Two-axis calibration rotary table
By designing a two-axis calibration rotary table, the accurate zero calibration of the seeker is achieved using an independent drive rotary driver, the problem of inaccurate zero calibration of the missile seeker is solved and the missile hit accuracy is improved.
Patent Information
- Application Number
- CN202510062476.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-15
- Publication Date
- 2025-05-23
AI Technical Summary
The zero-position calibration of the missile seeker is inaccurate, resulting in poor missile hit accuracy.
A two-axis calibration rotary table is designed, and by providing independently driven rotary drivers on the two fixed surfaces of the calibration rotary table, the target fixing surface and the guide head fixing surface are independently rotated on the same vertical axis.
Accurate zero-position calibration of the seeker is achieved, improving the missile hit accuracy and simplifying the user's operation process.
Smart Images
Figure CN120027648A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of two-axis calibration turntables, and in particular to a two-axis calibration turntable. Background Art
[0002] The calibration turntable is to fix the camera and laser at a specific position, and then let the turntable drive the object to rotate and collect the laser line image at each angle. The whole object is reconstructed by reconstructing a single image and combining it with the turntable calibration data. Turntable calibration places the calibration plate on the turntable, and then collects images of the calibration plate at multiple positions; then reconstructs the three-dimensional coordinates of the center of the calibration plate at multiple positions; then fits the center of a spatial circle according to the three-dimensional coordinates of each center at different positions; and fits the turntable axis vector according to all the fitted centers, and then reconstructs the laser lines collected at each angle.
[0003] Missiles (guided rockets) are powered by rocket engines and fly at high speeds. If the zero-position positioning reference of the pitch and yaw mechanisms of the seeker head deviates, the guidance accuracy will be greatly affected. Therefore, a two-axis calibration turntable is required to accurately calibrate the zero position of the missile seeker head, so as to avoid the problem of poor missile hit accuracy caused by the failure of accurate zero-position calibration of the seeker head.
[0004] Therefore, in order to solve the above-mentioned related technical problems, a two-axis calibration turntable is proposed. Summary of the invention
[0005] In order to improve the above problems, the present application provides a two-axis calibration turntable.
[0006] The present application provides a two-axis calibration turntable, which adopts the following technical solution: A two-axis calibration turntable, comprising a calibration turntable connection shell, a calibration turntable is arranged above the calibration turntable connection shell, and the calibration turntable comprises a guide head fixed surface and a target fixed surface, a target fixed surface drive motor is arranged inside the calibration turntable connection shell, a calibration turntable connection inner shell is arranged inside the target fixed surface drive motor, and a guide head fixed surface drive motor is arranged inside the calibration turntable connection inner shell; Among them, a calibration turntable base is connected to the bottom of the calibration turntable connection shell, a driver power supply is arranged in the calibration turntable base, and a target fixed surface rotation driver and a guide head fixed surface rotation driver are respectively arranged on both sides of the driver power supply, and a power line socket is connected to one side of the calibration turntable base; the calibration turntable connection inner shell is installed and connected in the calibration turntable connection outer shell, and the calibration turntable connection outer shell is installed and connected to the top of the calibration turntable base, and the calibration turntable is installed and connected to the top of the calibration turntable connection outer shell, and the guide head is fixedly connected to the top of the guide head fixed surface, and the fixed target is fixedly connected to the top of the target fixed surface, and the calibration turntable base is connected to an external power supply and a control system through a power line socket, and the target fixed surface rotation driver and the guide head fixed surface rotation driver are both model DM860H drivers.
[0007] Preferably, the target fixing surface is an annular platform, and the guide head fixing surface is arranged on the inner side of the target fixing surface, the centers of the guide head fixing surface and the target fixing surface are arranged on the same vertical line, and the guide head fixing surface and the target fixing surface are located in the same plane.
[0008] By adopting the above technical solution, the target fixing surface and the guide head fixing surface rotate on the same vertical axis.
[0009] Preferably, the tops of the guide head fixing surface and the target fixing surface are both provided with multiple groups of fixing threaded holes arranged in a circular array, a guide head positioning recess is provided at the center position of the top of the guide head fixing surface, and two groups of mutually symmetrical fixing surface positioning recesses are provided at the top of the target fixing surface.
[0010] By adopting the above technical solution, the guide head is connected to the top of the guide head fixing surface through the guide head positioning concave square installation, and the guide head is fixed through the fixed threaded holes on the guide head fixing surface, while the fixed target is connected to the target fixing surface through the fixed surface positioning concave square installation, and the fixed target is fixed through the fixed threaded holes on the target fixing surface.
[0011] Preferably, a target cross roller bearing is connected between the target fixing surface and the calibration turntable connection shell, and the rotor of the target fixing surface drive motor is connected to the bottom of the target fixing surface, and an encoder is installed and connected to the inner wall of the calibration turntable connection shell.
[0012] By adopting the above technical solution, the target fixed surface and the calibration turntable connecting shell are slidably connected through the target cross roller bearing, and the target fixed surface can be driven by the target fixed surface driving motor to rotate. The encoder is a model EC encoder, and the encoder is used to monitor the current, speed, circumferential relative position of the rotating uranium and other parameters in real time during the operation of the target fixed surface driving motor, determine the status of the target fixed surface driving motor and the target fixed surface, and further control the operating status of the target fixed surface driving motor and the target fixed surface connected to it in real time, thereby realizing many specific functions such as servo and speed regulation.
[0013] Preferably, a guide head cross roller bearing is connected between the calibration turntable connection inner shell and the guide head fixed surface, and the guide head fixed surface is connected to the rotor of the guide head fixed surface drive motor.
[0014] By adopting the above technical solution, the guide head fixed surface is slidably connected to the inner shell of the calibration turntable through the guide head cross roller bearing, and the guide head fixed surface can be driven by the guide head fixed surface driving motor to rotate.
[0015] Preferably, a motor base is connected to the bottom of the guide head fixed surface drive motor, and a grating ruler is connected between the motor base and the rotor of the guide head fixed surface drive motor.
[0016] By adopting the above technical solution, the guide head fixed surface driving motor is a servo motor, and the grating scale in the motor base is used to detect the rotation movement of the guide head fixed surface driving motor, thereby detecting whether there is an error in the movement of the guide head fixed surface to compensate for the error in the movement of the guide head fixed surface.
[0017] Preferably, a base inspection plate is provided at the bottom of the calibration turntable base, and the base inspection plate is fixedly connected to the calibration turntable base by bolts, and a mounting top plate is connected to the top of the calibration turntable base.
[0018] By adopting the above technical solution, the calibration turntable base can remove the base inspection plate from the bottom of the calibration turntable base, so that the calibration turntable base can be opened, thereby facilitating the inspection of the target fixed surface rotation driver and the guide head fixed surface rotation driver and the driver power supply in the calibration turntable base.
[0019] Preferably, the calibration turntable connection outer shell and the calibration turntable connection inner shell are fixedly connected to the mounting top plate by bolts, a connecting wire hole is provided at the top center position of the mounting top plate, and a turntable power supply interface and a command information interface are provided on the power line socket.
[0020] By adopting the above technical solution, the calibration turntable connecting outer shell and the calibration turntable connecting inner shell are fixedly connected to the mounting top plate by bolts, thereby completing the connection between the calibration turntable connecting outer shell and the calibration turntable connecting inner shell and the calibration turntable base.
[0021] Preferably, the turntable power supply interface is connected to the driver power supply through a cable, and the command information interface is connected to the target fixed surface rotation driver and the guide head fixed surface rotation driver through a cable.
[0022] By adopting the above technical scheme, the calibration turntable base is connected to the external power supply through the turntable power supply interface on the power line socket, and electricity is sent to the driver power supply through the cable, and the calibration turntable base is connected to the external control unit through the command information interface on the power line socket, and the external control unit can control the target fixed surface drive motor through the target fixed surface rotation driver, thereby controlling the rotation state of the target fixed surface through the target fixed surface drive motor, and the external control unit can control the guide head fixed surface drive motor through the guide head fixed surface rotation driver, thereby controlling the rotation state of the detection guide head fixed surface through the guide head fixed surface drive motor.
[0023] 1. Compared with the prior art, the two-axis calibration turntable has an integrated design of power supply, drive, encoder, motor, etc. through structural design. The user only needs to power the turntable and issue instructions to control the turntable during use, which is convenient for the user. The calibration turntable base is connected to the external control unit through the command information interface on the power line socket, and the target fixed surface driving motor drives the target fixed surface and the fixed target connected to it to rotate, and the guide head fixed surface driving motor can drive the guide head fixed surface and the guide head connected to it to rotate, and the external control unit can control the target fixed surface driving motor through the target fixed surface rotation driver, thereby controlling the rotation state of the target fixed surface through the target fixed surface driving motor, and the external control unit can control the guide head fixed surface driving motor through the guide head fixed surface rotation driver, thereby controlling the rotation state of the detection guide head fixed surface through the guide head fixed surface driving motor.
[0024] 2. Compared with the prior art, the two-axis calibration turntable has two coaxial fixed surfaces that can be controlled independently. Not only can the seeker fixed surface be rotated alone and the target fixed surface be stationary for static calibration, but the seeker fixed surface and the target fixed surface can also be moved separately for dynamic calibration. The target fixed surface driving motor drives the target fixed surface and the fixed target connected to it to rotate, and the seeker fixed surface driving motor can drive the seeker fixed surface and the guide head connected to it to rotate, and the external control unit can control the target fixed surface driving motor through the target fixed surface rotation driver, thereby controlling the rotation state of the target fixed surface through the target fixed surface driving motor, and the external control unit can control the seeker fixed surface driving motor through the seeker fixed surface rotation driver, thereby controlling the rotation state of the detection guide head fixed surface through the seeker fixed surface driving motor.
[0025] 3. Compared with the prior art, this two-axis calibration turntable has threaded holes on two fixed planes for fixing the target and the guide head, and recessed squares on the two planes for positioning the target and the guide head, ensuring that each guide head is in the same state before calibration, the guide head is installed and connected to the top of the guide head fixed surface through the guide head positioning recessed square, and the guide head is fixed by the fixed threaded holes on the guide head fixed surface, while the fixed target is installed and connected to the target fixed surface through the fixed surface positioning recessed square, and the fixed target is fixed by the fixed threaded holes on the target fixed surface, thereby ensuring that each guide head is in the same state before calibration. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 It is a schematic diagram of the structure of the main body of this application; Figure 2 It is a schematic structural diagram of a side section of the main body of the present application; Figure 3 For this application Figure 2 A magnified view of point A; Figure 4 This is a schematic structural diagram of the side section of the calibration turntable connected to the inner shell of the present application; Figure 5 This is a schematic diagram of the structure of the calibration turntable connected to the inner shell of the present application; Figure 6 This is a schematic diagram of the structure of the base of the calibration turntable of this application.
[0027] The accompanying drawings are marked as follows: 1. Calibration turntable connected to the outer shell; 11. Target fixed surface drive motor; 12. Target cross roller bearing; 13. Encoder; 2. Calibration turntable; 21. Guide head fixed surface; 22. Target fixed surface; 23. Guide head positioning concave square; 24. Fixed threaded hole; 25. Fixed surface positioning concave square; 3. Calibration turntable base; 31. Driver power supply; 32. Target fixed surface rotation driver; 33. Guide head fixed surface rotation driver; 34. Base inspection plate; 35. Mounting top plate; 351. Connection wire hole; 4. Power line socket; 41. Turntable power supply interface; 42. Command information interface; 5. Calibration turntable connected to the inner shell; 51. Guide head fixed surface drive motor; 52. Guide head cross roller bearing; 53. Motor base; 531. Grating ruler. DETAILED DESCRIPTION
[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0029] The following is combined with Figure 1-Figure 6 , further details of this application are given.
[0030] A two-axis calibration turntable, comprising a calibration turntable connecting housing 1, referring to Figure 1 and Figure 2 A calibration turntable 2 is arranged above the calibration turntable connection shell 1, and the calibration turntable 2 includes a guide head fixed surface 21 and a target fixed surface 22, a target fixed surface drive motor 11 is arranged inside the calibration turntable connection shell 1, a calibration turntable connection inner shell 5 is arranged inside the target fixed surface drive motor 11, and a guide head fixed surface drive motor 51 is arranged inside the calibration turntable connection inner shell 5; Among them, a calibration turntable base 3 is connected to the bottom of the calibration turntable connection shell 1, a driver power supply 31 is arranged in the calibration turntable base 3, and a target fixed surface rotation driver 32 and a guide head fixed surface rotation driver 33 are respectively arranged on both sides of the driver power supply 31, and a power line socket 4 is connected to one side of the calibration turntable base 3; the calibration turntable connection inner shell 5 is installed and connected in the calibration turntable connection shell 1, and the calibration turntable connection shell 1 is installed and connected to the top of the calibration turntable base 3, and the calibration turntable 2 is installed and connected to the top of the calibration turntable connection shell 1, and the guide head is fixedly connected to the top of the guide head fixed surface 21, and the fixed target is fixedly connected to the top of the target fixed surface 22, and the calibration turntable base 3 is connected to an external power supply and control system through the power line socket 4, and the target fixed surface rotation driver 32 and the guide head fixed surface rotation driver 33 are both model DM860H drivers.
[0031] Reference Figure 1 and Figure 5 The target fixing surface 22 is an annular platform, and the guide head fixing surface 21 is arranged on the inner side of the target fixing surface 22, the centers of the guide head fixing surface 21 and the target fixing surface 22 are arranged on the same vertical line, and the guide head fixing surface 21 and the target fixing surface 22 are located in the same plane; the target fixing surface 22 and the guide head fixing surface 21 rotate on the same vertical axis.
[0032] Reference Figure 1 and Figure 5 The tops of the guide head fixing surface 21 and the target fixing surface 22 are both provided with a plurality of groups of fixing threaded holes 24 arranged in a circular array, a guide head positioning recessed square 23 is provided at the top center of the guide head fixing surface 21, and two groups of mutually symmetrical fixing surface positioning recessed squares 25 are provided at the top of the target fixing surface 22; the guide head is installed and connected to the top of the guide head fixing surface 21 through the guide head positioning recessed square 23, and the guide head is fixedly installed on the guide head fixing surface 21 through the fixing threaded holes 24 on the guide head fixing surface 21 by bolts, while the fixed target is installed and connected to the target fixing surface 22 through the fixing surface positioning recessed square 25, and the fixed target is fixed through the fixing threaded holes 24 on the target fixing surface 22.
[0033] Reference Figure 2 and Figure 3A target cross roller bearing 12 is connected between the target fixed surface 22 and the calibration turntable connection shell 1, and the rotor of the target fixed surface driving motor 11 is connected to the bottom of the target fixed surface 22, and an encoder 13 is installed and connected to the inner wall of the calibration turntable connection shell 1; the target fixed surface 22 and the calibration turntable connection shell 1 are slidably connected through the target cross roller bearing 12, and the target fixed surface 22 can be driven by the target fixed surface driving motor 11 to rotate, the encoder 13 is a motor encoder of model EC11, and the encoder 13 is used for real-time monitoring of current, speed, relative position of the circumferential direction of the rotating uranium and other parameters during the operation of the target fixed surface driving motor 11, determining the status of the target fixed surface driving motor 11 and the target fixed surface 22, and further controlling the operating conditions of the target fixed surface driving motor 11 and the target fixed surface 22 connected thereto in real time, thereby realizing many specific functions such as servo and speed regulation.
[0034] Reference Figure 4 A guide head cross roller bearing 52 is connected between the calibration turntable connecting inner shell 5 and the guide head fixed surface 21, and the guide head fixed surface 21 is connected to the rotor of the guide head fixed surface driving motor 51; the guide head fixed surface 21 is slidingly connected to the calibration turntable connecting inner shell 5 through the guide head cross roller bearing 52, and the guide head fixed surface 21 can be driven to rotate by the guide head fixed surface driving motor 51.
[0035] Reference Figure 4 The bottom of the guide head fixed surface driving motor 51 is connected to a motor base 53, and a grating scale 531 is connected between the motor base 53 and the rotor of the guide head fixed surface driving motor 51; the guide head fixed surface driving motor 51 is a servo motor, and the grating scale 531 in the motor base 53 is used to detect the rotation movement of the guide head fixed surface driving motor 51, so as to detect whether there is an error in the movement of the guide head fixed surface 21, so as to compensate for the error in the movement of the guide head fixed surface 21.
[0036] Reference Figure 6 A base inspection plate 34 is provided at the bottom of the calibration turntable base 3, and the base inspection plate 34 is fixedly connected to the calibration turntable base 3 by bolts, and a mounting top plate 35 is connected to the top of the calibration turntable base 3; the calibration turntable base 3 can remove the base inspection plate 34 from the bottom of the calibration turntable base 3, so that the calibration turntable base 3 can be opened, thereby facilitating the inspection of the target fixed surface rotation driver 32 and the guide head fixed surface rotation driver 33 in the calibration turntable base 3 and the driver power supply 31.
[0037] Reference Figure 1 and Figure 6The calibration turntable connection outer shell 1 and the calibration turntable connection inner shell 5 are both fixedly connected to the mounting top plate 35 by bolts, a connecting wire hole 351 is provided at the top center position of the mounting top plate 35, and a turntable power supply interface 41 and a command information interface 42 are provided on the power line socket 4; the calibration turntable connection outer shell 1 and the calibration turntable connection inner shell 5 are both fixedly connected to the mounting top plate 35 by bolts, thereby completing the connection between the calibration turntable connection outer shell 1 and the calibration turntable connection inner shell 5 and the calibration turntable base 3.
[0038] Reference Figure 1 and Figure 6 The turntable power supply interface 41 is connected to the driver power supply 31 through a cable, and the command information interface 42 is connected to the target fixed surface rotation driver 32 and the guide head fixed surface rotation driver 33 through a cable; the calibration turntable base 3 is connected to the external power supply through the turntable power supply interface 41 on the power line socket 4, and electricity is sent into the driver power supply 31 through a cable, and the calibration turntable base 3 is connected to the external control unit through the command information interface 42 on the power line socket 4, and the external control unit can control the target fixed surface drive motor 11 through the target fixed surface rotation driver 32, thereby controlling the rotation state of the target fixed surface 22 through the target fixed surface drive motor 11, and the external control unit can control the guide head fixed surface drive motor 51 through the guide head fixed surface rotation driver 33, thereby controlling the rotation state of the detection guide head fixed surface 21 through the guide head fixed surface drive motor 51.
[0039] The working process of the present application is as follows: first, the guide head is installed and connected to the top of the guide head fixed surface 21 through the guide head positioning concave square 23, and the guide head is fixedly installed on the guide head fixed surface 21 through the fixed threaded holes 24 on the guide head fixed surface 21 by bolts, and the fixed target is installed and connected to the target fixed surface 22 through the fixed surface positioning concave square 25, and the fixed target is fixed through the fixed threaded holes 24 on the target fixed surface 22, so as to ensure that the state of each guide head before calibration is consistent, the calibration turntable base 3 is connected to the external power supply and control system through the power line socket 4, the calibration turntable base 3 is connected to the external power supply through the turntable power supply interface 41 on the power line socket 4, and electricity is sent to the driver power supply 31 through cables, and the calibration turntable base 3 is connected to the external control unit through the command information interface 42 on the power line socket 4; The target fixed surface 22 and the fixed target connected thereto are driven to rotate by the target fixed surface driving motor 11, and the guide head fixed surface 21 and the guide head connected thereto are driven to rotate by the guide head fixed surface driving motor 51, and the target fixed surface driving motor 11 can be controlled by an external control unit through the target fixed surface rotating driver 32, thereby controlling the rotation state of the target fixed surface 22 through the target fixed surface driving motor 11, and the guide head fixed surface driving motor 51 can be controlled by an external control unit through the guide head fixed surface rotating driver 33, thereby controlling the rotation state of the guide head fixed surface 21 through the guide head fixed surface driving motor 51; Thereby, the guide head fixed surface 21 and the target fixed surface 22 can rotate independently on the same axis, and then the guide head fixed surface 21 can be rotated independently, and the target fixed surface 22 can be stationary for static calibration, or the guide head fixed surface 21 and the target fixed surface 22 can be moved separately for dynamic calibration. In the process of calibration, the encoder 13 monitors the operation process of the target fixed surface drive motor 11 in real time, such as current, rotation speed, relative position of the rotating circumferential direction, etc., determines the state of the target fixed surface drive motor 11 and the target fixed surface 22, and further controls the operation status of the target fixed surface drive motor 11 and the target fixed surface 22 connected thereto in real time, so as to realize many specific functions such as servo and speed regulation, and the grating scale 531 in the motor base 53 can detect the rotation action of the guide head fixed surface drive motor 51, so as to detect whether there is any error in the movement of the guide head fixed surface 21, so as to compensate for the error in the movement of the guide head fixed surface 21.
[0040] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.
Claims
1. A two-axis calibration turntable, comprising a calibration turntable connecting housing (1), characterized in that: A calibration turntable (2) is arranged above the calibration turntable connection shell (1), and the calibration turntable (2) comprises a guide head fixed surface (21) and a target fixed surface (22); a target fixed surface drive motor (11) is arranged inside the calibration turntable connection shell (1); a calibration turntable connection inner shell (5) is arranged inside the target fixed surface drive motor (11); and a guide head fixed surface drive motor (51) is arranged inside the calibration turntable connection inner shell (5); The calibration turntable connection housing (1) is connected to a calibration turntable base (3) below, a driver power supply (31) is provided in the calibration turntable base (3), and a target fixed surface rotation driver (32) and a seeker fixed surface rotation driver (33) are provided on both sides of the driver power supply (31), and a power line socket (4) is connected to one side of the calibration turntable base (3).
2. A two-axis calibration turntable according to claim 1, characterized in that: The target fixing surface (22) is an annular platform, and the guide head fixing surface (21) is arranged on the inner side of the target fixing surface (22), the centers of the guide head fixing surface (21) and the target fixing surface (22) are arranged on the same vertical line, and the guide head fixing surface (21) and the target fixing surface (22) are located in the same plane.
3. The two-axis calibration turntable according to claim 1, characterized in that: The tops of the guide head fixing surface (21) and the target fixing surface (22) are both provided with a plurality of groups of fixing threaded holes (24) arranged in a circular array, a guide head positioning concave square (23) is provided at the center position of the top of the guide head fixing surface (21), and two groups of mutually symmetrical fixing surface positioning concave squares (25) are provided at the top of the target fixing surface (22).
4. The two-axis calibration turntable according to claim 1, characterized in that: A target cross roller bearing (12) is connected between the target fixed surface (22) and the calibration turntable connection housing (1), and a rotor of the target fixed surface drive motor (11) is connected to the bottom of the target fixed surface (22), and an encoder (13) is installed and connected to the inner wall of the calibration turntable connection housing (1).
5. The two-axis calibration turntable according to claim 1, characterized in that: A guide head cross roller bearing (52) is connected between the calibration turntable connection inner shell (5) and the guide head fixed surface (21), and the guide head fixed surface (21) is connected to the rotor of the guide head fixed surface drive motor (51).
6. The two-axis calibration turntable according to claim 1, characterized in that: The bottom of the guide head fixed surface drive motor (51) is connected to a motor base (53), and a grating ruler (531) is connected between the motor base (53) and the rotor of the guide head fixed surface drive motor (51).
7. The two-axis calibration turntable according to claim 1, characterized in that: A base inspection plate (34) is provided at the bottom of the calibration turntable base (3), and the base inspection plate (34) is fixedly connected to the calibration turntable base (3) by bolts, and a mounting top plate (35) is connected to the top of the calibration turntable base (3).
8. The two-axis calibration turntable according to claim 7, characterized in that: The calibration turntable connection outer shell (1) and the calibration turntable connection inner shell (5) are both fixedly connected to the mounting top plate (35) by means of bolts; a connection wire hole (351) is provided at the top center of the mounting top plate (35); and a turntable power supply interface (41) and a command information interface (42) are provided on the power line socket (4).
9. The two-axis calibration turntable according to claim 8, characterized in that: The turntable power supply interface (41) is connected to the driver power supply (31) via a cable, and the command information interface (42) is connected to the target fixed surface rotation driver (32) and the seeker fixed surface rotation driver (33) via a cable.