Control method for folding intelligent ammunition steering engine

Abstract

The invention discloses a control method for a folding intelligent ammunition steering engine, and the method specifically comprises the following steps: S1, a power supply powers on a control system, and the control system samples four steering engine feedback signals to obtain four steering engine current rudder deflection angles; the current rudder deflection angle of the steering engine comprises a first rudder deflection angle delta 10, a second rudder deflection angle delta 20, a third rudder deflection angle delta 30 and a fourth rudder deflection angle delta 40; s2, judging whether a rudder spread signal is triggered or not, so as to determine the current state of the rudder sheet; if it is judged that the rudder expansion signal is not triggered, the current rudder deflection angle serves as the first rudder deflection angle of the four-way steering engine; if it is judged that the rudder spread signal is triggered, second rudder deflection angles of the four steering engines are controlled respectively after the moment t1 when the rudder spread signal is triggered and after the rudder sheet spreading time t; s3, receiving an input command rudder deflection angle, and executing different control schemes according to the comparison of the command rudder deflection angle and the limit rudder deflection angle of the steering engine; and S4, repeating S3 until the trajectory flies to hit the target.

Description

Technical Field

[0001] The invention relates to the technical field of electronic control, and in particular to a control method for a foldable intelligent ammunition servo. Background Art

[0002] The rudder blades of foldable smart ammunition (especially small-caliber) are in a folded and locked state during the cylinder. Due to the existence of assembly errors, it cannot be ensured that the current state of the servo is at the zero position. After the control system is powered on, the "return to zero" action of the rudder system may cause the servo to stall due to the locking of the rudder blades, and then a large current may burn the servo.

[0003] On the other hand, the rudder system is affected by factors such as the flight airspace, flight time, and flight speed of the smart ammunition, so that the electric servo mechanism may experience continuous load, high-frequency vibration, and ambient temperature changes, which in turn generates large currents. The large currents impact key components of the rudder system such as motors and drivers, causing component damage or failure, and thus leading to mission failure. In response to this, the traditional method only limits the current through the current limiting protection circuit, lacking a servo control method in the folded rudder state, resulting in insufficient control accuracy and protection margin of the rudder system.

[0004] Therefore, it is necessary to provide a foldable small-caliber intelligent ammunition servo control method with a certain precise protection strategy and a large protection margin to solve the problems in the prior art. Summary of the invention

[0005] In view of the technical problem in the prior art that a foldable intelligent ammunition servo is easily damaged or fails due to a large current shock, the present invention proposes a control method for a foldable intelligent ammunition servo.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A control method for a foldable intelligent ammunition servo, comprising the following steps:

[0008] S1: The power supply powers on the control system, and the control system samples the feedback signals of the 4 steering gears to obtain the current rudder deflection angles of the 4 steering gears, wherein the current rudder deflection angles of the 4 steering gears include a first rudder deflection angle δ10, a second rudder deflection angle δ20, a third rudder deflection angle δ30, and a fourth rudder deflection angle δ40;

[0009] S2: Determine whether the rudder extension signal is triggered, so as to determine the current state of the rudder blade; if it is determined that the rudder extension signal is not triggered, the current rudder deflection angle is used as the first rudder deflection angle of the 4-way servos; if it is determined that the rudder extension signal is triggered, after the rudder extension time △t after the rudder extension signal is triggered at the time t1, the second rudder deflection angles of the 4-way servos are controlled respectively;

[0010] S3: receiving the input command rudder angle, and executing different control schemes according to the comparison between the command rudder angle and the rudder limit rudder angle of the servo;

[0011] S4: Repeat S3 until the ballistic flight hits the target.

[0012] Preferably, in S2, the first rudder deflection angle of the 4-way servo is:

[0013] δ1i=δ10, δ2i=δ20, δ3i=δ30, δ4i=δ40;

[0014] Among them, δ1i represents the rudder deflection angle of the first servo; δ2i represents the rudder deflection angle of the second servo; δ3i represents the rudder deflection angle of the third servo; δ4i represents the rudder deflection angle of the fourth servo.

[0015] Preferably, in S2, the second rudder deflection angle of the 4-way servo is:

[0016] δ1i=0, δ2i=0, δ3i=0, δ4i=0;

[0017] Among them, δ1i represents the rudder deflection angle of the first servo; δ2i represents the rudder deflection angle of the second servo; δ3i represents the rudder deflection angle of the third servo; δ4i represents the rudder deflection angle of the fourth servo.

[0018] Preferably, in S3, the control scheme includes:

[0019] If the command rudder angle is less than the servo limit rudder angle and the current transient protection mechanism is not triggered, the command rudder angle is followed, that is, δ1i=δ1c, δ2i=δ2c, δ3i=δ3c, δ4i=δ4c;

[0020] If it is judged that the command rudder angle is less than the rudder limit angle and the current transient protection mechanism is triggered, the rudder angle at the previous moment is maintained unchanged during the cycle;

[0021] If it is judged that the command rudder angle is greater than or equal to the servo limit rudder angle, and the current transient protection mechanism is not triggered, the servo limit rudder angle is followed: δ1i=δ1max, δ2i=δ2max, δ3i=δ3max, δ4i=δ4max;

[0022] If it is judged that the command rudder angle is greater than or equal to the servo limit rudder angle, and the current transient protection mechanism is triggered, the rudder angle at the previous moment is maintained unchanged during the cycle.

[0023] Preferably, in S1, the control system includes a main control board and a rudder control board; the main control board is provided with a SOC minimum system, a FLASH program storage circuit, a DDR cache circuit, a reset circuit, a clock circuit, a power conversion circuit, a rudder extension control circuit, a fuse starting circuit and an external communication interface circuit; the rudder control board is provided with a steering gear control circuit, a current transient protection circuit and a voltage acquisition circuit.

[0024] Preferably, the SOC minimum system uses Xilinx's XC7Z020-1CLG484I; the FLASH program storage circuit uses Micron's model MT25QL512ABB1EW9-0SIT; the DDR cache circuit chip uses Micron's MT41K128M16JT-125IT:K; the reset circuit selects ON's MAX809SQ293T1G; the clock circuit chip selects SITIME's active crystal oscillator SIT1602AI-32-33E-33.3333.

[0025] Preferably, the power conversion circuit includes a first DC / DC module, a second DC / DC module and a voltage conversion module; the input end of the first DC / DC module and the input end of the second DC / DC module are connected in parallel to an external power supply, the output end of the first DC / DC module is connected to the input end of the voltage conversion module, and the output end of the voltage conversion module is connected to the SOC minimum system; the output end of the second DC / DC module is connected to the input end of the rudder extension control circuit and the input end of the fuse starting circuit.

[0026] Preferably, the rudder extension control circuit includes a bus transceiver, a first MOS tube driver, a first MOS tube, a pyrotechnic current limiting resistor and a sales promoter; the output end of the SOC is connected to the input end of the bus transceiver, the output end of the bus transceiver is connected to the input end of the first MOS tube driver, the output end of the first MOS tube driver is connected to the control end of the first MOS tube, the output end of the first MOS tube is connected to one end of the current limiting resistor, the input end of the first MOS tube is connected to the negative output end of the thermal battery, and the other end of the current limiting resistor is connected to the first input end of the sales promoter; the second input end of the sales promoter is connected to the positive output end of the thermal battery.

[0027] Preferably, the signal output end of the SOC minimum system on the main control board is connected to the input end of the servo control circuit, and the output end of the servo control circuit is connected to the servo; the current output end of the servo is connected to the input end of the current transient protection circuit, and the output end of the current transient protection circuit is connected to the current input end of the SOC minimum system on the main control board; the voltage output end of the servo is connected to the input end of the voltage acquisition circuit, and the output end of the voltage acquisition circuit is connected to the voltage input end of the SOC minimum system on the main control board.

[0028] Preferably, the rudder control board is connected to the main control board using an internal connector JL5-28TJB-2.

[0029] In summary, due to the adoption of the above technical solution, compared with the prior art, the present invention has at least the following beneficial effects:

[0030] The present invention collects the steering gear deflection angle in real time and compares it with the steering gear limit deflection angle, and combines the on / off state of the current transient protection circuit to adjust the steering gear deflection angle in real time, thereby improving the control accuracy.

[0031] At the same time, by judging whether the rudder extension signal is triggered, the deflection of the rudder is controlled to prevent the rudder from being damaged due to high current when it is in the folded state. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The figure is a schematic diagram of a control method for a foldable intelligent ammunition servo according to an exemplary embodiment of the present invention.

[0033] Figure 2 FIG. 4 is a schematic diagram of a power conversion circuit in a main control board according to an exemplary embodiment of the present invention.

[0034] Figure 3 Schematic diagram of a rudder extension control circuit in a main control board according to an exemplary embodiment of the present invention.

[0035] Figure 4 Schematic diagram of the structure of a rudder control panel according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0036] The present invention is further described in detail below in conjunction with the examples and specific implementation methods. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following examples, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0037] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] like Figure 1 As shown, the present invention provides a control method for a foldable intelligent ammunition servo, comprising the following steps:

[0039] S1: The power supply powers on the control system. The control system samples the feedback signals of the four servos through A / D and calculates the current rudder angles of the four servos, including the first rudder angle δ10, the second rudder angle δ20, the third rudder angle δ30, and the fourth rudder angle δ40.

[0040] S2: The control system determines whether the rudder extension signal is triggered, thereby determining the current state of the rudder; if it is determined that the rudder extension signal is not triggered, the current rudder deflection angle is used as the rudder deflection angle of the servo, and the control system solves the numerical control quantity to form a numerical control quantity, which is converted into a PWM control quantity output to control the rudder deflection angles of the four servos respectively (i.e., the servos are adjusted by the rudder deflection angles): δ1i=δ10, δ2i=δ20, δ3i=δ30, δ4i=δ40; δ1i represents the rudder deflection angle of the first servo; δ2i represents the rudder deflection angle of the second servo; δ3i represents the rudder deflection angle of the third servo; δ4i represents the rudder deflection angle of the fourth servo. If it is determined that the rudder extension signal is triggered, then according to the pre-installed timing of the control system, after the moment t1 when the rudder extension signal is triggered, and then after the rudder extension time △t, the rudder deflection angles of the four servos are controlled to be δ1i=0, δ2i=0, δ3i=0, δ4i=0 respectively, indicating that the deflection angle of the rudder is set to 0, and the subsequent rudder deflection angles are all deflected based on this.

[0041] In this embodiment, the control system is a highly integrated, miniaturized and multifunctional missile-borne computer, which adopts a coaxial layout of two layers of PCB boards, and the two layers of PCB boards are fixed and communicated by plugging. The two layers of PCB boards are named the main control board and the rudder control board respectively, wherein the main control board is mainly composed of the SOC minimum system, FLASH program storage circuit, DDR cache circuit, reset circuit, clock circuit, power conversion circuit, rudder extension control circuit, fuze start circuit and external communication interface circuit; the rudder control board is mainly composed of the steering gear control circuit, current transient protection circuit and voltage acquisition circuit.

[0042] In this embodiment, the SOC minimum system in the main control board uses Xilinx's XC7Z020-1CLG484I as the computing core of the system, including a dual-core ARM Cortex-A9 processor and an Artix-7FPGA, and contains two independent processing units, PS (Processing System) and PL (Programmable Logic), and realizes internal data communication between PS and PL through an internal bus;

[0043] The FLASH program storage circuit of the main control board uses Micron's model MT25QL512ABB1EW9-0SIT. During design and debugging, the JTAG configuration mode is used for the configuration startup mode of the SOC, while the FLASH configuration startup mode is selected in actual application; the DDR cache circuit chip uses Micron's MT41K128M16JT-125IT:K; the reset circuit chip selects ON's MAX809SQ293T1G to perform power-on reset and power supply voltage monitoring on the SOC; the clock circuit chip selects SITIME's active crystal oscillator SIT1602AI-32-33E-33.3333, which enter the PS and PL ends of the SOC respectively, and are supplied to other SOC resources through frequency multiplication and division.

[0044] In order to simplify the design, the power conversion circuit in the main control board uses two DC / DC modules, one is MINMAX's PQQ10W-Q24-S5-S isolated DC / DC (the first DC / DC module), and the other is MORNSN's K7805MT-500R4 non-isolated DC / DC (the second DC / DC module), which is used to convert the external power supply 28V to 5V. The first DC / DC module provides 10W of output power to supply the SOC minimum system, and uses ADI's LTM4644IY chip for conversion to meet the four voltage requirements of 1.0V, 1.5V, 1.8V, and 3.3V required by the SOC minimum system. The second DC / DC module provides 2.5W of output power, which is used to power the rudder control circuit and the fuse control circuit. The power supply original circuit block diagram is as follows Figure 2 shown.

[0045] In this embodiment, the external communication interface circuit mainly includes isolated CAN, isolated 422, and non-isolated 422 interfaces. The isolated CAN circuit is composed of a digital isolator + a non-isolated CAN transceiver; the digital isolator uses the digital isolator ADUM5401 with an integrated isolated DC / DC power supply from ADI. ADUM5401 can provide a communication rate of 25Mbps, and the internal power supply can provide an output power of 500mW to meet the CAN interface communication requirements; the non-isolated CAN transceiver uses the SN65HVD1050 from TI. The non-isolated 422 interface is connected to the IMU and telemetry; the interface circuit uses the THVD1451DR from TI, which has a maximum transmission rate of 50Mbps and is powered by 3.3V.

[0046] In this embodiment, Figure 3As shown, the rudder extension control circuit includes a bus transceiver, a first MOS tube driver, a first MOS tube, a pyrotechnic current limiting resistor and a sales promoter; the output end of the SOC is connected to the input end of the bus transceiver, the output end of the bus transceiver is connected to the input end of the first MOS tube driver, the output end of the first MOS tube driver is connected to the control end of the first MOS tube, the output end of the first MOS tube is connected to one end of the current limiting resistor, the input end of the first MOS tube is connected to the negative output end of the thermal battery (output B1-), and the other end of the current limiting resistor is connected to the first input end of the sales promoter; the second input end of the sales promoter is connected to the positive output end of the thermal battery (output B1+).

[0047] Among them, the first MOS tube is selected to drive and the first MOS tube is used to improve reliability. The rudder extension command issued by the SOC is first converted into a level through the bus transceiver, and then driven by the first MOS tube to control the first MOS tube switch. The output of the first MOS tube is sent to the salesman after current limiting by the pyrotechnic resistor to activate the salesman, and the salesman will pop out the rudder.

[0048] In this embodiment, the rudder control board is connected to the main control board using the internal connector JL5-28TJB-2.

[0049] In this embodiment, Figure 4 As shown, the steering control board is provided with a steering gear control circuit, a current transient protection circuit and a voltage acquisition circuit connected in parallel, that is, the signal output end of the SOC minimum system on the main control board is connected to the input end of the steering gear control circuit, and the output end of the steering gear control circuit is connected to the steering gear; the current output end of the steering gear is connected to the input end of the current transient protection circuit, and the output end of the current transient protection circuit is connected to the current input end of the SOC minimum system on the main control board; the voltage output end of the steering gear is connected to the input end of the voltage acquisition circuit, and the output end of the voltage acquisition circuit is connected to the voltage input end of the SOC minimum system on the main control board.

[0050] Among them, the servo control circuit includes an optocoupler isolator, a second MOS tube driver, and a second MOS tube connected in sequence, that is, the signal output end of the SOC minimum system on the main control board is connected to the input end of the optocoupler isolator, the output end of the optocoupler isolator is connected to the input end of the second MOS tube driver, the output end of the second MOS tube driver is connected to the control end of the second MOS tube, and the output end of the second MOS tube is connected to the servo.

[0051] The rudder control command issued by the main control board SOC minimum system is isolated by an optocoupler and driven by the second MOS tube to control the switch of the second MOS tube. The second MOS tube outputs a PWM signal to control the servo. The servo feedback current signal is collected by the current transient protection circuit and then fed back to the main control board C minimum system. The servo feedback voltage signal is collected by the voltage collection circuit and then fed back to the main control board C minimum system.

[0052] In this embodiment, the voltage acquisition circuit uses the AD7276 chip of AD Company, with single-channel 12-bit acquisition accuracy, 2.35~3V power supply, and a sampling rate of up to 3Msps, so as to realize the acquisition of the servo voltage and then monitor the servo status in real time.

[0053] In this embodiment, the current transient protection circuit includes three parts: a current sensor, a voltage comparison circuit and a power device protection circuit which are connected in sequence; the current sensor and the motor armature are installed in series in the middle of the H-bridge circuit driven by the motor, and the current sensor converts the sampled motor armature current value into a voltage signal and sends it to the input end of the voltage comparison circuit, and outputs a logic level signal after comparing it with the reference voltage, which is specifically manifested as: if the input voltage is less than the reference voltage, the comparator outputs a high level, otherwise it is a low level; the output logic level signal is then used as the input end to enter the logic "AND" circuit, and a logic "AND" judgment is performed with the 4-way drive signal output by the PWM drive circuit. When the output logic level signal is a low level, the power device protection circuit (power switch) of the bridge arm of this road is immediately in the cut-off state, otherwise the output of this road is the same as the drive signal output by the PWM drive circuit.

[0054] S3: receiving the command rudder deflection angle (including the first command rudder deflection angle δ1c, the second command rudder deflection angle δ2c, the third command rudder deflection angle δ3c, and the fourth command rudder deflection angle δ4c) input by the control system, and judging whether the command rudder deflection angle exceeds the corresponding steering gear limit rudder deflection angle (including the first limit rudder deflection angle δ1max, the second limit rudder deflection angle δ2max, the third limit rudder deflection angle δ3max, and the fourth limit rudder deflection angle δ4max);

[0055] If it is judged that the command rudder deflection angle is less than the maximum rudder deflection angle of the servo and the current transient protection mechanism is not triggered, the command rudder deflection angle is executed, that is, δ1i=δ1c, δ2i=δ2c, δ3i=δ3c, δ4i=δ4c; if it is judged that the command rudder deflection angle is less than the maximum rudder deflection angle of the servo and the current transient protection mechanism is triggered, the rudder deflection angle at the previous moment is maintained unchanged during the cycle; if it is judged that the command rudder deflection angle is greater than or equal to the maximum rudder deflection angle of the servo and the current transient protection mechanism is not triggered, the rudder deflection angle at the previous moment is executed: δ1i=δ1max, δ2i=δ2max, δ3i=δ3max, δ4i=δ4max; if it is judged that the command rudder deflection angle is greater than or equal to the maximum rudder deflection angle of the servo and the current transient protection mechanism is triggered, the rudder deflection angle at the previous moment is maintained unchanged during the cycle.

[0056] S4: Repeat S3 until the small-caliber smart ammunition flies along the designed trajectory to hit the target.

[0057] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A control method for a foldable intelligent ammunition servo, characterized in that: The specific steps include: S1: The power supply powers on the control system, and the control system samples the feedback signals of the 4 steering gears to obtain the current rudder deflection angles of the 4 steering gears, wherein the current rudder deflection angles of the 4 steering gears include a first rudder deflection angle δ10, a second rudder deflection angle δ20, a third rudder deflection angle δ30, and a fourth rudder deflection angle δ40; S2: Determine whether the rudder extension signal is triggered, so as to determine the current state of the rudder; if the rudder extension signal is not triggered, the current rudder deflection angle is used as the first rudder deflection angle of the 4-way servo; If it is determined that the rudder extension signal is triggered, then after the rudder extension time △t after the rudder extension signal is triggered at time t1, the second rudder deflection angles of the four servos are controlled respectively; S3: receiving the input command rudder angle, and executing different control schemes according to the comparison between the command rudder angle and the rudder limit rudder angle of the servo; S4: Repeat S3 until the ballistic flight hits the target.

2. A control method for a foldable intelligent ammunition servo as claimed in claim 1, characterized in that: In S2, the first rudder deflection angle of the 4-way servo is: δ1i=δ10, δ2i=δ20, δ3i=δ30, δ4i=δ40; Among them, δ1i represents the rudder deflection angle of the first servo; δ2i represents the rudder deflection angle of the second servo; δ3i represents the rudder deflection angle of the third servo; δ4i represents the rudder deflection angle of the fourth servo.

3. A control method for a foldable intelligent ammunition servo as claimed in claim 1, characterized in that: In S2, the second rudder deflection angle of the 4-way servo is: δ1i=0, δ2i=0, δ3i=0, δ4i=0; Among them, δ1i represents the rudder deflection angle of the first servo; δ2i represents the rudder deflection angle of the second servo; δ3i represents the rudder deflection angle of the third servo; δ4i represents the rudder deflection angle of the fourth servo.

4. A control method for a foldable intelligent ammunition servo as claimed in claim 1, characterized in that: In S3, the control scheme includes: If the command rudder angle is less than the servo limit rudder angle and the current transient protection mechanism is not triggered, the command rudder angle is followed, that is, δ1i=δ1c, δ2i=δ2c, δ3i=δ3c, δ4i=δ4c; If it is judged that the command rudder angle is less than the rudder limit angle and the current transient protection mechanism is triggered, the rudder angle at the previous moment is maintained unchanged during the cycle; If it is judged that the command rudder angle is greater than or equal to the servo limit rudder angle, and the current transient protection mechanism is not triggered, the servo limit rudder angle is followed: δ1i=δ1max, δ2i=δ2max, δ3i=δ3max, δ4i=δ4max; If it is judged that the command rudder angle is greater than or equal to the servo limit rudder angle, and the current transient protection mechanism is triggered, the rudder angle at the previous moment is maintained unchanged during the cycle.

5. A control method for a foldable intelligent ammunition servo as claimed in claim 1, characterized in that: In S1, the control system includes a main control board and a rudder control board; the main control board is provided with a SOC minimum system, a FLASH program storage circuit, a DDR cache circuit, a reset circuit, a clock circuit, a power conversion circuit, a rudder extension control circuit, a fuze starting circuit and an external communication interface circuit; the rudder control board is provided with a steering gear control circuit, a current transient protection circuit and a voltage acquisition circuit.

6. A control method for a foldable intelligent ammunition servo as claimed in claim 5, characterized in that: The SOC minimum system uses Xilinx's XC7Z020-1CLG484I; the FLASH program storage circuit uses Micron's model MT25QL512ABB1EW9-0SIT; the DDR cache circuit chip uses Micron's MT41K128M16JT-125IT:K; the reset circuit selects ON's MAX809SQ293T1G; the clock circuit chip selects SITIME's active crystal oscillator SIT1602AI-32-33E-33.3333.

7. A control method for a foldable intelligent ammunition servo as claimed in claim 5, characterized in that: The power conversion circuit includes a first DC / DC module, a second DC / DC module and a voltage conversion module; the input end of the first DC / DC module and the input end of the second DC / DC module are connected in parallel to an external power supply, the output end of the first DC / DC module is connected to the input end of the voltage conversion module, and the output end of the voltage conversion module is connected to the SOC minimum system; the output end of the second DC / DC module is connected to the input end of the rudder extension control circuit and the input end of the fuze starting circuit.

8. A control method for a foldable intelligent ammunition servo as claimed in claim 5, characterized in that: The rudder extension control circuit includes a bus transceiver, a first MOS tube driver, a first MOS tube, a pyrotechnic current limiting resistor and a sales promoter; the output end of the SOC is connected to the input end of the bus transceiver, the output end of the bus transceiver is connected to the input end of the first MOS tube driver, the output end of the first MOS tube driver is connected to the control end of the first MOS tube, the output end of the first MOS tube is connected to one end of the current limiting resistor, the input end of the first MOS tube is connected to the negative output end of the thermal battery, and the other end of the current limiting resistor is connected to the first input end of the sales promoter; the second input end of the sales promoter is connected to the positive output end of the thermal battery.

9. A control method for a foldable intelligent ammunition servo as claimed in claim 5, characterized in that: The signal output end of the SOC minimum system on the main control board is connected to the input end of the servo control circuit, and the output end of the servo control circuit is connected to the servo; the current output end of the servo is connected to the input end of the current transient protection circuit, and the output end of the current transient protection circuit is connected to the current input end of the SOC minimum system on the main control board; the voltage output end of the servo is connected to the input end of the voltage acquisition circuit, and the output end of the voltage acquisition circuit is connected to the voltage input end of the SOC minimum system on the main control board.

10. A control method for a foldable intelligent ammunition servo as claimed in claim 5, characterized in that: The rudder control board is connected to the main control board using an internal connector JL5-28TJB-2.

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