Experimental device for simulating nutation of flying body
By designing an experimental device for simulating the movement of the flying body, using the yaw, pitch and roll motor drive architecture, the problem of difficulty in accurately measuring and describing the attitude oscillation and movement of the rotating flying body in the existing technology is solved, and high efficiency is achieved The reproduction and testing of the chapter reduces the cost of testing and operational complexity.
Patent Information
- Application Number
- CN202411925453.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2025-02-11
AI Technical Summary
The prior art is difficult to accurately measure and describe the low-speed attitude oscillation and motion phenomena of rotating flying bodies. It can only judge the time and phenomenon of motion occurrence through the rotation speed and overload signals, and cannot quantitatively describe its amplitude and law.
An experimental device was designed, including a yaw module, a pitch module and a rolling module. The corresponding architecture is driven by a yaw motor, a pitch motor and a rolling motor to simulate the yaw, pitch and rolling posture of the flying body, and reproduce the Different states of rotational flying body movement phenomenon.
It realizes efficient reproduction and testing of the rotational motion phenomenon of the rotating flying body, reduces the test cost and operational complexity, helps researchers to have a deeper understanding of the motion process, and provides theoretical support for the flying body design and flight control research.
Smart Images
Figure CN119413020A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of flight body application testing, and in particular relates to an experimental device for simulating the nutation of a flight body. Background Art
[0002] In the field of ballistics, the attitude of a rotating flying body (artillery shells, unguided rockets, etc.) in its external trajectory will have a significant impact on the external trajectory of the flying body. Nutation, as a specific dynamic instability phenomenon, manifests itself as the irregular rotation of the flying body around its axis, which has an important impact on the attitude stability and control accuracy of the flying body.
[0003] The mechanism of projectile nutation is complex and involves the interaction between multiple factors, so its internal laws need to be studied more deeply. In addition, with the continuous development of new projectiles and launch technologies, the research on projectile nutation also needs to be continuously updated and improved. Conventional inertial navigation devices that measure attitude are difficult to measure the attitude oscillation of low-speed rotating projectiles. At present, in flight tests, flight stability is only judged by the speed sensor and overload sensor on board. When signal characteristics such as abnormal speed and increased overload signal are found, it can only explain the time and phenomenon of nutation, but it is impossible to quantitatively describe the amplitude and law of nutation. Summary of the invention
[0004] In order to solve the above problems, the present invention provides an experimental device for simulating the nutation of a flying body.
[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows: An experimental device for simulating the nutation of a flying object comprises a base module, a yaw module, a pitch module and a roll module, wherein the yaw module comprises a yaw motor and a U-shaped yaw frame, wherein the yaw frame is arranged at the top of the base module, and the yaw motor is arranged below the base module for driving the yaw frame to rotate; the pitch module comprises a pitch motor and a rectangular pitch frame, wherein the pitch frame is arranged at the middle of the opening of the yaw frame and is rotationally coordinated with the yaw frame, and the pitch motor is arranged outside the yaw frame for driving the pitch frame to rotate; the roll module comprises a roll motor and a clamping cage for clamping the flying object, wherein the roll motor is arranged at one end of the pitch frame, and the clamping cage is arranged inside the pitch frame, and its two ends are rotationally connected with the pitch frame. The simulation of the rolling attitude of the flying object is realized by the yaw motor, the pitch motor and the roll motor, and the different states of the nutation phenomenon of the rotating flying object can be reproduced.
[0006] Furthermore, the base module includes a support plate and multiple legs around it, the yaw motor is arranged below the support plate, the output end of the yaw motor passes through the support plate and is connected to the rotating component above, and the rotating component is connected to the yaw frame; the yaw frame is driven to rotate by the yaw motor to realize the simulation of yaw attitude.
[0007] Furthermore, the rotating assembly includes a driving gear, a bearing base and a turntable bearing on the top thereof, the bearing base is arranged on the top surface of the support plate, the top surface of the bearing base is connected to the bottom surface of the turntable bearing, the bearing base and the turntable bearing are both hollow rings, the driving gear is arranged in the hollow cavity of the bearing base, and the inner hole of the turntable bearing is provided with an internal gear ring that meshes with the driving gear; the driving gear is driven by a yaw motor; and the turntable bearing is connected to the bottom closed end of the yaw frame.
[0008] Furthermore, the yaw motor is connected to the first clutch through a first reducer, and the output shaft of the first clutch passes through a through hole in the middle of the support plate and is connected to a driving gear; the yaw motor is arranged on the ground, and the first reducer is arranged on a fixed base plate, and both sides of the fixed base plate are connected to the bottom surface of the support plate through fixed vertical plates.
[0009] Furthermore, the yaw frame includes a left support column, a right support column and a connecting plate at the bottom thereof, the left support column and the right support column are vertically fixed at the left and right ends of the connecting plate respectively, and the middle part of the connecting plate is connected to the output end of the yaw motor; fixing frames are provided on the opposite sides of the bottoms of the left support column and the right support column; the top of the right support column is provided with a right rotating shaft fixedly connected to the pitch frame, and the top of the left support column is provided with a left rotating shaft fixedly connected to the pitch frame, the left rotating shaft and the right rotating shaft are rotatably matched with the bearing seats at the tops of the left support column and the right support column respectively, and the left rotating shaft is opposite to the right rotating shaft and is arranged in a colinear manner; a cantilever supporting assembly for supporting the pitch motor is provided on the outer side of the top of the left support column, the output end of the pitch motor is connected to the left rotating shaft, and the pitch angle of the flying body inside the pitch frame is adjusted by the pitch motor to realize the simulation of the pitch attitude of the flying body.
[0010] Furthermore, the cantilever support assembly includes a support plate and a connecting frame at the end thereof, a reinforcement frame is provided at the corner where the support plate is adjacent to the left support column, the pitch motor is connected to the support plate through the connecting frame, a second reducer is provided on the top of the connecting frame, a second clutch is provided on the top surface of the support plate, the output shaft of the pitch motor passes through the connecting frame and is connected to the input end of the second reducer, the output shaft of the second reducer is connected to the input end of the second clutch, and the output end of the second clutch is connected to the left rotating shaft.
[0011] Furthermore, the pitch frame is formed by four frames connected end to end, and reinforcing ribs are provided on the inner sides of the four corners of the pitch frame. The bearing seats in the middle of the two ends of the pitch frame are respectively rotatably matched with the shafts at the two ends of the clamping cage, and the bearing seats in the middle of the two sides of the pitch frame are respectively rotatably matched with the left rotation axis and the right rotation axis; a mounting frame for fixing a roll motor is provided on the outer side of one end of the pitch frame, and the output shaft of the roll motor is connected to the shaft at the end of the clamping cage through a coupling.
[0012] Furthermore, the clamping cage includes a left clamping frame and a right clamping frame, and when the left clamping frame and the right clamping frame are closed, a cavity capable of accommodating a flying body is formed inside; the left clamping frame and the right clamping frame are both frame structures, and one side of the opening of the left clamping frame and the right clamping frame are rotatably connected, and the other side is connected by bolts; both ends of the left clamping frame and the right clamping frame are provided with end covers, and the shaft is fixedly connected to the end covers through a bearing seat.
[0013] Compared with the prior art, the present invention has the following technical advances: The present invention drives the yaw frame to rotate by a yaw motor, so that the yaw frame drives the pitch frame and the flying body in the clamping cage to simulate the yaw attitude; the pitch frame is driven to rotate by a pitch motor to simulate the pitch attitude of the flying body; the rolling motor drives the flying body in the clamping cage to rotate to simulate the rolling attitude of the flying body. The present invention has high test efficiency and low test cost, and has low operation complexity, which helps researchers to better test the nutation process and provides theoretical support for subsequent flying body design and flight control research. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.
[0015] In the attached picture: Figure 1 A schematic diagram of the structure of an experimental device for simulating nutation of a flying body provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a base module in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a yaw module in an embodiment of the present invention; Figure 4 for Figure 3 A three-dimensional view of the turntable bearing; Figure 5 It is a structural schematic diagram of a pitch module in an embodiment of the present invention; Figure 6 It is a structural schematic diagram of a rolling module in an embodiment of the present invention; In the figure: 1-base module; 101-fixed bottom plate, 102-first reducer, 103-first clutch, 104-clutch pad, 105-fixed vertical plate, 106-leg, 107-support plate, 108-bearing base; 2-yaw module; 201-turntable bearing, 202-connecting plate, 203-fixed frame, 204-right support column, 205-yaw motor, 206-right shaft, 207-left shaft, 208-support plate, 209-left support column, 210-second clutch, 211-second reducer, 212-connecting frame, 213-reinforcement frame, 214-inner gear ring; 3-pitch module; 301-mounting frame, 302-frame, 303-coupling, 304-pitch motor, 305-reinforcement ribs; 4-rolling module; 401-axis, 402-rolling motor, 403-right clamping frame, 404-left clamping frame, 405-end cover; 5-Bearing seat. DETAILED DESCRIPTION
[0016] The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.
[0017] like Figure 1 As shown, an experimental device for simulating the nutation of a flying body comprises a base module 1, a yaw module 2, a pitch module 3 and a roll module 4, wherein the yaw module 2 comprises a yaw motor 205 and a U-shaped yaw frame, wherein the yaw frame is arranged at the top of the base module 1, and the yaw motor 205 is arranged below the base module 1, and is used to drive the yaw frame to rotate; the pitch module comprises a pitch motor 304 and a rectangular pitch frame, wherein the pitch frame is arranged at the middle of the opening of the yaw frame and is rotationally coordinated with the yaw frame, and the pitch motor 304 is arranged at the outside of the yaw frame, and is used to drive the pitch frame to rotate; the roll module comprises a roll motor 402 and a clamping cage for clamping the flying body, wherein the roll motor 402 is arranged at one end of the pitch frame, and the clamping cage is arranged inside the pitch frame, and its two ends are rotationally connected with the pitch frame. The yaw motor, pitch motor and roll motor are used to simulate the rolling attitude of the flying body, and the different states of the nutation phenomenon of the rotating flying body can be reproduced, which is of great significance to the application test and optimization design of the flying body.
[0018] In a specific embodiment of the present invention, Figure 1 , 2As shown, the base module 1 includes a support plate 107 and multiple legs 106 around it, the yaw motor 205 is arranged below the support plate 107, the output end of the yaw motor 205 passes through the support plate 107 and is connected to the rotating assembly above, and the rotating assembly is connected to the yaw frame; the yaw frame is driven to rotate by the yaw motor 205 to achieve the simulation of the yaw attitude. Among them, the support plate is composed of two rectangular plates intersecting vertically, and the bottom of the legs is made of rubber material to reduce the vibration caused by work and provide stable support.
[0019] As a preferred structure, Figure 1 , 2 As shown, the rotating assembly includes a driving gear 110, a bearing base 108 and a turntable bearing 201 on its top, the bearing base 108 is arranged on the top surface of the support plate 107, the top surface of the bearing base 108 is connected to the bottom surface of the turntable bearing 201, the bearing base 108 and the turntable bearing 201 are both hollow rings, the driving gear 110 is arranged in the hollow cavity of the bearing base 108, and the inner hole of the turntable bearing 201 is provided with an inner gear ring 214 meshing with the driving gear 110, as shown in FIG. Figure 4 As shown; the driving gear 110 is driven by the yaw motor 205; the turntable bearing 201 is connected to the bottom closed end of the yaw frame.
[0020] During specific production, the yaw motor 205 is connected to the first clutch 103 through the first reducer 102, and the output shaft of the first clutch 103 passes through the through hole in the middle of the support plate 107 and is connected to the driving gear 110; the yaw motor 205 is set on the ground, and the first reducer 102 is set on the fixed bottom plate 101, and the two sides of the fixed bottom plate 101 are connected to the bottom surface of the support plate 107 through the fixed vertical plate 105. Among them, the bottom of the first clutch is fixed to the first reducer 102 through the clutch pad 104. The above structure can make full use of the space under the support plate and make the overall structure more compact. When used, the yaw motor adjusts the speed through the first reducer, and then realizes the start and stop of power transmission through the first clutch.
[0021] In a specific embodiment of the present invention, Figure 1 , 3As shown, the yaw frame includes a left support column 209, a right support column 204 and a connecting plate 202 at the bottom thereof, wherein the left support column 209 and the right support column 204 are respectively vertically fixed at the left and right ends of the connecting plate 202, and the middle portion of the connecting plate 202 is connected to the output end of the yaw motor 205; a fixing frame 203 is provided at the opposite sides of the bottom of the left support column 209 and the right support column 204; a right rotating shaft 206 is provided at the top of the right support column 204 and is fixedly connected to the pitch frame; and a right rotating shaft 206 is provided at the top of the left support column 209 and is fixedly connected to the pitch frame. The left rotating shaft 207 fixed to the yaw frame, the left rotating shaft 207 and the right rotating shaft 206 are respectively rotatably matched with the bearing seat 5 on the top of the left support column 209 and the right support column 204, the left rotating shaft 207 and the right rotating shaft 206 are arranged opposite and in the same line; the top outer side of the left support column 209 is provided with a cantilever support assembly for supporting the pitch motor 304, the output end of the pitch motor 304 is connected to the left rotating shaft 207, and the pitch angle of the flying body inside the pitch frame is adjusted by the pitch motor 304 to realize the simulation of the pitch attitude of the flying body. The yaw frame adopting the above structure provides support for the pitch module and the roll module, and cooperates with the motor to provide power for the structure on the yaw frame.
[0022] As a preferred structure, Figure 3 As shown, the cantilever support assembly includes a support plate 208 and a connecting frame 212 at its end, a reinforcing frame 213 is provided at the corner adjacent to the support plate 208 and the left support column 209, the pitch motor 304 is connected to the support plate 208 through the connecting frame 212, a second reducer 211 is provided on the top of the connecting frame 212, a second clutch 210 is provided on the top surface of the support plate 208, the output shaft of the pitch motor 304 passes through the connecting frame 212 and is connected to the input end of the second reducer 211, the output shaft of the second reducer 211 is connected to the input end of the second clutch 210, and the output end of the second clutch 210 is connected to the left rotation shaft 207. The pitch motor provides power for the pitch frame and the roll module inside it. The speed regulation and start and stop are achieved through the second reducer and the second clutch.
[0023] In a specific embodiment of the present invention, Figure 1 , 5As shown, the pitch frame is formed by four frames 302 connected end to end, and the inner sides of the four corners of the pitch frame are provided with reinforcing ribs 305 to prevent the pitch frame from deformation; the bearing seats 5 in the middle of the two ends of the pitch frame are respectively rotatably matched with the shafts at the two ends of the clamping cage, and the bearing seats 5 in the middle of the two sides of the pitch frame are respectively rotatably matched with the left rotation axis 207 and the right rotation axis 206; the outer side of one end of the pitch frame is provided with a mounting frame 301 for fixing the roll motor 402, and the output shaft of the roll motor 402 is connected to the shaft at the end of the clamping cage through a coupling 303 to provide power for the clamping cage and the flying body inside it. Among them, the coupling adopts a plum blossom coupling; the bearing seats around the pitch frame are all diamond-shaped bearing seats to ensure the stable rotation of the pitch frame and the clamping cage.
[0024] In a specific embodiment of the present invention, Figure 1 , 6 As shown, the clamping cage includes a left clamping frame 404 and a right clamping frame 403. When the left clamping frame 404 and the right clamping frame 403 are closed, a cavity capable of accommodating a flying object is formed inside; the left clamping frame 404 and the right clamping frame 403 are both frame structures, and one side of the opening of the left clamping frame 404 and the right clamping frame 403 is connected by rotation, and the other side is connected by bolts; both ends of the left clamping frame 404 and the right clamping frame 403 are provided with end covers 405, and the shaft 401 is fixedly connected to the end covers 405 through a bearing seat 5. In the specific production, a plurality of lugs with through holes are made along the length direction of the connection between the left clamping frame and the right clamping frame, so as to facilitate the connection and fixation with a plurality of fastening bolts, and facilitate the clamping of the entire test flying object.
[0025] The working process of the present invention is as follows: The yaw motor starts, and transmits power to the drive gear through the first reducer and the first clutch. The drive gear drives the inner gear ring of the turntable bearing meshing with the inner gear ring to rotate, so that the turntable bearing drives the flying body on the yaw frame to simulate the yaw attitude; the pitch motor starts, and transmits power to the left shaft connected to the pitch frame through the second reducer and the second clutch. The rotation of the left shaft drives the pitch frame to simulate the pitch attitude of the flying body; the roll motor starts, and transmits power to the shaft through the plum blossom coupling. The shaft then drives the clamping cage to rotate to simulate the roll attitude of the flying body. The yaw motor, pitch motor and roll motor are used to reproduce the different states of the nutation phenomenon of the rotating flying body, so as to have a deeper understanding of the mechanism of the nutation phenomenon and provide theoretical support for the design and optimization of subsequent flying bodies.
[0026] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the claims of the present invention.
Claims
1. An experimental device for simulating nutation of a flying body, characterized in that: The invention comprises a base module, a yaw module, a pitch module and a roll module, wherein the yaw module comprises a yaw motor and a U-shaped yaw frame, wherein the yaw frame is arranged at the top of the base module, and the yaw motor is arranged at the bottom of the base module for driving the yaw frame to rotate; the pitch module comprises a pitch motor and a rectangular pitch frame, wherein the pitch frame is arranged at the middle of the opening of the yaw frame and cooperates with the yaw frame for rotation, and the pitch motor is arranged at the outside of the yaw frame for driving the pitch frame to rotate; the roll module comprises a roll motor and a clamping cage for clamping the flying object, wherein the roll motor is arranged at one end of the pitch frame, the clamping cage is arranged inside the pitch frame, and both ends of the clamping cage are connected with the pitch frame for rotation.
2. An experimental device for simulating nutation of a flying body according to claim 1, characterized in that: The base module includes a support plate and multiple legs around it. The yaw motor is arranged below the support plate. The output end of the yaw motor passes through the support plate and is connected to a rotating component above. The rotating component is connected to a yaw frame. The yaw frame is driven to rotate by the yaw motor to realize the simulation of yaw attitude.
3. An experimental device for simulating nutation of a flying body according to claim 2, characterized in that: The rotating assembly includes a driving gear, a bearing base and a turntable bearing on the top thereof, the bearing base is arranged on the top surface of the support plate, the top surface of the bearing base is connected to the bottom surface of the turntable bearing, the bearing base and the turntable bearing are both hollow rings, the driving gear is arranged in the hollow cavity of the bearing base, and the inner hole of the turntable bearing is provided with an inner gear ring meshing with the driving gear; the driving gear is driven by a yaw motor; and the turntable bearing is connected to the bottom closed end of the yaw frame.
4. The experimental device for simulating nutation of a flying body according to claim 3, characterized in that: The yaw motor is connected to the first clutch through a first reducer, and the output shaft of the first clutch passes through a through hole in the middle of the support plate and is connected to a driving gear; the yaw motor is arranged on the ground, and the first reducer is arranged on a fixed base plate, and both sides of the fixed base plate are connected to the bottom surface of the support plate through fixed vertical plates.
5. The experimental device for simulating nutation of a flying body according to claim 1, characterized in that: The yaw frame includes a left support column, a right support column and a connecting plate at the bottom thereof, the left support column and the right support column are vertically fixed at the left and right ends of the connecting plate respectively, and the middle part of the connecting plate is connected to the output end of the yaw motor; fixing frames are provided on the opposite sides of the bottoms of the left support column and the right support column; a right rotating shaft fixedly connected to the pitch frame is provided on the top of the right support column, and a left rotating shaft fixedly connected to the pitch frame is provided on the top of the left support column, the left rotating shaft and the right rotating shaft are rotatably matched with bearing seats at the tops of the left support column and the right support column respectively, and the left rotating shaft is opposite to the right rotating shaft and is arranged in a colinear manner; a cantilever supporting assembly for supporting the pitch motor is provided on the outer side of the top of the left support column, the output end of the pitch motor is connected to the left rotating shaft, and the pitch angle of the flying body inside the pitch frame is adjusted by the pitch motor to realize the simulation of the pitch attitude of the flying body.
6. The experimental device for simulating nutation of a flying body according to claim 5, characterized in that: The cantilever supporting assembly includes a support plate and a connecting frame at the end thereof, a reinforcement frame is provided at the corner of the support plate adjacent to the left supporting column, the pitch motor is connected to the support plate through the connecting frame, a second reducer is provided on the top of the connecting frame, a second clutch is provided on the top surface of the support plate, the output shaft of the pitch motor passes through the connecting frame and is connected to the input end of the second reducer, the output shaft of the second reducer is connected to the input end of the second clutch, and the output end of the second clutch is connected to the left rotating shaft.
7. The experimental device for simulating nutation of a flying body according to claim 5, characterized in that: The pitch frame is formed by four frames connected end to end, and reinforcing ribs are provided on the inner sides of the four corners of the pitch frame. The bearing seats in the middle of the two ends of the pitch frame are respectively rotatably matched with the shafts at the two ends of the clamping cage, and the bearing seats in the middle of the two sides of the pitch frame are respectively rotatably matched with the left rotation axis and the right rotation axis; a mounting frame for fixing a rolling motor is provided on the outer side of one end of the pitch frame, and the output shaft of the rolling motor is connected to the shaft at the end of the clamping cage through a coupling.
8. The experimental device for simulating nutation of a flying body according to claim 7, characterized in that: The clamping cage includes a left clamping frame and a right clamping frame, and when the left clamping frame and the right clamping frame are closed, a cavity capable of accommodating a flying object is formed inside; the left clamping frame and the right clamping frame are both frame structures, and one side of the opening of the left clamping frame and the right clamping frame are rotatably connected, and the other side is connected by bolts; both ends of the left clamping frame and the right clamping frame are provided with end covers, and the shaft is fixedly connected to the end covers through a bearing seat.