Small-size cavity multi-channel trigger control module resistant to high overload

Abstract

A small size cavity anti-high overload multi-channel trigger control module belongs to the technical field of intelligent control. It comprises a power board, a switching board, an intermediate output board, a control board and a bottom output board. The power board is used for boosting the external power supply provided by a thermal battery to output a first direct current power supply. The switching board comprises a power switching circuit and a power conversion circuit. The power switching circuit is used for connecting the external direct current power supply provided by the thermal battery to the power board. The power conversion circuit is used for converting the external direct current power supply provided by the thermal battery into a second direct current power supply. The first direct current power supply and the second direct current power supply are sent to the intermediate output board through the power switching circuit. The intermediate output board comprises four ignition output circuits. The bottom output board comprises eight ignition output circuits. The control board comprises an ignition control circuit and four ignition output circuits. The advantages are that the pose adjustment precision can be improved and high overload can be borne.

Description

Technical Field

[0001] This invention belongs to the field of navigation and guidance technology, specifically relating to a small-sized cavity multi-channel trigger control module resistant to high overload. Background Technology

[0002] During flight, the target position of small-sized cavities is often non-static, requiring real-time adjustments to their flight trajectory based on the target position. As the performance requirements for military equipment continue to expand, the attitude adjustment of small-sized cavities has become increasingly stringent. Due to space limitations, it is difficult to integrate high-precision guidance components into small-sized cavities, and adding a guidance system would increase costs several times over. Therefore, guidance research has become an unavoidable issue in improving the flight accuracy of small-sized cavities.

[0003] In addition, the overload of a small cavity during launch can exceed 30,000. Therefore, the designed small-size multi-channel trigger control module needs to meet the requirements of high overload resistance, and its internal inertial components and other electronic devices in the hardware circuit also need to meet the performance requirements of high overload. In addition to requiring the hardware circuit to withstand a certain overload, certain protective measures are also required to protect the system.

[0004] The applicant has made beneficial designs to improve the aforementioned problems related to small-sized cavities, and the technical solution to be introduced below is produced in this context. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-channel trigger control module for small-sized cavities that can withstand high overload. This module can output sixteen ignition signals in real time in high overload working environments to control the booster to eject high-speed gas in the opposite direction, thereby providing a reaction force to adjust the running trajectory of the small-sized cavity and improve the position and attitude adjustment accuracy.

[0006] The objective of this invention is achieved by providing a multi-channel trigger control module for a small-sized cavity with high overload resistance. The module comprises a power board, an adapter board, an intermediate output board, a control board, and a bottom output board, stacked sequentially from top to bottom along the axial direction of the small-sized cavity. The power board boosts the external power supplied by the thermal battery to output a first DC power supply. The adapter board includes a power conversion circuit and a power conversion circuit. The power conversion circuit connects the external DC power supplied by the thermal battery to the power board. The power conversion circuit converts the external DC power supplied by the thermal battery into a second DC power supply. The first and second DC power supplies are then transferred to the intermediate output board via the power conversion circuit. The intermediate output board includes four ignition output circuits, the bottom output board includes eight ignition output circuits, and the control board includes an ignition control circuit and four ignition output circuits. The ignition control circuit outputs sixteen ignition control signals, which drive the sixteen ignition output circuits to output sixteen ignition signals respectively. These signals are used to control the booster to eject high-speed gas in the opposite direction, thereby providing a reaction force to adjust the trajectory of the small-sized cavity.

[0007] In a specific embodiment of the present invention, the power board, adapter board, intermediate output board, control board and bottom output board are connected sequentially by pin headers with a 2.0mm pitch.

[0008] In another specific embodiment of the present invention, the power board, intermediate output board and bottom output board are circular PCB boards, and the adapter board and control board are rectangular PCB boards.

[0009] In another specific embodiment of the present invention, the gaps between the power board, adapter board, intermediate output board, control board, and bottom output board and the small-sized cavity are filled with polyurethane encapsulant.

[0010] In another specific embodiment of the present invention, the power board 1 includes pin header J10, the adapter board 2 includes pin headers J4 and J5, the intermediate output board 3 includes pin headers J2 and J3, the control board 4 includes pin headers J6 to J7, and the bottom output board 5 includes pin header J1. The adapter board 2 transmits external DC power to the power board 1 and obtains a first DC power supply from the power board 1 through pin header J4 cascading with pin header J10 above it. The intermediate output board 3 introduces the first and second DC power supplies provided by pin header J5 of the adapter board 2 above it through pin header J3. The first and second DC power supplies are routed to pin header J2 and then supplied to the control board 4 below. The ignition control circuit 41 includes a microcontroller U2, which is a GD32E103T8. The pin header J6 of the control board 4 is connected to the pin header J2, and transmits the ignition control signals of channels 13 to 16 corresponding to pins 31 to 34 of the microcontroller U2 to the four ignition output circuits 6 on the intermediate output board 3. The pin header J7 is connected to the pin header J1 on the bottom output board 5, and transmits the ignition control signals of channels 1 to 8 corresponding to pins 11 to 17 and pin 20 of the microcontroller U2 to the eight ignition output circuits 6 on the bottom output board 5. The pins 23, 24, 29, and 30 of the microcontroller U2 output the ignition control signals of channels 9 to 12 to the four ignition output circuits 6 on the control board 4.

[0011] In another specific embodiment of the present invention, the power board includes a BOOST boost circuit and an automatic voltage regulation circuit. The BOOST boost circuit boosts the 12V power input to a 24V power signal, and the automatic voltage regulation circuit regulates the 24V power signal before outputting it.

[0012] In a further specific embodiment of the present invention, the control board further includes a communication circuit, which sends the real-time pose information of the small cavity received from the pose detection device to the microcontroller U2. The microcontroller U2 outputs ignition control signals from different channels and uses the reaction force provided by the high-speed gas ejected from the booster to adjust the flight trajectory of the small cavity.

[0013] This invention employs a layered I-shaped topology, suitable for cavity areas with an inner diameter of 25mm. It features a sixteen-channel ignition output circuit, enabling multi-channel trigger level output. This allows the small cavity to adjust its posture in real time during flight, providing more refined angles and higher posture accuracy compared to traditional four-channel (north, south, east, west) adjustments. Polyurethane encapsulant is used to fill the gap between the circuit board and the small cavity, encapsulating and curing each circuit board. This enhances the structure's resistance to high overloads, achieving an overload capacity >30,000G. Attached Figure Description

[0014] Figure 1 This is a structural block diagram of the present invention;

[0015] Figure 2 This is a schematic diagram of the connection structure of the present invention;

[0016] Figure 3 This is a structural block diagram of the ignition control system of the present invention;

[0017] Figure 4 This is a schematic diagram of the power board described in this invention;

[0018] Figure 5 This is a schematic diagram of the adapter board described in this invention;

[0019] Figure 6 This is a schematic diagram of the intermediate output board described in this invention;

[0020] Figure 7 This is a schematic diagram of the control board described in this invention;

[0021] Figure 8 This is a schematic diagram of the bottom output board described in this invention.

[0022] In the diagram: 1. Power board, 11. BOOST boost circuit, 12. Automatic voltage regulation circuit; 2. Adapter board, 21. Power adapter circuit, 22. Power conversion circuit; 3. Intermediate output board; 4. Control board, 41. Ignition control circuit, 42. Communication circuit; 5. Bottom output board; 6. Ignition output circuit. Detailed Implementation

[0023] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the description of the embodiments is not a limitation on the technical solution. Any formal but not substantive changes made based on the concept of the present invention should be considered within the scope of protection of the present invention.

[0024] In the following description, all directional (or orientational) concepts involving up, down, left, right, front, and back refer to the position of the figure being described, and are intended to facilitate public understanding. Therefore, they should not be construed as a special limitation on the technical solution provided by this invention.

[0025] This invention relates to a multi-channel trigger control module for high overload resistance in small-sized cavities, primarily applied to cavities with an outer diameter of 20mm to 40mm. It features multi-channel trigger control, enabling real-time output of sixteen ignition signals in high-overload operating environments to control the booster to eject high-speed gas in the opposite direction, thereby providing reaction force to adjust the trajectory of the small-sized cavity, improving attitude adjustment accuracy, and refining flight angles. This invention has a pulse response time of <50µs and can withstand overloads >30,000G.

[0026] Please see Figure 1 The present invention includes a power board 1, an adapter board 2, an intermediate output board 3, a control board 4, and a bottom output board 5, which are stacked and connected sequentially from top to bottom along the axial direction of a small cavity. In order to adapt to the small cavity, the power board 1, the intermediate output board 3, and the bottom output board 5 are circular PCBs, while the adapter board 2 and the control board 4 are rectangular PCBs.

[0027] The primary power source used in this invention is a thermal battery, which has the advantages of short excitation time and strong impact resistance. However, the thermal battery exhibits significant voltage fluctuations and current ripples, which do not match the operating voltage of the circuit components in this design, requiring prior voltage stabilization and transformation. The power board 1 is used to boost the external power supplied by the thermal battery to output a first DC power supply. However, the DC power supplied by the thermal battery does not go directly to the power board 1; instead, it needs to be introduced into the power board 1 through an adapter board 2. The adapter board 2 includes a power conversion circuit 21, which only connects the external DC power supplied by the thermal battery to the power board 1 without performing voltage conversion. Simultaneously, to balance the number of components in each module circuit, the adapter board 2 also includes a power conversion circuit 22 that converts the external DC power supplied by the thermal battery into a second DC power supply. The first and second DC power supplies are transferred to the intermediate output board 3 via the power conversion circuit 21 and further transmitted to the lower-level circuit boards. In this embodiment, the power board 1 is used to boost the 12V external power supply provided by the thermal battery to output a 24V first DC power supply, which is provided to the intermediate output board 3, the control board 4 and the bottom output board 5. The second DC power supply is a 3.3V DC power supply, which is provided to the intermediate output board 3 and the control board 4.

[0028] The intermediate output board 3 includes four ignition output circuits 6, and the bottom output board 5 has eight ignition output circuits 6. The control board 4 includes an ignition control circuit 41 and four ignition output circuits 6, the ignition output circuits 6 providing ignition signals to the ignition device. The ignition control circuit 41 includes a microcontroller U2, which outputs sixteen ignition control signals, driving the sixteen ignition output circuits 6 to output sixteen ignition signals respectively to control the booster to eject high-speed gas in the opposite direction, thereby providing reaction force to adjust the trajectory of the small-sized cavity.

[0029] This invention employs a layered design, with adjacent PCB boards connected via pin headers spaced 2.0mm apart. See [link / reference]. Figure 2The power board 1 includes pin header J10, the adapter board 2 includes pin headers J4 and J5, the intermediate output board 3 includes pin headers J2 and J3, the control board 4 includes pin headers J6 to J7, and the bottom output board 5 includes pin header J1. The adapter board 2 connects to the power board 1 above via pin header J4, which is connected to pin header J10. It introduces 12V DC power into the power board 1 and obtains 24V DC power signal from the power board 1. The intermediate output board 3 introduces 24V and 3.3V DC power from the adapter board 2 above via pin header J3. The 24V and 3.3V DC power are routed to pin header J2 and then to the control board 4 below. The control board 4 transmits four ignition control signals from channels 13 to 16 to the four ignition output circuits 6 on the intermediate output board 3 via pin headers J6 and J2. Pin header J7 connects to pin header J1 on the bottom output board 5 and transmits eight ignition control signals from channels 1 to 8 to the eight ignition output circuits 6 on the bottom output board 5. The control board 4 also provides four ignition control signals from channels 9 to 12 to the four ignition output circuits 6 on the control board 4.

[0030] See Figure 4 and combined Figure 3The power board 1 includes a BOOST boost circuit 11 and an automatic voltage regulator circuit 12. The BOOST boost circuit 11 boosts a 12V DC power signal to a 24V DC power signal, and the automatic voltage regulator circuit 12 regulates the 24V DC power signal before outputting it. Specifically, the BOOST boost circuit 11 includes a boost chip U3, an inductor L1, a capacitor C13, and resistors R36 and R37. The boost chip U3 is an MT4946. The automatic voltage regulator circuit 12 includes an automatic voltage regulator chip U4, capacitors C2, C4, C14-C19, and resistors R38-R41. The automatic voltage regulator chip U4 is a ZCC9428. First, the 12V DC power supply is introduced from the adapter board 2 into the power board 1 through pins 1 and 2 of the header J10. Subsequently, the 12V DC power supply serves two purposes. First, it passes through resistor R41 and enters pin 6 of the automatic voltage regulator chip U4 on power board 1. Based on the operating principle of the automatic voltage regulator chip U4, when the voltage at pin 6 exceeds 6V, connecting a 100KΩ resistor R41 in series will automatically activate the chip. Second, the 12V DC power supply connects through inductor L1 to pins 7 and 8 of the boost chip U3. Pin 2 of the boost chip U3 is the output terminal and is connected to pin 13 of the automatic voltage regulator chip U4. By controlling pin 13 of the automatic voltage regulator chip U4, the on / off state of the boost chip U3 can be controlled, thereby achieving input signal isolation. A 12V DC power supply enters pin 14 of the automatic voltage regulator chip U4. The automatic voltage regulator chip U4 regulates the 12V DC power supply and outputs a 24V DC power supply. At the same time, the output 24V DC power supply is used as a feedback voltage signal to enter pin 2 of the automatic voltage regulator chip U4 for feedback regulation, forming a closed-loop voltage regulation system that stabilizes the voltage at 24V and outputs it to pin 3 of the header J10.

[0031] See Figure 5 On the adapter board 2, the power conversion circuit 21 includes capacitor C3 and pin headers J4 and J5, and the power conversion circuit 22 includes capacitors C5 and C6 and a forward low-dropout regulator U1. In addition, the adapter board 2 also has capacitor C1 and pads O13 and O14 for introducing an external 12V DC power supply. Capacitor C1 is connected in parallel with a 12V DC power supply, and capacitor C3 is connected in parallel with a 24V DC power supply to reduce electromagnetic interference in the multi-channel trigger control module. Pin 3 of the forward low-dropout regulator U1 is connected to the 12V DC power supply introduced from the upper power board 1, converting the input 12V DC power supply and outputting 3.3V DC power supply at pins 2 and 4. Simultaneously, a 0.1uF capacitor C5 and a 10uF capacitor C6 are connected in parallel to reduce the fluctuations in the 3.3V DC power supply caused by electromagnetic interference from other components in the entire multi-channel trigger control module, thereby improving the stability of the microcontroller U2 on the control board 4.

[0032] See Figure 6 The intermediate output board 3 includes four ignition output circuits 6, namely: the ignition output circuit 6 of channel 13 composed of resistors R17, R19, BJT transistor Q19 and PMOS transistor Q17; the ignition output circuit 6 of channel 14 composed of resistors R18, R20, BJT transistor Q20 and PMOS transistor Q18; the ignition output circuit 6 of channel 15 composed of resistors R21, R23, BJT transistor Q23 and PMOS transistor Q21; and the ignition output circuit 6 of channel 16 composed of resistors R22, R24, BJT transistor Q24 and PMOS transistor Q22. Taking the ignition output circuit 6 of channel 13 as an example, the base of BJT transistor Q19 is connected to control board 4, and its collector is connected to one end of resistor R19. The other end of resistor R19 is connected to the gate of PMOS transistor Q17 and one end of resistor R17. The drain of PMOS transistor Q17 outputs an ignition signal to the ignition device. The source of PMOS transistor Q17 and the other end of resistor R17 are connected to a +24V DC power supply. The emitter of BJT transistor Q19 is grounded. In the figure, the bases of BJT transistors Q19, Q20, Q23, and Q24 are respectively connected to the ignition control signal issued by control board 4, and the drains of PMOS transistors Q17, Q18, Q21, and Q22 respectively output ignition signals. The 24V DC power supply powers each PMOS transistor, driving each PMOS transistor to operate in the amplification region. Since the four-channel ignition output circuit 6 included in the control board 4 and the eight-channel ignition output circuit 6 included in the bottom output board 5 both adopt the above structure, the specific structure of the twelve-channel ignition output circuit 6 will not be described further. The function of the intermediate output board 3 is to receive and amplify the four-channel ignition control signals sent by the control board 4. The 24V DC power supply also drives the BJT transistors in the four-channel ignition output circuit 6 to ground through the signals provided by the control board 4, thereby making the voltage divider on the G pin of the PMOS transistor 12V and the VGS voltage -12V, realizing conduction and outputting a 24V instantaneous pulse voltage. The intermediate output board 3 is also provided with pads O9, O10, O11, and O12 for outputting the amplified four-channel ignition signals to the ignition device.

[0033] See Figure 7The control board 4 includes a microcontroller U2, a header J10, a four-channel ignition output circuit 6, and pads O15-O18 for outputting four ignition signals. The peripheral circuitry of the microcontroller U2 includes resistors R29 and R30, and capacitors C7-C11. In this embodiment, the microcontroller U2 is a GD32E103T8. The microcontroller U2 and its peripheral circuitry constitute the ignition control circuit 41, outputting sixteen ignition control signals to drive the sixteen ignition output circuits 6 to output ignition signals respectively. Specifically, the 3.3V DC power supply from the header J2 in the intermediate output board 3 powers the microcontroller U2. Before entering the microcontroller U2, capacitors C7, C8, C9, and C10 are connected in parallel to remove electromagnetic interference, ensuring a stable power supply voltage entering the microcontroller U2. The microcontroller U2 outputs four OUTPUT13 to OUTPUT16 signals from pins 31, 32, 33, and 34, which are then sent to pin J2 on the intermediate output board 3 via pin J6. This controls the BJT transistors Q19, Q20, Q23, and Q24 in the corresponding channels 13 to 16 on the intermediate output board 3. Simultaneously, the microcontroller U2 outputs INPUT9 to INPUT12 signals from pins 23, 24, 29, and 30, which pull the BJT transistors Q27, Q28, Q31, and Q32 in the four ignition output circuits 6 in the corresponding channels 9 to 12 on the control board 4 to ground. This causes the resistors at the gate (G) pins of the PMOS transistors Q25, Q28, Q31, and Q32 to divide the voltage to 12V, resulting in a VGS voltage of -12V. This enables the transistors to conduct and output a 24V instantaneous pulse voltage. Finally, the four ignition signals are led out through the solder pads O15 to O18 and output to the ignition device. The INPUT1 to INPUT8 signals on pins 11-17 and 20 of the microcontroller U2 are transmitted to the bottom output board 5 through pin headers J7 and J1, providing ignition control signals for the BJT transistors Q5-Q8 and Q13-Q16 in the eight ignition output circuits 6 corresponding to channels 1-8. At the same time, pin header J7 is also connected to the 24V DC power supply.

[0034] Furthermore, the control board 4 also forms a communication circuit 42 via pin header J10, which connects to two sets of USART_TX and USART_RX pins (pins 21, 22, 9, and 10) of the microcontroller U2. The communication circuit 42 sends the real-time pose information of the small cavity received from the pose detection device to the microcontroller U2, which then controls the ignition of different channels to adjust the flight trajectory of the small cavity.

[0035] See Figure 8The main function of the bottom output board 5 is to amplify and process the ignition control signal transmitted from the upper control board 4. The bottom output board 5 has pads O1 to O8. The eight ignition control signals pull the BJT transistors Q5 to Q8 and Q13 to Q16 to ground, so that the resistors on the gate pins of the PMOS transistors Q1 to Q4 and Q9 to Q12 divide the voltage to 12V, and the VGS voltage is -12V, thereby realizing the conduction to output a 24V instantaneous pulse voltage. The eight ignition signals are led out to the ignition device through the bonding wires of pads O1 to O8.

[0036] This invention, through the selection of encapsulating adhesive and combination with encapsulation technology, can withstand high overloads. This invention uses polyurethane encapsulating adhesive to fill the gap between the circuit board and the small-sized cavity. The advantages of this encapsulating adhesive are: it not only possesses high elasticity, high elongation, and high strength, but also exhibits good wear resistance, aging resistance, impact resistance, and oil resistance; it has high adhesion, ensuring the integrity of the sealed integrated circuits, components, and wires in the circuit; it has a low coefficient of thermal expansion, ensuring that internal circuit chips and wires will not break due to encapsulation; it has certain heat resistance and low-temperature resistance, ensuring that the circuit can adapt to different temperature environments; it has good moisture resistance and corrosion resistance, ensuring that the circuit is not affected by environmental humidity, avoiding circuit contamination, and ensuring the reliability of the devices; and it has good fatigue resistance and endurance strength.

[0037] In response to the need for multi-channel trigger control modules to withstand high overload conditions, this patent utilizes ANSYS simulation software to conduct high overload resistance performance tests on the system. The tests show that, after being encapsulated with polyurethane, the multi-channel trigger control module of this invention can withstand impacts of over 3G, demonstrating qualified performance and achieving the purpose of the invention.

Claims

1. A multi-channel trigger control module for small size cavities against high overloads, characterized by: The application relates to a small-size cavity control system, which comprises, from top to bottom along the axis of the small-size cavity, a power supply board (1), a relay board (2), an intermediate output board (3), a control board (4) and a bottom output board (5). The power supply board (1) is used for boosting the external power supply provided by a thermal battery and outputting a first direct current power supply. The relay board (2) comprises a power supply relay circuit (21) and a power supply conversion circuit (22). The power supply relay circuit (21) is used for connecting the external direct current power supply provided by the thermal battery to the power supply board (1). The power supply conversion circuit (22) is used for converting the external direct current power supply provided by the thermal battery into a second direct current power supply. The first direct current power supply and the second direct current power supply are transmitted to the intermediate output board (3) through the power supply relay circuit (21). The intermediate output board (3) comprises four ignition output circuits (6). The bottom output board (5) comprises eight ignition output circuits (6). The control board (4) comprises an ignition control circuit (41) and four ignition output circuits (6). The ignition control circuit (41) outputs sixteen ignition control signals, respectively drives sixteen ignition output circuits (6) to correspondingly output sixteen ignition signals, and is used for controlling the boosters to spray high-speed gas in the opposite direction and thus provide reaction force to adjust the running track of the small-size cavity. The power supply board (1) comprises a pin J10. The relay board (2) comprises pins J4 and J5. The intermediate output board (3) comprises pins J2 and J3. The control board (4) comprises pins J6-J7. The bottom output board (5) comprises a pin J1. The relay board (2) cascades the pin J10 in the power supply board (1) through the pin J4 to transmit the external direct current power supply to the power supply board (1) and obtain the first direct current power supply from the power supply board (1). The intermediate output board (3) introduces the first and second direct current power supplies provided by the pin J5 of the relay board (2) through the pin J3 to reach the pin J2 through wiring and then reach the control board (4) below. The ignition control circuit (41) comprises a single-chip microcomputer U2. The single-chip microcomputer U2 adopts a GD32E103T8. The pin J6 of the control board (4) is connected with the pin J2 to respectively transmit the ignition control signals of channels 13-16 output by the 31-34 pins of the single-chip microcomputer U2 to the four ignition output circuits (6) on the intermediate output board (3). The pin J7 is connected with the pin J1 on the bottom output board (5) to transmit the ignition control signals of channels 1-8 output by the 11-17 pins and the 20 pin of the single-chip microcomputer U2 to the eight ignition output circuits (6) on the bottom output board (5). The 23, 24, 29 and 30 pins of the single-chip microcomputer U2 output the ignition control signals of channels 9-12 to the four ignition output circuits (6) on the control board (4).

2. The multi-channel trigger control module for small size cavities against high overloads according to claim 1, characterized in that: The power supply board (1), the relay board (2), the intermediate output board (3), the control board (4) and the bottom output board (5) are connected in sequence through pins with a 2.0mm spacing.

3. The multi-channel trigger control module of claim 1, wherein: the plurality of channels are configured to be triggered by a single high-g event. The power supply board (1), the intermediate output board (3) and the bottom output board (5) adopt circular PCB boards, and the adapter board (2) and the control board (4) adopt rectangular PCB boards.

4. The multi-channel trigger control module of claim 1, wherein: the small size cavity is resistant to high g-loads. The gaps between the power supply board (1), the adapter board (2), the intermediate output board (3), the control board (4) and the bottom output board (5) and the small-size cavity are filled with polyurethane encapsulation glue.

5. The multi-channel trigger control module of claim 1, wherein: the small size cavity is resistant to high g-loads. The power supply board (1) comprises a BOOST voltage boosting circuit (11) and an automatic adjusting voltage stabilizing circuit (12), the BOOST voltage boosting circuit (11) boosts 12V power input into 24V power signal, and the automatic adjusting voltage stabilizing circuit (12) outputs after voltage stabilization of the 24V power signal.

6. The multi-channel trigger control module of claim 1, wherein: The control board (4) further comprises a communication circuit (42), the communication circuit (42) sends real-time position information of the small-size cavity received from the position detection device to the single-chip microcomputer U2, the single-chip microcomputer U2 outputs ignition control signals of different channels, and the reaction force provided by the high-speed gas sprayed by the booster is used to adjust the flight trajectory of the small-size cavity.

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