparison result of the comparison module 08 is P≤P' and Tem>Tem', a control signal for the first motor is sent according to the output torque limit value Temx=Tem*X1 of the first motor calculated by the calculation module 07;

[0105] When the comparison result of the comparison module 08 is P≤P′ and Tem≤Tem′, a control signal for the first motor is sent according to the output torque limit value Temx=Tem′ of the first motor calculated by the calculation module.

[0106] The working method of this embodiment is as described in the above embodiment, wherein each module can be installed in the control box of the weapon platform.

[0107] The optimization scheme in the above embodiment has the same technical purpose. The dual power control system of the weapon platform, such as Figure 5 As shown, it also includes a statistical module, which is connected to the comparison module 08; the statistical module counts the number of occurrences n1, n2, n3 and n4 of the four situations of P>P' and Tem>Tem', P>P' and Tem≤Tem', P≤P' and Tem>Tem' and P≤P' and Tem≤Tem' under each personnel control condition; the control module 09 adjusts X1 and X2 under the next personnel control condition according to the statistical results.

[0108] More specifically, the calculation module 07 is also used to calculate the ratio of n1 / n2; the comparison module 08 is also used to compare the ratio with a first reference value and a second reference value; the control module 09 makes the following adjustments to X1 and X2 under the next personnel control condition according to the comparison result: when the ratio of n1 / n2 is less than the first reference value, both X1 and X2 are increased; when the ratio of n1 / n2 is greater than the second reference value, both X1 and X2 are reduced; otherwise, both remain unchanged.

[0109] In addition to the above adjustments, there are more detailed adjustment methods for X1 and X2. Specifically, the calculation module 07 is also used to calculate the ratio of n3 / n4; the control module controls the gap between X1 and X2 according to the calculation result.

[0110] Among them, the calculation module 07 is used to calculate the ratio of n3 / n4; the comparison module 08 is also used to compare the ratio with the third reference value and the fourth reference value; the control module adjusts X1 and X2 as follows according to the comparison result: when the ratio of n3 / n4 is less than the third reference value, the gap between X1 and X2 is reduced; when the ratio of n3 / n4 is greater than the fourth reference value, the gap between X1 and X2 is increased; otherwise, the gap between the two is kept unchanged.

[0111] The technical effects of the above preferred solution are the same as those in Example 1 and will not be repeated here.

[0112] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A dual power control method for a weapon platform, characterized in that: Used to control dual power for transmitting rotational power to the same transmission system, the dual power comprising a first motor and a second motor, the maximum power of the first motor being greater than the maximum power of the second motor; Including control under unmanned conditions and under human-controlled conditions: In the absence of manual operation, receiving and responding to a trigger signal of the second motor, controlling the second motor to rotate at a constant speed and in a set direction; Under human control conditions, the following control steps are included: receiving and responding to a trigger signal of the first motor, and receiving and responding to a stop signal of the second motor; Detecting the output torque Tem of the first motor at a set frequency, recording the detection result and comparing it with a set torque limit value Tem'; Detecting the actual rotation speed Wr of the first motor at the same frequency and recording the detection result; Calculate the output power P of the first motor = Tem*Wr, and compare it with the set output power limit value P'; When P>P' and Tem>Tem', the output torque limit value Temx=Tem*X1*X2 of the first motor is calculated, and the first motor is controlled with the output torque limit value Temx, and at the same time, a trigger signal of the second motor is received and responded to, wherein 1>X2>X1>0; When P>P' and Tem≤Tem', the output torque limit value Temx=Tem*X2 of the first motor is calculated, and the first motor is controlled with the output torque limit value Temx; When P≤P' and Tem>Tem', the output torque limit value Temx=Tem*X1 of the first motor is calculated, and the first motor is controlled with the output torque limit value Temx; When P≤P' and Tem≤Tem', the first motor is controlled with the output torque limit Temx=Tem'.

2. The dual-power control method of the weapon platform according to claim 1, characterized in that: Under each personnel control condition, the number of occurrences n1, n2, n3 and n4 of the four situations of P>P' and Tem>Tem', P>P' and Tem≤Tem', P≤P' and Tem>Tem' and P≤P' and Tem≤Tem' are counted, and X1 and X2 under the next personnel control condition are adjusted according to the statistical results.

3. The dual-power control method of the weapon platform according to claim 2, characterized in that: Setting a first reference value and a second reference value, wherein the first reference value is smaller than the second reference value; When the ratio of n1 / n2 is less than the first reference value, both X1 and X2 are increased; when the ratio of n1 / n2 is greater than the second reference value, both X1 and X2 are decreased; otherwise, both remain unchanged.

4. The dual-power control method of the weapon platform according to claim 3, characterized in that: The difference between X1 and X2 is adjusted according to the ratio of n3 / n4.

5. The dual-power control method of a weapon platform according to claim 3 or 4, characterized in that: setting a third reference value and a fourth reference value, wherein the third reference value is smaller than the fourth reference value; When the ratio of n3 / n4 is less than the third reference value, the gap between X1 and X2 is reduced; when the ratio of n3 / n4 is greater than the fourth reference value, the gap between X1 and X2 is increased; otherwise, the gap between the two is kept unchanged.

6. A dual power control system for a weapon platform, characterized in that: Used to control dual power for transmitting rotational power to the same transmission system, the dual power comprising a first motor and a second motor, the maximum power of the first motor being greater than the maximum power of the second motor; include: A receiving module, used for receiving control signals of the first motor and the second motor; A processing module, used to respond to the control signal and realize the switching between the unmanned condition and the human-controlled condition; a detection module, comprising a torque detection unit for detecting and recording the output torque Tem of the first motor, and a speed detection unit for detecting and recording the speed Wr of the first motor; A calculation module, calculating an output power P=Tem*Wr of the first motor, and calculating an output torque limit Temx of the first motor; A comparison module, for comparing the recorded output torque Tem with the stored set torque limit value Tem', and for comparing the calculated output power P with the stored set output power limit value P'; The control module controls the first motor and the second motor as follows according to the comparison result of the comparison module and the specific working conditions: In the absence of manual operation, sending a trigger signal for the second motor and a control signal for controlling the second motor to rotate at a uniform speed and in a set direction; In a human-controlled working condition, a trigger signal of the first motor and a stop signal of the second motor are sent, and: When the comparison result of the comparison module is P>P' and Tem>Tem', according to the output torque limit value Temx=Tem*X1*X2 of the first motor calculated by the calculation module, a control signal for the first motor is sent, and at the same time, a trigger signal for the second motor is sent, wherein 1>X2>X1>0; When the comparison result of the comparison module is P>P' and Tem≤Tem', according to the output torque limit value Temx=Tem*X2 of the first motor calculated by the calculation module, a control signal for the first motor is sent; When the comparison result of the comparison module is P≤P' and Tem>Tem', according to the output torque limit value Temx=Tem*X1 of the first motor calculated by the calculation module, a control signal for the first motor is sent; When the comparison result of the comparison module is P≤P′ and Tem≤Tem′, a control signal for the first motor is sent according to the output torque limit value Temx=Tem′ of the first motor calculated by the calculation module.

7. The dual power control system of the weapon platform according to claim 6, characterized in that: It also includes a statistical module connected to the comparison module; The statistical module counts the number of occurrences n1, n2, n3 and n4 of the four situations of P>P' and Tem>Tem', P>P' and Tem≤Tem', P≤P' and Tem>Tem' and P≤P' and Tem≤Tem' under each personnel control condition; The control module adjusts X1 and X2 under the next human control condition according to the statistical results.

8. The dual power control system of the weapon platform according to claim 7, characterized in that: The calculation module is also used to calculate the ratio of n1 / n2; The comparison module is further used to compare the ratio with a first reference value and a second reference value; The control module makes the following adjustments to X1 and X2 in the next human control condition according to the comparison result: When the ratio of n1 / n2 is less than the first reference value, both X1 and X2 are increased; when the ratio of n1 / n2 is greater than the second reference value, both X1 and X2 are decreased; otherwise, both remain unchanged.

9. The dual power control system of the weapon platform according to claim 8, characterized in that: The calculation module is also used to calculate the ratio of n3 / n4; The control module controls the difference between X1 and X2 according to the calculation result.

10. The dual power control system of the weapon platform according to claim 8 or 9, characterized in that: The calculation module is also used to calculate the ratio of n3 / n4; The comparison module is further used to compare the ratio with a third reference value and a fourth reference value; The control module adjusts X1 and X2 as follows according to the comparison result: When the ratio of n3 / n4 is less than the third reference value, the gap between X1 and X2 is reduced; when the ratio of n3 / n4 is greater than the fourth reference value, the gap between X1 and X2 is increased; otherwise, the gap between the two is kept unchanged.

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