Marine hoisting simulation training device for warship-launched missile

Abstract

The utility model relates to a ship-launched missile offshore hoisting simulation training device, which comprises a swing table and a servo control system, the swing table comprises an upper platform, a lower platform, three electric cylinders and a plurality of hooke joints, the electric cylinders and the hooke joints are arranged between the upper platform and the lower platform, and the servo control system comprises a multi-axis motion controller, three drivers and three servo motors. The drivers, the servo motors and the electric cylinders are in one-to-one correspondence, the multi-axis motion controller is connected with the three drivers through signals, the drivers are in real-time communication connection with the servo motors, the servo motors are in transmission connection with the electric cylinders, and the upper platform completes rolling, pitching and lifting actions through telescopic motion of the three servo electric cylinders. The device can do single-degree-of-freedom motion of any one degree of freedom and three-degree-of-freedom composite motion in three degrees of freedom in space, a full-digital control servo system and an electric cylinder are adopted as executing mechanisms, the motion trail and speed are smooth and continuous, and high-frequency-response rapid motion and low-speed stable motion can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of shipboard missile launching training platform, concretely relates to shipboard missile sea hoisting simulation training device. BACKGROUND

[0002] With the high-speed development of shipboard missile weapon system, shipboard missile weapon system is equipped with warships in succession, and the tasks of loading and unloading of shipboard missile launching device are increasingly heavy. The loading and unloading process of shipboard missile launching device is greatly affected by the swing of warships, and the operating personnel must undergo a lot of strict training to master the missile launching box installation skills. The daily training process lacks warship swing simulation equipment, and cannot simulate the sea port storm conditions during loading. When the ship is off shore to perform tasks or is on shore for maintenance, it does not have the training conditions for loading and unloading, which leads to the inability to carry out targeted training, resulting in low efficiency of actual loading and unloading, weak ability of operating personnel to respond and handle emergencies, and great safety hazards in loading and unloading operation. CONTENT OF THE UTILITY MODEL

[0003] To solve the technical problems existing in the prior art, the utility model provides a kind of shipboard missile sea hoisting simulation training device.

[0004] To achieve the above purpose, the technical solution of the utility model is as follows:

[0005] A kind of shipboard missile sea hoisting simulation training device, including swing platform and servo control system, swing platform includes upper and lower platform, three electric cylinders and multiple hooke hinges, lower platform is fixed on mounting surface, upper and lower platform are connected by electric cylinder and hooke hinge at both ends of electric cylinder, support column is installed in lower platform, and the top of support column is also connected with upper platform by a hooke hinge. Servo control system includes multi-axis motion controller, three drivers, three servo motors, driver, servo motor and electric cylinder are one-to-one correspondence, multi-axis motion controller is connected with three drivers by signal, driver and servo motor are in real time communication connection, servo motor and electric cylinder are transmission connection, and upper platform is completed by three servo electric cylinders telescopic movement horizontal swing, vertical swing, lifting action.

[0006] As a preferred technical solution, the shape of lower platform is equilateral triangle, and three electric cylinders are respectively located on the three corners of lower platform.

[0007] As a preferred technical solution, the maximum deformation of swing platform is located on the edge of upper platform, and the center of gravity of swing platform does not go out of equilateral triangle of lower platform at limit position.

[0008] As a preferred technical solution, driver includes control panel and power drive module, and driver adopts common DC bus and modular design.

[0009] As a preferred technical scheme, the control board comprises a main control chip, a power supply, a reset circuit, a communication module, an A / D conversion circuit, an encoder signal conversion circuit and an input / output signal interface.

[0010] As a preferred technical scheme, the power driving module comprises an inverter circuit, a main circuit, a switching power supply circuit, a voltage detection element, a current detection element and an interface circuit.

[0011] As a preferred technical scheme, the power driving module is further provided with a heat sink.

[0012] Compared with the prior art, the utility model has the advantages that:

[0013] The ship-launched missile sea hoisting simulation training device of the utility model considers the missile loading and unloading process, operation steps and limitation conditions of the ship-launched missile launching device, sends control instructions to a multi-axis motion controller through a servo control system to drive a three-branch electric cylinder to extend or retract, so that the platform on the swing table moves, simulates the lateral swing of ±3° and the up-down reciprocating motion of ±500mm of the ship, realizes the simulation of the roll, pitch and heave of the ship body, solves the dependence of the missile loading and unloading training of the ship-launched missile launching device on the ship, improves the missile loading and unloading training level under actual combat conditions, strengthens the sudden response ability of the operator and improves the missile loading and unloading efficiency and operation safety in actual combat. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is the main part composition schematic diagram of the ship-launched missile sea hoisting simulation training device of the utility model;

[0015] Figure 2 It is the working principle diagram of the ship-launched missile sea hoisting simulation training device of the utility model;

[0016] Figure 3 It is the swing table structure schematic diagram of the ship-launched missile sea hoisting simulation training device of the utility model;

[0017] Figure 4 It is the iteration diagram of the swing table of the ship-launched missile sea hoisting simulation training device of the utility model using the PSO particle swarm optimization algorithm for solution;

[0018] Figure 5 It is the singularity (dead point) global analysis diagram of the swing table of the ship-launched missile sea hoisting simulation training device of the utility model;

[0019] Figure 6 is the Adams simulation schematic diagram of the rocking table in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0020] Figure 7 is the speed curve diagram of the electric cylinder when the upper platform rolls horizontally in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0021] Figure 8 is the displacement curve diagram of the electric cylinder when the upper platform rolls horizontally in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0022] Figure 9 is the speed curve diagram of the electric cylinder when the upper platform lifts in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0023] Figure 10 is the displacement curve diagram of the electric cylinder when the upper platform lifts in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0024] Figure 11 is the thrust curve diagram when the electric cylinder displaces up and down in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0025] Figure 12 is the power curve diagram when the electric cylinder displaces up and down in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0026] Figure 13 is the overall simulation analysis diagram of the rocking table in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0027] Figure 14 is the working flow chart of the servo control system in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0028] Figure 15 is the heat transfer model diagram of the power drive module in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0029] Figure 16 is the on-off input interface circuit diagram of the driver in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0030] Figure 17 is the on-off output interface circuit diagram of the photoelectric coupler connection switch of the driver in the ship-launched missile offshore hoisting simulation training device of the utility model;

[0031] Figure 18 is the front view of the rocking table in the ship-launched missile offshore hoisting simulation training device of the utility model.

[0032] In the diagram: 1. Upper platform; 2. Lower platform; 3. Electric cylinder; 4. Hooke hinge. Detailed Implementation

[0033] The technical solution of this utility model will be further described below with reference to specific embodiments:

[0034] like Figure 1 As shown, a simulated training device for the sea-launched installation of ship-launched missiles includes a swing platform and a servo control system. The swing platform includes an upper platform 1, a lower platform 2, three electric cylinders 3, and seven Hooke hinges 4. The lower platform 2 is fixed on the mounting surface. The upper platform 1 and the lower platform 2 are connected by the electric cylinders 3 and the Hooke hinges 4 at both ends of the electric cylinders 3. A support column is installed in the middle of the lower platform 2, and the top of the support column is also connected to the upper platform 1 by a Hooke hinge 4. The servo control system includes a cabinet, a multi-axis motion controller, three drivers, three servo motors, and sensors. The drivers, servo motors, and electric cylinders 3 correspond one-to-one. The multi-axis motion controller is connected to the three drivers via signals. The drivers are connected to the servo motors via real-time communication. The servo motors are connected to the electric cylinders 3 via transmission. The upper platform 1 completes the roll, pitch, and lift movements through the telescopic movement of the three servo electric cylinders 3.

[0035] The software of the servo control system has functions such as initialization, device self-test and online status detection, jog control mode, automatic control mode, attitude analysis and inverse kinematics, motion command calculation and human-machine interface;

[0036] b) The servo control software has functions such as zero finding and reset;

[0037] c) The servo control software has adjustable motion parameters;

[0038] d) The three-degree-of-freedom motion platform has a roll angle of ±5°, a pitch angle of ±3°, and a vertical lift of ±500mm.

[0039] like Figure 18 As shown, the ship-launched missile sea hoisting simulation training device is mainly used to simulate the functions of rolling, pitching, and rising and falling of a ship in a real environment. It is controlled by a host computer sending control commands to a multi-axis motion controller to drive three electric cylinders 3 to extend or retract, thereby causing the platform 1 on the swing platform to move and realize the simulation of the ship's rolling, pitching, rising and falling movements.

[0040] like Figure 14As shown, the workflow of the device includes the following steps: first, the target motion trajectory of the upper platform 1 is given in the host computer, and the host computer sends a target motion trajectory signal of the motion platform to the controller, which converts it into a length change signal of the three electric cylinders 3 through the inverse kinematics algorithm, and sends a driving signal to the servo driver through the controller, thereby driving the servo motor, so that the three electric cylinders 3 stretch and retract according to the given length change. At this time, the electric cylinder 3 drives the upper platform 1 to change the pose through the mechanism connected with the upper platform 1 and the lower platform 2, so that the upper platform 1 moves according to the target motion trajectory.

[0041] The lower platform 2 is an equilateral triangle, and the three electric cylinders 3 are respectively located at the three corners of the lower platform 2.

[0042] Optimization design of main structural parameter indexes

[0043] The configuration design parameters of the device are summarized and integrated to determine five optimization variables Rp, alphap, Rb, alphab and H0. The global analysis and optimization are carried out based on the PSO particle swarm algorithm, as shown in Figure 4 .

[0044] The global analysis of the singularity (dead point) of the three-degree-of-freedom platform is carried out, as shown in Figure 5 , and it can be concluded from Figure 5 that the dexterity function is not too large, so that the global dead point of the swing table mechanism is obtained. Then the global motion characteristics of the three-degree-of-freedom platform are analyzed, and the motion ranges of the electric cylinders 3 and the hinges are shown in Table 1:

[0045] Table 1 Motion ranges of electric cylinders 3 and hinges

[0046]

[0047] According to the hinge position and the size parameters of the electric cylinder 3, a model is established in Admas, and the schematic diagram of the established model is shown in Figure 6 .

[0048] A rigid body dynamics model of the platform is established in adams, and the load is simplified into a mass block with a height of 1m, and an equivalent density is applied to make it weigh 5000-6000kg.

[0049] When the upper platform 1 rolls horizontally, the velocity curve of the electric cylinder 3 is shown in Figure 7 , and the maximum velocity is 25-32mm / s, and the displacement curve is shown in Figure 8 , and the maximum displacement is 200-220mm.

[0050] When the upper platform 1 rises and falls, the velocity curve of the electric cylinder 3 is shown in Figure 9The maximum speed is 150-200 m / s, and the displacement curve is shown in Fig. 2. Figure 10 The maximum displacement is 1000-1500 mm.

[0051] The thrust of the electric cylinder 3 is shown in Fig. 3. Figure 11 The maximum thrust is 20-30 kN, and the safety factor is 1.5-1.8, so the single-cylinder thrust is 40-60 kN.

[0052] The power of the electric cylinder 3 is shown in Fig. 4. Figure 12 The maximum thrust is 4-5 kW, and the efficiency is 0.4-0.8, so the single-cylinder power is 5-8 kW.

[0053] Through Admas simulation analysis, the maximum speed requirement of the electric cylinder 3 in three degrees of freedom is determined to be 150-200 mm / s.

[0054] Table 2: Speed of each electric cylinder 3

[0055]

[0056] In the three-degree-of-freedom motion superposition state, the upper platform 1 and the Hooke angle self-weight are 10-15 KN, and the maximum driving force requirement of the electric cylinder 3 in the three-degree-of-freedom platform is determined to be 40-50 kN, with a safety factor of 1.5-2.2, and the maximum thrust of the electric cylinder 3 is 60-75 kN.

[0057] Table 3: Thrust of each electric cylinder 3

[0058]

[0059]

[0060] The main parameter indicators of the three-degree-of-freedom platform structure are as follows:

[0061] 1) The radius of the upper hinge point distribution circle: Rp = 1-1.5 m;

[0062] 2) The radius of the lower hinge point distribution circle: Rb = 1-1.5 m;

[0063] 3) The upper hinge point: alphap = 2-2.2 rad;

[0064] 4) The lower hinge point: alphab = 2.05-2.1 rad;

[0065] 5) The initial length of the electric cylinder 3: Lmin = 1.5-2 m;

[0066] 6) The maximum length of the electric cylinder 3: Lmax = 2.5-3;

[0067] 7) Zero position platform height: H0 = 2.5 ~ 3m.

[0068] Overall simulation analysis:

[0069] After the three-dimensional model of the swing table is established, the dynamic simulation analysis of the swing table is performed through ANSYS software, and the results are shown in Figure 13

[0070] Through the Ansys dynamic simulation analysis, at the limit position, the maximum deformation of the three-degree-of-freedom platform is 7.5 ~ 8mm and is located at the edge of the upper platform 1 without affecting the motion accuracy of the entire platform, the maximum deformation of the middle of the table is 0.3 ~ 0.5mm, and the maximum stress is 300 ~ 350Mpa.

[0071] Through the solidworks three-dimensional simulation analysis, at the limit position, the center of gravity of the three-degree-of-freedom platform is located on the 400 ~ 450mm circle of the center of the lower platform 2, and does not exit the equilateral triangle of the lower platform 2, and will not be overturned.

[0072] The function of the servo control system is mainly to calculate and convert the position information of each cylinder motion after the controller receives the target motion trajectory signal of the upper computer, and then send it to the servo driver, and finally the servo driver controls the electric cylinder 3 to move to complete each posture.

[0073] The servo control system adopts the full-digital motion controller of Beckhoff, Germany. The controller adopts the unique "PC + Beckhoff motion controller" architecture, adopts the Twin CAT real-time control software with Windows as the operating system to constitute a digital closed-loop position control system and EtherCAT field bus control mode, so that the control of the entire three-degree-of-freedom parallel mechanism can meet the requirements of adaptability to the field environment, stability, reliability and certainty of operation. The selected multi-axis motion controller model is CX5130 embedded controller produced by Beckhoff company.

[0074] Table 4 Multi-axis motion controller parameter table

[0075]

[0076] After installing the Twin CAT automation software on the CX5130 controller, it can be converted into a functional programmable logic controller and motion control system. It has the following advantages:

[0077] CX5130 embedded controller is the perfect fusion of industrial PC and hard PLC, which is very suitable for all performance level control tasks.

[0078] ​By combining PC technology with modular I / O, Beckhoff can make CX5130 controller installed in the control cabinet DIN rail, while the control task requirements, adding and deleting units and interfaces, so as to significantly reduce the space and reduce the cost of use.

[0079] CX5130 embedded controller and Twin CAT automation software can be combined to make it a powerful PLC supporting IEC61131-3 language, while also performing motion control tasks.

[0080] CX5130 embedded controller is only a hardware CPU can realize PLC, motion control and visualization control tasks.

[0081] By means of real-time operating system in Windows CE or embedded Windows XP platform, user tasks written in IEC 61131-3 language can be processed in real time under the state of Twin CAT running.

[0082] The control system is connected with three servo motor driven cylinders through real-time Ethernet, and the servo motor driven cylinder and servo motor use EtherCAT Ethernet for real-time control, which simplifies the system wiring and greatly increases the reliability and anti-interference ability of the system.

[0083] The multi-axis motion controller software has optional external interfaces: EtherCAT, CAN bus, RS232, RS485, RS422, etc.

[0084] In this embodiment, the driver is selected as a servo driver, the total power input is AC 380V, and the main parameters are shown in Table 5:

[0085] Table 5 Driver parameter table

[0086]

[0087] The driver includes a control board and a power drive module, wherein the power module includes: an inverter circuit, a main circuit, a switching power supply circuit, a voltage detection element, a current detection element, an interface circuit. The control board includes a main control chip, a power supply, a reset circuit, a communication module, an A / D conversion circuit, an encoder signal conversion circuit, an input and output signal interface.

[0088] The common DC bus and modular design are adopted, the assembly volume is small, and the installation is convenient.

[0089] The drive modules can share energy, and at the same time, excess energy can be fed back to the power grid through controllable rectifier modules.

[0090] The controllable rectifier module DC bus voltage remains constant, can be maximized by inverter module and motor.

[0091] Adapt to a variety of encoder types, such as resolver, absolute encoder and incremental encoder, etc.

[0092] The drive module can be set to position, speed and torque loop, thus providing an open motion control solution.

[0093] High power factor, reduce the pollution of the grid, wide power range.

[0094] Full closed loop control, multi-axis synchronous control, resonance suppression, gain switching and other functions.

[0095] The continuous working time of the swing table mainly depends on the power design and heat dissipation design of the motor and the driver. Through the design calculation of the electric cylinder 3, the power of the selected driver meets the requirements, and it has the characteristics of rapid response, high precision and efficiency, wide speed regulation range, large load capacity, excellent control performance, etc. It uses IGBT and other devices as power driving devices. When the output power of the power driving device is small, it is generally not necessary to add a heat dissipation device or to make special design. However, if the output power of the power driving device is large, the temperature of the tube core will reach or exceed the allowable junction temperature if no heat dissipation measures are taken, and the device will be damaged. Therefore, in order to improve the heat dissipation performance, a heat sink is used for heat transfer. The structure and principle of the drive heat dissipation design are introduced below.

[0096] The maximum junction temperature of the power driving device is the upper limit of the temperature at which the device can normally work. If the actual junction temperature of the device exceeds the maximum junction temperature requirement, the device will be directly damaged. The power driving module is also provided with a heat sink. The heat generated by the power driving device during operation is conducted to the device housing through the internal heat conduction structure. The housing is connected with the heat sink, and the heat sink dissipates heat to the air through heat convection. The heat transfer model is shown in Figure 15 .

[0097] The control loop is composed of a main control chip (DSP), a crystal oscillator, an input-output circuit, an AD conversion circuit, an encoder signal conversion circuit, a communication circuit, a reset circuit, a parameter access circuit, a state detection circuit, etc. Its main functions include signal exchange with the upper computer, encoder signal processing, brake control signal output, PWM signal output, state parameter access, etc.

[0098] The control power supply circuit converts the control power supplied from the outside into the power required by the internal main control circuit of the driver, such as +5V, +3.3V, +1.8V, etc. After receiving the brake control signal output by the main control circuit, the brake circuit controls the opening and closing of the motor brake by adding a filter to suppress the impact at the moment of brake opening.

[0099] When the power supply is powered on, to avoid the instantaneous charging current too large to form a large impact on the power supply, the soft start circuit is designed. When powered on, the soft start circuit will charge the resistance into the circuit, which plays a role in limiting the charging current; when the bus capacitor voltage is about 80%, the soft start circuit connects the relay, short-circuits the charging resistance, until the bus capacitor is fully charged. When the bus voltage is under-voltage, the soft start circuit automatically disconnects the relay, and the charging resistance is connected into the circuit.

[0100] As shown in Figure 16 is the driver switch input interface, as shown in Figure 17 is the driver switch output interface.

[0101] The maximum drive switch feedback signal is 20mA, and the interface circuit has an optical coupling isolation function, which meets the technical specifications.

[0102] To prevent the influence of the input power, the safety capacitor and resistance are connected to effectively absorb the surge voltage. Soft start circuit and pump brake absorption circuit are designed to reduce the impact of high power on the main circuit.

[0103] In the system fault protection link, the bus voltage detection circuit and inverter module fault detection circuit are designed. The main circuit overvoltage, undervoltage, overload, brake abnormality and IPM fault signals are detected by software and hardware cooperation. Once the fault is determined, the PWM drive signal is immediately blocked by software and hardware logic and the fault type is displayed.

[0104] When the motor is in generating state, the drive system has high pump energy, which is consumed in the following ways: the pump energy is completely discharged to the brake resistance by the brake circuit. When the bus voltage exceeds the set brake threshold, the brake circuit automatically connects the brake resistance to the bus positive and negative terminals, causing the bus voltage to drop rapidly to the allowed range.

[0105] The over-current protection method of the IGBT adopts a combination of distributed over-current protection and centralized over-current protection: a Hall sensor is used to detect the primary current of the transformer, and a fast optocoupler is connected in series in the distributed over-current detection channel, the distributed over-current protection channel is used to respond to the requirement of the centralized over-current signal, and the over-current protection circuit inside the drive module is used to implement soft turn-off of the IGBT. When the primary current of the transformer does not exceed the set threshold, there is no centralized over-current signal, at this time the input side diode of the optocoupler is in the conducting state, and the optocoupler connected in series in the distributed over-current detection channel does not affect the distributed over-current protection function; when the primary current of the transformer exceeds the set threshold, the centralized over-current signal is generated, at this time the input side diode of the optocoupler is quickly turned off, the output side triode of the fast optocoupler is quickly turned off, at this time if the IGBT is still in the conducting state, the over-current protection circuit inside the drive module will act to implement soft turn-off protection of the IGBT. In this way, whether it is distributed over-current protection or centralized over-current protection, soft turn-off protection of the IGBT can be implemented to prevent excessive turn-off voltage from causing damage to the IGBT.

[0106] The embodiment is only a further explanation of the present application, and is not a limitation of the present application, and those skilled in the art can make non-creative modifications to the embodiment according to the needs after reading the specification, but as long as the modifications are within the scope of the claims of the present application, they are protected by the patent law.

Claims

1. A simulated training device for the sea-launched hoisting of ship-launched missiles, characterized in that, The system includes a rocking platform and a servo control system. The rocking platform comprises upper and lower platforms, three electric cylinders, and multiple Hooke hinges. The lower platform is fixed to the mounting surface. The upper and lower platforms are connected by electric cylinders and Hooke hinges. The servo control system includes a multi-axis motion controller, three drivers, and three servo motors. The drivers, servo motors, and electric cylinders correspond one-to-one. The multi-axis motion controller is connected to the three drivers via signals. The drivers are connected to the servo motors via real-time communication. The servo motors are connected to the electric cylinders via transmission. The upper platform completes the panning, tilting, and lifting movements through the telescopic movement of the three servo electric cylinders.

2. The ship-launched missile sea-based hoisting simulation training device according to claim 1, characterized in that, The lower platform is shaped like an equilateral triangle, with three electric cylinders located at the three corners of the lower platform.

3. The ship-launched missile sea-based hoisting simulation training device according to claim 2, characterized in that, The maximum deformation of the swing platform is located at the edge of the upper platform. At the extreme position, the center of gravity of the swing platform does not fall outside the equilateral triangle of the lower platform.

4. The ship-launched missile sea-based hoisting simulation training device according to claim 1, characterized in that, The driver includes a control board and a power drive module, and the driver adopts a common DC bus and a modular design.

5. The ship-launched missile sea-based hoisting simulation training device according to claim 4, characterized in that, The control board includes a main control chip, power supply, reset circuit, communication module, A / D conversion circuit, encoder signal conversion circuit, and input / output signal interface.

6. The ship-launched missile sea-based hoisting simulation training device according to claim 4, characterized in that, The power drive module includes: an inverter circuit, a main circuit, a switching power supply circuit, a voltage detection element, a current detection element, and an interface circuit.

7. The ship-launched missile sea-based hoisting simulation training device according to claim 5, characterized in that, The power drive module is also equipped with a heat sink.

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