A hardware-in-the-loop simulation device for precision guidance components of high-spin projectiles

Abstract

This utility model relates to the field of guidance, specifically to a hardware-in-the-loop (HIL) simulation device for a precision guidance component of a high-spinning projectile. The device includes a turntable, a simulation host, a real-time interface control unit, a speed motor, and a torque motor. The speed motor is mounted on the turntable, and the torque motor is mounted on a sliding mechanism of the turntable. The speed motor is connected to the main shaft of the precision guidance component via a connecting component. The output shaft of the torque motor is connected to one end of a clamping clamp, and the other end of the clamping clamp is engaged with the wing tube control surface of the precision guidance component. The speed motor, the precision guidance component, and the torque motor are coaxially arranged. The simulation host is connected to both the speed motor and the torque motor via the real-time interface control unit. This utility model effectively assists in the physical prototype verification of the function and performance of the precision guidance component for high-spinning projectiles during the development process, solving the problem of difficulty in testing the function and performance of precision guidance components.

Description

Technical Field

[0001] This utility model relates to the field of guidance, specifically to a semi-physical simulation device for a precision guidance component of a high-spinning projectile. Background Technology

[0002] Ammunition has always been the most rapidly evolving, diverse, in-demand, widely used, and consumed weapon system. However, traditional artillery shells suffer from large dispersion, low accuracy, and poor destructive effects, easily causing collateral damage to civilians when striking urban targets, thus failing to meet the precision requirements of modern warfare. Against this backdrop, "smart munitions" with precision-guided components have emerged, effectively resolving the contradictions between precision missiles and traditional artillery shells, filling the gap between these two weapon systems, and enriching the variety of munitions to adapt to different warfare needs.

[0003] Testing the functionality and performance of precision guidance components is a crucial step in the development process, but the testing process is challenging. Purely software-based virtual prototypes cannot accurately reflect actual physical characteristics, while full physical testing is costly and risky.

[0004] In view of the above, this utility model is hereby proposed. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a semi-physical simulation device for a precision guidance component of a high-spin projectile. This device can maintain the authenticity of the prototype system under actual working conditions while reducing costs and risks.

[0006] The objective of this utility model is achieved through the following technical solution: This utility model provides a hardware-in-the-loop (HIL) simulation device for a precision guidance component for high-spin projectiles, including a turntable, a simulation host, a real-time interface control unit, a speed motor, and a torque motor. The speed motor is mounted on the turntable, and the torque motor is mounted on the sliding mechanism of the turntable. The speed motor is connected to the main shaft of the precision guidance component through a connecting component. The output shaft of the torque motor is connected to one end of a clamping clamp, and the other end of the clamping clamp is engaged with the wing tube control surface of the precision guidance component. The speed motor, the precision guidance component, and the torque motor are coaxially arranged. The simulation host is connected to the speed motor and the torque motor respectively through the real-time interface control unit.

[0007] Furthermore, the connecting assembly includes a coupling, a connecting shaft, and a nut connector. The output shaft of the speed motor is connected to one end of the coupling, and the other end of the coupling has an external thread. Both ends of the connecting shaft have external threads. The coupling is threadedly connected to one end of the connecting shaft by the nut connector, and the nut connector also threadedly connects the other end of the connecting shaft to the main shaft of the precision guidance assembly.

[0008] Furthermore, the turntable includes a base plate, on which a shock-absorbing pad is provided, and a clamp for fixing a rotating motor is connected to the top of the shock-absorbing pad.

[0009] Furthermore, a bearing seat is provided on the top of the shock-absorbing pad, and a bearing is installed inside the bearing seat, which is sleeved on the outer periphery of the coupling.

[0010] Furthermore, the sliding mechanism includes a slide rail disposed on the top of the shock-absorbing pad, a slider adapted to its structure is mounted on the slide rail, a fixed plate is connected to the top of the slider, the torque motor is connected to the fixed plate, and the output shaft of the torque motor passes through the fixed plate and is connected to the circular plate.

[0011] Furthermore, the upper surface of the slide rail is uniformly provided with threaded holes, and the slider is limited by passing bolts through the threaded holes on the front and rear sides of the slider.

[0012] Furthermore, the clamping clamp includes a circular plate, a conical frame, and an annular frame. The annular frame includes multiple baffles adapted to the control surface. One end of the circular plate is connected to the output shaft of the torque motor, and the other end is connected to one end of the conical frame. The other end of the conical frame is connected to one end of the annular frame. The other end of the annular frame is inserted into the top of the precision guidance assembly and clamps the wing tube control surface through multiple baffles (the baffles are arranged in a crisscross pattern with the control surface to clamp the control surface).

[0013] Furthermore, the base plate is a wooden board; the shock-absorbing pad is an aluminum plate.

[0014] Compared with the prior art, the technical solution provided by this utility model has the following beneficial effects: This invention's hardware-in-the-loop simulation device generates experimental data using a simulation host and transmits it to a speed motor and a torque motor. The speed motor and torque motor are then coaxially connected to a precision guidance component. The precision guidance component operates autonomously and saves data, effectively assisting in the physical prototype verification of the function and performance of the precision guidance component for high-spin projectiles during the development process. This solves the problem of the difficulty in testing the function and performance of precision guidance components. Attached Figure Description

[0015] The accompanying drawings are incorporated in and form part of this specification, and together with the description, serve to explain the principles of this invention.

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the semi-physical simulation device of this utility model; Figure 2 This is a schematic diagram of the data flow of this utility model.

[0018] Wherein: 1 is a turntable; 11 is a sliding mechanism; 111 is a slide rail; 112 is a slider; 113 is a fixed plate; 12 is a base plate; 13 is a shock-absorbing pad; 14 is a bearing seat; 2 is a simulation host; 3 is a real-time interface control unit; 4 is a speed motor; 5 is a torque motor; 6 is a precision guidance component; 7 is a clamping clamp; 71 is a circular plate; 72 is a conical frame; 73 is a ring frame; 731 is a baffle; A is a connecting shaft. Detailed Implementation

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this invention. Rather, they are merely examples of apparatuses consistent with some aspects of this invention as detailed in the appended claims.

[0020] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0021] See Figure 1 and Figure 2 This embodiment provides a hardware-in-the-loop (HIL) simulation device for a precision-guided assembly of a high-spinning projectile, including a turntable 1, a simulation host 2, a real-time interface control unit 3, a speed motor 4, and a torque motor 5. The speed motor 4 is fixedly or detachably connected to the turntable 1, and the torque motor 5 is connected to the side of the sliding mechanism 11 of the turntable 1. The speed motor 4 is connected to the main shaft of the precision-guided assembly 6 via a connecting component. The output shaft of the torque motor 5 is connected to one end of a clamping clamp 7, and the other end of the clamping clamp 7 is engaged with the wing tube control surface of the precision-guided assembly 6. The speed motor 4, the precision-guided assembly 6, and the torque motor 5 are coaxially arranged to ensure coaxial rotation. The simulation host 2 is electrically connected to the speed motor 4 and the torque motor 5 via the real-time interface control unit 3. The simulation host 2 and the real-time interface control unit 3 are connected via a serial port, and the communication protocol is configurable.

[0022] The high-speed dual-rotation platform is composed of a turntable 1, a speed motor 4, a torque motor 5, and a precision guidance component 6.

[0023] Specifically, the maximum speed of the rotary motor 4 can reach 24,000 r / min. The torque motor 5 can stably respond to the torque control commands sent by the real-time interface control unit 3 when the load rotates forward or backward.

[0024] In this embodiment, the connecting assembly includes a coupling, a connecting shaft, and a nut connector. The output shaft of the speed motor 4 is connected to one end of the coupling (or the connecting shaft and the nut connector can be screwed together with the output shaft of the speed motor 4 and the coupling). The other end of the coupling has an external thread, and both ends of the connecting shaft have external threads. The coupling is threaded to one end of the connecting shaft through the nut connector. The nut connector also threadedly connects the other end of the connecting shaft to the main shaft (which has an external thread) of the precision guidance assembly 6, ensuring that the three rotate coaxially. Using a coupling can compensate for alignment errors, reduce impact loads, and absorb vibrations.

[0025] It should be added that the rotation direction of the speed motor 4 is the direction of the locking thread. In this embodiment, the speed motor 4 rotates forward, which is the direction of locking the thread. Furthermore, a bearing is provided, so the rotation of the speed motor 4 should hardly affect the fixed connection between the nut connector and the corresponding component.

[0026] It should also be noted that the purpose of setting up the connecting shaft and nut connector is to adapt to the spindle of the coupling and precision guidance assembly.

[0027] Furthermore, the turntable 1 includes a base plate 12 (made of wood), and a shock-absorbing pad 13 (made of aluminum plate) is provided on the top of the base plate 12. The top of the shock-absorbing pad 13 is connected to a clamp for fixing the speed motor 4.

[0028] In this embodiment, the speed motor 4 is detachably connected to the turntable 1. Specifically, the bottom of the clamp has a screw hole, and the bolt is fixedly connected to the shock-absorbing pad 13 and the base plate 12 by passing the bolt through the screw hole. The speed motor 4 is fixed to the inner ring of the clamp by twisting the bolts and nuts on both sides of the clamp.

[0029] Furthermore, a bearing seat 14 is fixedly connected to the top of the shock-absorbing pad 13. A bearing is installed inside the bearing seat 14. The bearing is sleeved on the outer periphery of the coupling to support and fix the coupling.

[0030] Furthermore, the sliding mechanism 11 includes a slide rail 111 fixedly connected to the top of the shock-absorbing pad 13. The top of the slide rail 111 is fitted with a slider 112 adapted to its structure, so that the slider 112 can slide on the slide rail 111. The top of the slider 112 is connected to a fixing plate 113. The torque motor 5 is connected to the fixing plate 113, and the output shaft of the torque motor 5 passes through the fixing plate 113 and is connected to the circular plate 71.

[0031] Installation process: When installing the precision guidance component 6, the torque motor 5 needs to slide backward first. After the precision guidance component 6 is connected to the connecting component on the speed motor 4 side, the torque motor 5 slides forward and uses the clamping clamp 7 to clamp the main control surface (differential control surface).

[0032] Furthermore, the upper surface of the slide rail 111 is uniformly provided with threaded holes. By passing bolts through the threaded holes on the front and rear sides of the slider 112, the slider 112 is limited. Alternatively, multiple through holes are provided on the upper surface of the slider 112. By passing bolts through the through holes and inserting them into the threaded holes on the upper surface of the slide rail 111, a screw connection is achieved. The slider 112 can be moved back and forth by removing the bolts.

[0033] Furthermore, limit blocks are provided at both ends of the slide rail 111.

[0034] In this embodiment, the simulation host 2 is an industrial control computer running a Windows / Linux real-time system. The simulation host 2 runs a mathematical simulation model, specifically a six-degree-of-freedom model (the specific model is not limited here; an existing model is selected based on the actual output values), calculates the high-spin projectile speed and the aerodynamic torque generated by the differential rudder, and sends them to the real-time interface control unit 3 according to the protocol. The real-time interface control unit 3 then distributes the speed command and torque command to the speed motor 4 and torque motor 5 respectively according to the protocol.

[0035] Specifically, the six-degree-of-freedom mathematical simulation model (the existing model) describes the complete motion of the projectile in three-dimensional space, and can calculate the changes in velocity, position, and rotational speed after the projectile leaves the muzzle. It records the external forces and torques, such as aerodynamic forces and gravity, acting on the projectile throughout the entire motion.

[0036] In this embodiment, a torque motor HC-YLS-700 or a speed motor HC-YVF-400 can be selected.

[0037] In this embodiment, the real-time interface control unit 3 is a processor containing an FPGA chip, which is connected to the drivers of the high-speed motor 4 and the torque motor 5. It receives the high-speed projectile rotation and the aerodynamic torque generated by the differential rudder from the simulation host 1, and simultaneously sends control commands to the drivers of the high-speed motor 4 and the torque motor 5. The FPGA chip can be configured via protocol to adapt to different high-speed motors 4 and torque motors 5, as well as the simulation host 2.

[0038] The usage process of the device in this embodiment is as follows: The industrial control computer runs a six-degree-of-freedom model to generate simulation environment data, including the rotational speed of the high-spin projectile and the aerodynamic torque generated by the differential rudder of the precision guidance component. The speed motor responds in real time to the rotational speed of the high-spin projectile output by the industrial control computer (simulating the high-speed rotation of the projectile), and the torque motor responds in real time to the aerodynamic torque output by the industrial control computer (simulating the aerodynamic torque generated by the differential rudder of the precision guidance component). The precision guidance component operates autonomously and stores data, enabling on-ground verification of the hardware, software, and algorithm functions of the precision guidance component.

[0039] The above description is merely a specific embodiment of this utility model, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this utility model.

[0040] It should be understood that this utility model is not limited to the content already described above, and various modifications and changes can be made without departing from its scope. The scope of this utility model is limited only by the appended claims.

Claims

1. A semi-physical simulation device for a high-rotating shell precision guidance assembly, characterized in that, The system includes a turntable (1), a simulation host (2), a real-time interface control unit (3), a speed motor (4), and a torque motor (5). The speed motor (4) is mounted on the turntable (1), and the torque motor (5) is mounted on the sliding mechanism (11) of the turntable (1). The speed motor (4) is connected to the main shaft of the precision guidance component (6) through a connecting component. The output shaft of the torque motor (5) is connected to one end of a clamping clamp (7), and the other end of the clamping clamp (7) is engaged with the wing tube control surface of the precision guidance component (6). The speed motor (4), the precision guidance component (6), and the torque motor (5) are coaxially arranged. The simulation host (2) is connected to the speed motor (4) and the torque motor (5) through the real-time interface control unit (3).

2. The semi-physical simulation device of claim 1, wherein, The connecting assembly includes a coupling, a connecting shaft, and a nut connector. The output shaft of the speed motor (4) is connected to one end of the coupling. The other end of the coupling has an external thread. Both ends of the connecting shaft have external threads. The coupling is threaded to one end of the connecting shaft through the nut connector. The nut connector also threadedly connects the other end of the connecting shaft to the main shaft of the precision guidance assembly (6).

3. The hardware-in-the-loop simulation device according to claim 2, characterized in that, The turntable (1) includes a base plate (12), on which a shock-absorbing pad (13) is provided, and a clamp for fixing a speed motor (4) is connected to the top of the shock-absorbing pad (13).

4. The semi-physical simulation device of claim 3, wherein, The top of the shock-absorbing pad (13) is also provided with a bearing seat (14), and a bearing is installed in the bearing seat (14), which is sleeved on the outer periphery of the coupling.

5. The hardware-in-the-loop simulation device according to claim 3, characterized in that, The sliding mechanism (11) includes a slide rail (111) disposed on the top of the shock-absorbing pad (13), a slider (112) adapted to its structure is mounted on the slide rail (111), a fixed plate (113) is connected to the top of the slider (112), the torque motor (5) is connected to the fixed plate (113), and the output shaft of the torque motor (5) passes through the fixed plate (113) and is connected to the circular plate (71).

6. The semi-physical simulation device of claim 5, wherein, The upper surface of the slide rail (111) is uniformly provided with threaded holes. By passing bolts through the threaded holes on the front and rear sides of the slider (112), the slider (112) is limited.

7. The semi-physical simulation apparatus of claim 1, wherein The clamping clamp (7) includes a circular plate (71), a conical frame (72), and an annular frame (73). The annular frame (73) includes multiple baffles (731) adapted to the control surface. One end of the circular plate (71) is connected to the output shaft of the torque motor (5), and the other end is connected to one end of the conical frame (72). The other end of the conical frame (72) is connected to one end of the annular frame (73). The other end of the annular frame (73) is inserted into the top of the precision guidance assembly (6) and clamps the wing tube control surface through the multiple baffles (731).

8. The hardware-in-the-loop simulation device according to claim 3, characterized in that, The base plate (12) is a wooden board; the shock-absorbing pad (13) is an aluminum plate.

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