Human shadow rocket launcher elevation transmission shaft torque dynamic detection method and system

Abstract

The application discloses a kind of human shadow rocket launcher pitch transmission shaft torque dynamic detection method and system, through stepping motor through speed reducer drive driving gear drive pitch transmission shaft rotation, real-time acquisition torque signal using magneto-inductive torque sensor, two-channel sine signal is converted into square wave by phase difference measurement unit and the phase difference is calculated, then digital torque value is output by analog-digital converter.Control module adopts Kalman filtering and calibration curve to realize dynamic compensation.Record sub-module is configured with large-capacity solid-state memory, and supports continuous recording of detection data in cyclic storage mode.The application uses differential sensing structure, combined with neodymium iron boron magnetic steel and multi-layer winding signal coil design, effectively improves the detection accuracy of small torque fluctuation under low-speed heavy-load working conditions, solves the technical problems existing in traditional methods, such as detection lag, transient impact missed detection and data tracing difficulty, and significantly enhances the safety monitoring capability of rocket launcher transmission system.

Description

Technical Field

[0001] This invention relates to the field of rocket launch applications, and in particular to a method and system for dynamic detection of torque on the pitch drive shaft of a manned rocket launcher. Background Technology

[0002] As a key piece of equipment in weather modification operations, the performance of the artificial weather modification rocket launcher directly affects the safety and effectiveness of the operation. The pitch drive shaft, as the core component controlling the rocket's pitch motion, bears complex dynamic loads during the launch process. In addition to overcoming conventional resistances such as static friction, it must also cope with dynamic resistances such as the inertial torque generated by the rocket's motion. These factors collectively influence the magnitude of the dynamic torque, which is closely related to the shaft's angular velocity, angular acceleration, the rocket's mass distribution, and changes in its motion state. Especially during sudden thrust changes at the moment of rocket ignition or during engine operation, a large impact torque is generated on the pitch drive shaft. This impact torque can cause instantaneous overload of the pitch drive shaft, leading to elastic deformation or even damage, severely impacting the rocket's launch attitude and flight stability. Therefore, real-time monitoring and measurement of the pitch drive shaft torque is crucial for ensuring the structural safety of the weather modification rocket launcher.

[0003] Common detection methods often fail to monitor the torque changes of the pitch drive shaft during the launch of a weather-controlled rocket in real time, and are even less able to accurately capture the subtle changes in torque experienced by the shaft under different operating conditions. They cannot respond to or detect instantaneous impact torque in a timely manner. Instantaneous impact torque may cause significant damage to the shaft, but due to the lag in detection methods, these impact torques are easily overlooked, leading to the accumulation of safety hazards. Furthermore, this detection method only detects problems when the shaft's hidden dangers have developed to a relatively serious level. At this point, the pitch drive shaft may have already suffered severe damage or even failed to function properly, leading to serious consequences such as rocket launch failure and failing to meet the operational requirements of rocket launch applications. Therefore, a dynamic detection method and system for the pitch drive shaft torque of a weather-controlled rocket launcher is proposed. Summary of the Invention

[0004] This invention provides the following technical solution: a method for dynamic detection of torque on the pitch drive shaft of a weather modification rocket launcher, comprising the following steps:

[0005] S1 drives pitch adjustment:

[0006] First, the stepper motor and reducer drive the rotation of the drive gear, which in turn drives the rotation of the pitch drive shaft and the rotating support through the transmission gear, thus achieving pitch angle adjustment.

[0007] S2 collects torque signals:

[0008] During pitch adjustment, the torque signal of the pitch drive shaft is collected in real time by a magnetoelectric induction torque sensor;

[0009] S3 signal processing conversion:

[0010] Next, the phase difference of the torque signal acquired in step S2 is measured and converted by AD through the measurement module to obtain the real-time torque value;

[0011] S4 Analysis, Judgment, and Early Warning:

[0012] The control module then filters, calibrates, and performs threshold judgment on the torque value obtained in step S3. When the torque value exceeds the preset safety range, the warning submodule is triggered. After receiving the signal, the warning submodule will issue an alarm and send the abnormal data to the recording submodule through the communication submodule.

[0013] S5 records store data:

[0014] After receiving the signal sent in step S4, the recording submodule records and stores the detection data and abnormal events.

[0015] This invention provides a dynamic detection system for the pitch drive shaft torque of a weather modification rocket launcher, employing the aforementioned dynamic detection method for the pitch drive shaft torque of a weather modification rocket launcher, comprising:

[0016] A base frame, wherein bearings are installed in the middle of both the left and right sides of the base frame, and a pitch drive shaft is inserted inside the bearing;

[0017] A speed reducer is installed on the bottom right side of the base frame. A stepper motor is installed on the input shaft of the speed reducer, and a drive gear is coaxially connected to the output shaft of the speed reducer.

[0018] The transmission gear is coaxially sleeved on the outside of the pitch transmission shaft at the middle position. The left and right sides of the outside of the pitch transmission shaft are both sleeved with detection gears. The top left and right sides of the base frame are both equipped with magnets.

[0019] A signal coil is installed on the outside of the magnet. Magnetoelectric torque sensors are installed on both sides of the top of the base frame at positions corresponding to the signal coil. A rotating bracket is fitted on the outside of the pitch drive shaft at a position between the transmission gear and the detection gear. An orienter is installed on the top of the rotating bracket.

[0020] The measurement module is installed inside the magnetoelectric torque sensor. The top of the base frame, located outside the magnetoelectric torque sensor, is equipped with a control module. The control module is connected to the measurement module via a data cable. The control module integrates a communication submodule, an early warning submodule, and a recording submodule.

[0021] Preferably, in step S1, the stepper motor and the reducer are connected by a coupling, the output shaft of the reducer is connected to the drive gear through a keyway structure, the drive gear meshes with the transmission gear, and the transmission gear is coaxially connected to the pitch drive shaft through a flange structure.

[0022] Preferably, the magnetoelectric torque sensor in step S2 adopts a non-contact measurement method. The magnetoelectric torque sensor consists of a magnetoelectric conversion element and a signal conditioning circuit. The magnetoelectric conversion element works based on the principle of magnetoelastic effect. When the pitch drive shaft is subjected to torque, the permeability of the magnetoelectric conversion element changes, which is then converted into an electrical signal output. The signal conditioning circuit amplifies, filters, and shapes the electrical signal.

[0023] Preferably, the measurement module in step S3 includes a phase difference measurement unit and an AD conversion unit. The phase difference measurement unit uses a zero-crossing comparator to shape the two sinusoidal signals output by the sensor to obtain two square wave signals. By measuring the time difference between the rising or falling edges of the two square wave signals, the phase difference between the two signals is calculated. The AD conversion unit uses an analog-to-digital converter to convert the analog signal output by the phase difference measurement unit into a digital signal. The digital signal undergoes digital filtering and calibration to obtain the real-time torque value, ensuring accurate conversion of the torque value.

[0024] Preferably, the control module in step S4 uses a Kalman filter algorithm to dynamically filter the real-time torque value, and simultaneously performs nonlinear compensation on the torque value through a preset calibration curve.

[0025] Preferably, the early warning submodule in step S4 includes a buzzer and an LED indicator, and the communication submodule uploads abnormal data to the remote monitoring center in real time via 4G and LoRa wireless networks.

[0026] Preferably, the recording submodule in step S5 uses a large-capacity solid-state storage device. The recording submodule is equipped with two modes: circular storage and event-triggered storage. The circular storage mode saves continuous detection data in chronological order, while the event-triggered storage mode automatically saves complete data packets within a certain period before and after an abnormal event is detected.

[0027] Preferably, the base frame is welded from alloy steel, and the bottom of the base frame is provided with anti-slip rubber pads and anchor bolt mounting holes, and a shock-absorbing rubber pad is provided between the bearing and the base frame.

[0028] Preferably, both the drive gear and the transmission gear are made of alloy steel, and the tooth surfaces of both the drive gear and the transmission gear are ground and surface hardened. The magnet is a neodymium iron boron permanent magnet, and the surface of the magnet is nickel-plated. The signal coil adopts a multi-layer winding structure, and an electromagnetic shielding cover is provided on the outside of the signal coil.

[0029] In summary, compared with the prior art, the present invention provides a method and system for dynamic detection of the pitch drive shaft torque of a manned rocket launcher, which has the following beneficial effects:

[0030] 1. This invention achieves real-time dynamic acquisition of pitch drive shaft torque through the coordinated design of a magnetoelectric induction torque sensor, transmission gear, and detection gear. Compared with the lag of traditional detection methods, this system can synchronously capture the continuous change of shaft torque during launch, especially for transient impact torque. Furthermore, through millisecond-level phase difference measurement and AD conversion of the signal processing module, the transient response speed is improved, avoiding the problem of missed impact torque due to detection delay, and effectively preventing hidden damage to the shaft caused by instantaneous overload.

[0031] 2. This invention utilizes a differential sensing structure with dual detection gears and magnets, combined with the high sensitivity of a magnetoelectric torque sensor, to accurately detect minute fluctuations in shaft torque. Through quantitative analysis of the signal phase difference by the measurement module, it can distinguish between normal operating condition fluctuations and abnormal impact characteristics. This allows it to capture torque pulsations that are difficult to identify using traditional methods, even under low-speed, high-torque conditions, thus improving response speed. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of the present invention.

[0033] Figure 2 This is a schematic diagram of the system structure of the present invention.

[0034] Figure 3 This is a schematic diagram of the rotating support and orienter structure of the present invention.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Base frame; 2. Bearing; 3. Pitch drive shaft; 4. Reducer; 5. Stepper motor; 6. Drive gear; 7. Transmission gear; 8. Detection gear; 9. Magnet; 10. Signal coil; 11. Magnetoelectric torque sensor; 12. Rotating support; 13. Orienter; 14. Control module. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Please see Figure 1 This invention provides a technical solution: a method for dynamically detecting the torque of the pitch drive shaft of a weather modification rocket launcher, comprising the following steps:

[0039] S1 drives pitch adjustment:

[0040] First, the stepper motor 5 and reducer 4 drive the rotation of the drive gear 6, which in turn drives the rotation of the pitch drive shaft 3 and the rotating bracket 12 through the transmission gear 7, thereby achieving pitch angle adjustment.

[0041] S2 collects torque signals:

[0042] During pitch adjustment, the torque signal of the pitch drive shaft 3 is collected in real time by the magnetoelectric torque sensor 11.

[0043] S3 signal processing conversion:

[0044] Next, the phase difference of the torque signal acquired in step S2 is measured and converted by AD through the measurement module to obtain the real-time torque value. The specific implementation process of the above method is as follows:

[0045] A dual-channel signal acquisition link is established: When the pitch drive bearing is subjected to torque, the magnetoelectric torque sensors arranged on both sides of the shaft will synchronously output two sets of sinusoidal electrical signals with correlated phases. These two signals are like "twin signals," and their waveform changes have a fixed mapping relationship with the stress state of the shaft. The measurement module first captures these two sets of analog signals simultaneously through a differential input circuit. This dual-channel synchronous acquisition design can effectively resist common-mode interference and provide a reference for subsequent phase difference analysis.

[0046] Signal preprocessing is performed: The raw sensor signal needs to undergo multi-stage conditioning: First, a low-noise amplifier boosts the millivolt-level signal to the volt-level operating range, enhancing the signal's anti-interference capability; then, it enters a bandpass filter network, which uses a fifth-order Butterworth filter circuit to accurately filter out stepper motor harmonic interference (main frequency band 200-500Hz) and spatial electromagnetic noise (above 10kHz), retaining the effective torque signal frequency band (0-100Hz); finally, a Schmitt trigger is used to shape the waveform, converting the sine wave into a square wave signal with a steep leading edge, creating conditions for phase difference measurement;

[0047] Precise phase difference measurement: The shaped two square wave signals are fed into a dedicated phase detection chip, which incorporates a time-to-digital converter (TDC). When the rising edge of the first square wave is detected, the TDC immediately initiates high-precision timing; when the corresponding edge of the second square wave arrives, the timing automatically stops. This time difference value, after quantization by a 24-bit counter, is accurate to the 0.1 nanosecond level. Considering the system's operating frequency, this measurement accuracy can resolve a phase shift as small as 0.001 degrees, providing fundamental data for torque calculation.

[0048] Nonlinear Compensation Correction: Due to the temperature drift characteristics of the magnetoelastic effect in the magnetoelectric sensor, the measurement module incorporates a multi-segment calibration engine. This engine stores twelve sets of calibration curves within the temperature range of -40℃ to +85℃, with each curve containing compensation coefficients for fifty feature points. The system monitors the ambient temperature in real time using an NTC temperature sensor, automatically retrieves the corresponding calibration parameters, and performs nonlinear correction on the original phase difference data to eliminate measurement deviations caused by temperature.

[0049] Analog-to-digital conversion process: The phase difference value is first digitized by a Σ-Δ analog-to-digital converter. This converter uses oversampling technology with a sampling frequency of 6.144MHz, and combined with a five-stage digital filter, it can effectively suppress quantization noise. The resulting 24-bit digital signal is then downsampled to a standard sampling rate of 1kHz by a sampling rate conversion to form a continuous digital signal stream.

[0050] Dynamic digital filtering: The Kalman filter of the control module receives the digital signal. This filter establishes a state equation based on the launcher's kinematic model, enabling real-time estimation and elimination of vibration noise (frequency band 10-50Hz) and mechanical resonance interference (characteristic frequency point 85Hz). The filtering algorithm employs an adaptive adjustment mechanism, automatically switching to a fast tracking mode when rocket ignition impact is detected, ensuring that the transient torque signal remains undistorted.

[0051] Final numerical conversion: The filtered and calibrated digital signal enters the torque calculation unit, which incorporates a twelve-segment piecewise linearization model. Based on the correspondence between phase difference and torque value, the digital quantity is converted into an engineering torque value with a resolution of 0.1 N·m. The final generated real-time torque data includes a quality identifier: when the measurement uncertainty is less than 1%, it is marked as high-precision data; when there are drastic temperature changes or signal distortion, it is automatically downgraded to normal-precision data, providing a reliable reference for subsequent analysis and judgment.

[0052] S4 Analysis, Judgment, and Early Warning:

[0053] Subsequently, the control module 14 filters, calibrates, and judges the torque value obtained in step S3. When the torque value exceeds the preset safety range, the warning submodule is triggered. After receiving the signal, the warning submodule will issue an alarm and send the abnormal data to the recording submodule through the communication submodule.

[0054] S5 records store data:

[0055] After receiving the signal sent in step S4, the recording submodule records and stores the detection data and abnormal events;

[0056] The magnetoelectric torque sensor 11 in step S2 adopts a non-contact measurement method. The magnetoelectric torque sensor 11 consists of a magnetoelectric conversion element and a signal conditioning circuit. The magnetoelectric conversion element works based on the principle of magnetoelastic effect. When the pitch drive shaft 3 is subjected to torque, the magnetic permeability of the magnetoelectric conversion element changes, which is then converted into an electrical signal output. The signal conditioning circuit amplifies, filters and shapes the electrical signal.

[0057] The measurement module in step S3 includes a phase difference measurement unit and an AD conversion unit. The phase difference measurement unit uses a zero-crossing comparator to shape the two sinusoidal signals output by the sensor to obtain two square wave signals. By measuring the time difference between the rising or falling edges of the two square wave signals, the phase difference between the two signals is calculated. The AD conversion unit uses an analog-to-digital converter to convert the analog signal output by the phase difference measurement unit into a digital signal. The digital signal is then processed by digital filtering and calibration to obtain the real-time torque value, ensuring the accurate conversion of the torque value.

[0058] In step S4, the control module 14 uses the Kalman filter algorithm to dynamically filter the real-time torque value, and performs nonlinear compensation on the torque value through a preset calibration curve. The warning submodule includes a buzzer and an LED indicator, and the communication submodule uploads abnormal data to the remote monitoring center in real time through 4G and LoRa wireless networks.

[0059] The recording submodule in step S5 uses a large-capacity solid-state storage. The recording submodule has two modes: circular storage and event-triggered storage. The circular storage mode saves continuous detection data in chronological order, while the event-triggered storage mode automatically saves the complete data packet within a certain period before and after an abnormal event is detected. The specific implementation process of the above method is as follows:

[0060] Solid-state storage architecture: The recording submodule uses high-capacity solid-state memory based on NAND flash memory. The storage medium is divided into two independently managed storage areas: a circular storage area and an event storage area. Each storage area is equipped with an independent data buffer pool and file management system to ensure that the two storage modes do not interfere with each other. The memory has a built-in wear leveling algorithm to extend its lifespan by dynamically allocating storage blocks;

[0061] Initialize circular storage mode: After system power-on, the circular storage area automatically creates a continuous linked list of time indexes and establishes virtual storage volumes on a 24-hour cycle. Each storage volume is divided into 3600 data blocks of equal length, with each data block corresponding to 1 second of detection data. Data writing adopts a circular queue mechanism; when the latest data is written to the last data block, the head data block is automatically released, forming a first-in-first-out storage closed loop.

[0062] Continuous data acquisition: During the rocket launch preparation phase, the recording submodule continuously receives torque data packets from the control module at a sampling rate of 1kHz. Each data packet contains four parts: timestamp, torque value, temperature value, and checksum. The data first enters the circular buffer of the circular storage area. After its integrity is confirmed by CRC check, it is written to the corresponding storage block in chronological order to ensure the complete preservation of continuous monitoring data throughout the launch process.

[0063] An event triggering mechanism is established: When the control module detects a torque over-limit event, it immediately sends an interrupt signal to the recording submodule. The recording submodule responds to the interrupt within 50 microseconds and initiates the event storage process: First, it locks the write pointer of the current circular storage area and obtains the event trigger time T0; then, according to the preset pre-trigger time (default 5 seconds), it backtracks and extracts all data blocks from T0-5 seconds to T0 from the circular storage area; finally, it creates an independent event storage file, merging and encapsulating the backtracked data with the real-time data after T0.

[0064] Dual-mode data encapsulation: The event storage file adopts a three-level directory structure: the first level is the event type identifier (such as torque overload, vibration exceeding limits), the second level is the year, month, day, and timestamp, and the third level is the event sequence number. The file contains a metadata header and a continuous data body. The metadata header records key parameters such as rocket launcher number, event trigger time, and duration, while the data body saves complete monitoring records with a granularity of 10 milliseconds, ensuring that the full picture of the event can be accurately reconstructed during post-event analysis.

[0065] Configure storage protection strategy: After the event storage file is generated, the system automatically marks it as "read-only" and copies it to a reserved area of ​​the solid-state storage. This area uses a RAID1 mirrored storage structure, with data written to two independent storage chips simultaneously. Even if one chip suffers physical damage, the complete data can still be recovered from the other chip. The circular storage area continues to be dynamically updated to ensure that subsequent monitoring data is not affected.

[0066] Intelligent storage management: When the remaining capacity of the solid-state storage falls below 15%, the system automatically initiates a data cleanup process: For the circular storage area, the earliest complete storage volume is deleted first; for the event storage area, a differentiated retention strategy is implemented based on the event level, with ordinary events being automatically archived after 90 days, and critical events (such as failures that cause launch aborts) being permanently saved. All deletion operations undergo secondary confirmation to prevent data loss due to accidental operations;

[0067] Multi-dimensional data retrieval: The recording submodule is equipped with an embedded database engine, supporting queries based on multiple conditions such as time range, event type, and torque threshold. Users can remotely access the system via host computer software, and the system automatically generates data heatmaps to intuitively display the spatiotemporal distribution characteristics of torque changes during launch. For major events, it supports exporting a complete analysis package containing leading data, the main event data, and subsequent data, providing a complete chain of evidence for root cause analysis of failures.

[0068] Please see Figure 2 This invention provides a dynamic detection system for the pitch drive shaft torque of a weather modification rocket launcher, employing the aforementioned dynamic detection method for the pitch drive shaft torque of a weather modification rocket launcher, comprising:

[0069] The foundation frame 1 has bearings 2 installed in the middle of both the left and right sides. The bearings 2 have pitch drive shafts 3 inserted inside. The foundation frame 1 is made of alloy steel welded together. The bottom of the foundation frame 1 is provided with anti-slip rubber pads and anchor bolt mounting holes. There are shock-absorbing rubber pads between the bearings 2 and the foundation frame 1.

[0070] The reducer 4 is installed on the bottom right side of the base frame 1. The input shaft of the reducer 4 is equipped with a stepper motor 5, and the output shaft of the reducer 4 is coaxially connected with a drive gear 6.

[0071] The transmission gear 7 is coaxially sleeved on the outside of the pitch transmission shaft 3 at the middle position. The detection gears 8 are sleeved on both the left and right sides of the outside of the pitch transmission shaft 3. Magnets 9 are installed on the top left and right sides of the base frame 1.

[0072] Signal coil 10 is mounted on the outside of magnet 9. Magnetoelectric torque sensors 11 are installed on both sides of the top of the base frame 1, corresponding to the positions of signal coil 10. A rotating bracket 12 is fitted onto the outside of the pitch drive shaft 3, positioned between the transmission gear 7 and the detection gear 8. Please refer to [link / reference]. Figure 3 A guide 13 is installed on the top of the rotating bracket 12;

[0073] The measurement module is installed inside the magnetoelectric torque sensor 11. The control module 14 is installed on the top of the base frame 1, outside the magnetoelectric torque sensor 11. The control module 14 is connected to the measurement module via a data cable. The control module 14 integrates a communication submodule, an early warning submodule, and a recording submodule. The drive gear 6 and the transmission gear 7 are both made of alloy steel. The tooth surfaces of the drive gear 6 and the transmission gear 7 are ground and surface hardened. The magnet 9 is a neodymium iron boron permanent magnet. The surface of the magnet 9 is nickel-plated. The signal coil 10 adopts a multi-layer winding structure and is covered with an electromagnetic shield.

[0074] This solution achieves real-time dynamic acquisition of the torque of the pitch drive shaft 3 through the coordinated design of the magnetoelectric torque sensor 11, transmission gear 7, and detection gear 8. Compared with the lag of traditional detection methods, this system can synchronously capture the continuous change of shaft torque during launch. Through millisecond-level phase difference measurement and AD conversion of the signal processing module, the transient response speed is improved, avoiding the problem of missed detection of impact torque due to detection delay, and effectively preventing hidden damage to the shaft caused by instantaneous overload.

[0075] This solution utilizes a differential sensing structure with dual detection gears 8 and magnets 9, combined with the high sensitivity of the magnetoelectric torque sensor 11, to accurately detect minute fluctuations in shaft torque. Through quantitative analysis of the signal phase difference by the measurement module, it can distinguish between normal operating condition fluctuations and abnormal impact characteristics. This allows it to capture torque pulsations that are difficult to identify using traditional methods, even under low-speed, high-torque conditions, thus improving response speed.

[0076] This system employs a collaborative architecture of a magnetoelectric torque sensor and a gear set. Through a differential sensing structure composed of dual detection gears and magnets, it achieves millisecond-level continuous acquisition of shaft torque. This non-contact measurement design avoids the creep error of traditional strain gauge sensors. Combined with the magnetoelastic effect principle, it ensures complete synchronization between torque signal acquisition and the mechanical movements of the launcher, effectively capturing transient processes such as ignition impact and sudden changes in operating conditions. This solves the problem of missed impact torque detection caused by sampling intervals in traditional detection methods. Simultaneously, through dual-channel phase difference measurement technology, torque changes are converted into quantifiable electrical signal phase shifts. The measurement module uses a zero-crossing comparator to shape the sinusoidal signal output by the sensor, combined with time-to-digital conversion technology, achieving 0.1 nanosecond-level time difference resolution. Furthermore, through differential sensing layout and digital filtering algorithms, multiple anti-interference mechanisms are constructed. The magnet assembly uses neodymium iron boron permanent magnets with nickel plating, and the signal coil is equipped with an electromagnetic shield to effectively suppress spatial electromagnetic interference. The measurement module has a built-in fifth-order Butterworth filter circuit, which can filter out motor harmonics above 200Hz and spatial noise above 10kHz. Combined with the Kalman filter algorithm, it can maintain a measurement accuracy of ±0.5%FS even under the strong vibration and wide temperature range environment of rocket launch.

[0077] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0078] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for detecting the torque of the pitch transmission shaft of a human shadow rocket launcher, characterized in that, Comprise the following steps: S1 drive pitch adjustment: Firstly, the rotation of the driving gear is driven by the stepper motor and the reducer, thereby the rotation of the pitch transmission shaft and the rotating support is driven by the transmission gear, that is, the pitch angle adjustment is realized; S2 collect torque signal: When the pitch adjustment, the torque signal of the pitch transmission shaft is collected in real time by the magneto-inductive torque sensor; S3 signal processing conversion: Secondly, the torque signal collected in step S2 is measured by the measurement module for phase difference measurement and AD conversion, and the real-time torque value is obtained; S4 analysis and early warning: Then the control module filters, calibrates and judges the threshold value of the torque value obtained in step S3, when the torque value exceeds the preset safety range, the early warning submodule is triggered, and the early warning submodule alarms after receiving the signal, and sends the abnormal data to the recording submodule through the communication submodule; S5 record storage data: The recording submodule records and stores the detection data and abnormal events after receiving the signal sent by step S4; The step S1 adopts a shaft coupling to connect the stepper motor and the reducer, the output shaft of the reducer is connected with the driving gear through a key groove structure, the driving gear is engaged with the transmission gear, and the transmission gear is coaxially connected with the pitch transmission shaft through a flange structure; The step S2 adopts a non-contact measurement method, the magneto-inductive torque sensor is composed of a magneto-electric conversion element and a signal conditioning circuit, the magneto-electric conversion element works based on the magnetic elastic effect principle, when the pitch transmission shaft is subjected to torque, the magnetic permeability of the magneto-electric conversion element changes, and then the torque is converted into an electrical signal output, the signal conditioning circuit amplifies, filters and shapes the electrical signal; The measurement module in step S3 includes a phase difference measurement unit and an AD conversion unit, the phase difference measurement unit adopts a zero-crossing comparator to shape two sinusoidal signals output by the sensor, to obtain two square wave signals, the time difference between the rising edges or the falling edges of the two square wave signals is measured, and the phase difference of the two signals is calculated, the AD conversion unit adopts an analog-to-digital converter to convert the analog signal output by the phase difference measurement unit into a digital signal, the digital signal is subjected to digital filtering and calibration processing, to obtain the real-time torque value, and ensure the accurate conversion of the torque value; The control module in step S4 adopts Kalman filtering algorithm to dynamically filter the real-time torque value, and simultaneously performs nonlinear compensation on the torque value through a preset calibration curve.

2. The method for dynamic detection of torque of the pitch drive shaft of a manned rocket launcher according to claim 1, characterized in that: The early warning submodule in step S4 includes a buzzer and an LED indicator, the communication submodule uploads the abnormal data to the remote monitoring center in real time through 4G and LoRa wireless networks.

3. The method of claim 1, wherein the method further comprises: determining a torque of the pylon actuator based on the determined torque of the pylon actuator shaft. The recording submodule in step S5 adopts a large-capacity solid-state memory, the recording submodule is internally provided with two modes of cyclic storage and event-triggered storage, the cyclic storage mode saves continuous detection data in time sequence, and the event-triggered storage mode automatically saves complete data packets within a period of time before and after an abnormal event is detected.

4. The human shadow rocket launcher elevation drive shaft torque dynamic detection system, using the human shadow rocket launcher elevation drive shaft torque dynamic detection method of any one of claims 1-3, characterized in that, Comprise: The base rack is provided with bearings in the middle of the left and right sides, and the bearings are internally provided with pitch drive shafts; The reducer is installed at the bottom right side of the base rack, the input shaft of the reducer is provided with a stepping motor, and the output shaft of the reducer is coaxially connected with a driving gear; The transmission gear is coaxially sleeved on the outer middle position of the pitch drive shaft, the pitch drive shaft is sleeved with detection gears on the left and right sides of the outer part, and the top of the base rack is provided with magnetic steels on the left and right sides; The signal coil is installed on the outside of the magnetic steel, the top of the base rack is provided with magneto-inductive torque sensors on the positions corresponding to the signal coils on the two sides, the outer part of the pitch drive shaft is sleeved with a rotating support between the transmission gear and the detection gear, and the top of the rotating support is provided with a director; The measurement module is installed in the magneto-inductive torque sensor, the control module is installed on the top of the base rack on the positions outside the magneto-inductive torque sensor, the control module is connected with the measurement module through a data line, and the control module is internally integrated with a communication submodule, a warning submodule and a recording submodule.

5. The human shadow rocket launcher pitch drive shaft torque dynamic detection system according to claim 4, characterized in that: The base rack is made of alloy steel and is welded, the bottom of the base rack is provided with anti-skid rubber pads and foundation bolt mounting holes, and the bearings are provided with shock-absorbing rubber pads between the base rack.

6. The human shadow rocket launcher pitch drive shaft torque dynamic detection system according to claim 4, characterized in that: The driving gear and the transmission gear are made of alloy steel, the tooth surfaces of the driving gear and the transmission gear are subjected to grinding and surface hardening treatment, the magnetic steel is a neodymium iron boron permanent magnet, the surface of the magnetic steel is nickel-plated, the signal coil is provided with a multi-layer winding structure, and the signal coil is externally sleeved with an electromagnetic shielding cover.

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