阅读说明：本技术 一种用于pgk的旋转云台及其控制方法 (Rotating holder for PGK and control method thereof ) 是由 李贵生 于 2021-06-28 设计创作，主要内容包括：本发明涉及一种用于PGK的旋转云台及其控制方法,它属于弹道控制装置及控制方法技术领域。主要解决现有PGK存在的当弹丸的转速不在此范围内时,旋转翼筒无法在惯性空间下保持静止产生稳定的法向力,便会丧失修正能力的技术问题。本发明的技术方案是：一种用于PGK的旋转云台,其包括直流电机、电源引信舱、齿轮轴、小轴承、齿轮轴紧固小螺钉、压盖连接螺钉、接头、压环、大轴承、电机工作架、两个行星轮、压盖和驱动小齿轮。本发明可与传统制式弹螺纹接口直接连接。本发明的电源引信舱外部有标准M52X3螺纹与弹体连接,接头与PGK连接。本发明具有机构结构紧凑和应用范围广泛等优点。(The invention relates to a rotary holder for PGK and a control method thereof, belonging to the technical field of trajectory control devices and control methods. The technical problem that when the rotating speed of a projectile is not in the range, a rotary wing cylinder cannot be kept static in an inertia space to generate stable normal force, and correction capability is lost when the rotating speed of the projectile is mainly solved. The technical scheme of the invention is as follows: a rotating holder for a PGK comprises a direct current motor, a power fuse cabin, a gear shaft, a small bearing, a gear shaft fastening small screw, a gland connecting screw, a joint, a pressure ring, a large bearing, a motor working frame, two planet wheels, a gland and a driving pinion. The invention can be directly connected with the traditional system elastic thread interface. The power fuse cabin is externally provided with standard M52X3 threads to be connected with a projectile body, and a joint is connected with a PGK. The invention has the advantages of compact mechanism structure, wide application range and the like.)

1. A rotary holder for a PGK (programmable gatherer), which is characterized by comprising a direct current motor (1), a power fuse cabin (2), a gear shaft (3), a small bearing (4), a gear shaft fastening small screw (5), a gland connecting screw (6), a rotary holder joint (7), a pressure ring (8), a large bearing (9), a motor working frame (10), a planet wheel (11), a gland (12) and a driving small gear (13); the motor fuse box is characterized in that the motor working frame (10) is in threaded connection with the direct current motor (1), an output shaft of the direct current motor (1) is fixedly connected with a driving pinion (13), the motor working frame (10) is arranged in the power fuse box (2) and is coaxial with the power fuse box (2), the planet wheel (11) is arranged in a mounting hole formed in the bottom surface of the motor working frame (10) in a matched mode through a gear shaft (3) and a small bearing (4) and is meshed with a gear ring and the driving pinion (13) arranged in the power fuse box (2), the large bearing (9) is arranged between the outer wall of the motor working frame (10) and the inner wall of the power fuse box (2), the pressing ring (8) is arranged in the power fuse box (2) through threads and fixes the large bearing (9), the rotary joint (7) is connected with the motor working frame (10) through threads and is located on the end surface of the power fuse box (2), the gland (12) is connected with the motor working frame (10) through a gland connecting screw (6), and the gear shaft fastening small screw (5) is connected with the gear shaft (3) through a small threaded hole formed in the gland (12).

2. A rotating head for a PGK, according to claim 1, wherein the number of teeth of said drive pinion (13), planet wheel (11) and power fuze capsule (2) ring gear is: number of driving pinion teeth z₁20, number of planetary gear teeth z₂46, power fuze capsule ring gear tooth number z₃112, m is 0.4.

3. A rotating head for PGK, according to claim 1, characterized in that said planet wheels (11) are 2-3.

4. A control method for a PGK rotary holder according to any one of claims 1 to 3 is characterized by comprising the following steps:

(1) measuring rotation speed n of rotary holder by using geomagnetism₁；

(2) The rotational speed n of the rotating head to be measured₁Transmitting to a missile-borne computer and rotating at a preset speed n₀Comparing, regulating and controlling the rotating speed of the rotating holder according to the comparison result until n₁＝n₀；

(3) Calculating the rotating speed n of the driving motor of the rotary wing cylinder through a missile-borne computer₂，n₂＝n₁I, wherein i is the transmission ratio between the rotary wing cylinder and the drive motor thereof, and enables the rotary wing cylinder to output the rotating speed;

(4) the Hall element is used for measuring the position of the rotary wing cylinder relative to the projectile body, and the control program is used for changing the position of the rotary wing cylinder relative to the projectile body, so that the direction of the normal correction force is changed, and the two-dimensional trajectory correction is realized.

Technical Field

The invention relates to a rotary holder for PGK and a control method thereof, belonging to the technical field of trajectory control devices and control methods.

Background

Conventional ammunition guidance is an important direction in the development of weapons today. A two-dimensional ballistic correction assembly is additionally arranged on the basis of a traditional system bullet, and the guided ammunition can be formed. Compared with the accurate guidance ammunition, the cost is greatly reduced; guided munitions have less spread and a higher probability of damage than conventional munitions. The combat effectiveness of the army can be greatly improved in actual combat, and the logistics support pressure of the army is reduced.

The PGK (precision Guidance kit) precision Guidance component is a trajectory correction module integrating fuze, trajectory detection device, contra-rotating wing cylinder and control circuit into one body. The size, the installation method and the weight of the PGK are different from those of the traditional fuze, and the PGK can be directly reloaded to the fuze position of the traditional standard ammunition, so that the shooting precision of the uncontrolled ammunition can be greatly improved. PGK has become the hot spot of dispute research of each military and the large country in the world, and China has also developed the research and development work of a plurality of types of two-dimensional trajectory correction bullets adopting the PGK form, but at present, no mature product train army exists.

When the PGK is applied to a low spin projectile, the PGK itself is driven by the motor and the gear train decelerates, causing the rotor barrel to spin backwards. Due to the limitations of the motor speed and gear reduction ratio, the rotational speed of the rotor can will also be limited to a certain range. When the projectile rotation speed is not within this range, the rotor can not be kept stationary in the inertial space to generate a stable normal force, and the correction capability is lost.

Disclosure of Invention

The invention aims to solve the technical problem that when the rotating speed of a projectile is not in the range, a rotary wing cylinder cannot be kept static in an inertial space to generate stable normal force, so that the correction capability is lost, and provides a rotary holder for PGK and a control method thereof.

The invention is realized by the following technical scheme:

a rotary holder for PGK comprises a direct current motor, a power fuse cabin, a gear shaft, a small bearing, a gear shaft fastening small screw, a gland connecting screw, a rotary holder joint, a pressure ring, a large bearing, a motor working frame, a planet wheel, a gland and a driving pinion; the utility model discloses a motor fuse cabinet, including motor working frame, drive pinion, gear shaft, bearing, motor, press cover, motor working frame and DC motor, the motor working frame passes through threaded connection with DC motor, DC motor output shaft links firmly with the drive pinion, the motor working frame dress is in power fuse cabin and coaxial with power fuse cabin, the planet wheel passes through gear shaft and little bearing cooperation dress in the mounting hole that motor working frame bottom surface set up and meshes with ring gear and drive pinion that power fuse cabin set up, the macroaxis bearing is established between motor working frame outer wall and power fuse cabin inner wall, the clamping ring passes through the screw dress in power fuse cabin and fixes the macroaxis bearing, rotatory cloud platform connects the terminal surface that is connected and is located power fuse cabin through the screw thread with the motor working frame, the press cover passes through press cover connecting screw and is connected with the motor working frame, gear shaft fastening screw is connected with the gear shaft through the little screw hole that the press cover set up.

Further, the number of teeth of the driving pinion, the planet wheel and the power fuse cabin gear ring is as follows: number of driving pinion teeth z₁20, number of planetary gear teeth z₂46, power fuze capsule ring gear tooth number z₃112, m is 0.4.

Further, the number of the planet wheels is 2-3.

A control method for using the rotary holder for the PGK comprises the following specific steps:

(1) measuring rotation speed n of rotary holder by using geomagnetism₁；

(2) The rotational speed n of the rotating head to be measured₁Transmitting to a missile-borne computer and rotating at a preset speed n₀Comparing, regulating and controlling the rotating speed of the rotating holder according to the comparison result until n₁＝n₀；

(3) Calculating the rotating speed n of the driving motor of the rotary wing cylinder through a missile-borne computer₂，n₂＝n₁I, wherein i is the transmission ratio between the rotary wing cylinder and the drive motor thereof, and enables the rotary wing cylinder to output the rotating speed;

(4) the Hall element is used for measuring the position of the rotary wing cylinder relative to the projectile body, and the position of the rotary wing cylinder relative to the projectile body is changed through a control program, so that the direction of a normal correction force is changed, and two-dimensional projectile path correction is realized.

The invention has the beneficial effects that:

because it is difficult to change the rotating speed of the projectile body, it is usually necessary to change the parts of the projectile body (such as the inclined angle of the tail wing), so when the rotating speed of the projectile body exceeds the control range allowed by the PGK, the PGK cannot be effectively controlled, thereby limiting the application range of the PGK. The invention designs a middle interval rotation driving mechanism (hereinafter referred to as a cradle head) between a projectile body and a PGK (PGK) and enables the projectile body to rotate positively, or rotate in the direction, or be fixed and do not rotate. Assuming that the revolution speed of the projectile relative to the ground is r1 and the revolution speed of the pan head relative to the projectile is r2 (i.e. the rotation speed can be positive or negative, and can also be fixed and not rotate), the revolution speed of the pan head relative to the ground is N ═ r1+ r2 ═ r1 ± | r2 |. When the rotating speed of the projectile body is lower than the minimum rotating speed requirement of PGK, the cradle head can be controlled to rotate positively relative to the projectile body, and therefore the rotating speed of the cradle head relative to the ground is improved; when the rotating speed of the projectile body is larger than the requirement of the maximum rotating speed of PGK, the cradle head can be controlled to rotate reversely relative to the projectile body, and therefore the rotating speed of the cradle head relative to the ground is reduced. Therefore, under the condition of keeping the rotating speed r1 of the projectile unchanged, the rotating speed of the tripod head relative to the ground is kept within the rotating speed range allowed by PGK by adjusting the rotating speed r2 (both positive rotation and reverse rotation) of the tripod head relative to the projectile. Therefore, when the rotating speed of the projectile body exceeds the controllable range of the PGK, the PGK additionally provided by the invention can enable the original PGK to still have the control capability by regulating and controlling the rotating speed of the holder under the condition of not changing the rotating speed of the projectile body and the controllable range of the original PGK, thereby greatly improving the application range of the original PGK in different rotating speeds of the projectile body. Therefore, compared with the background art, the invention has the advantages of compact structure, wider application range and the like.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a bottom view of the gear shaft fastening screw, gland attachment screw and gland of FIG. 1 with the gear shaft fastening screw, gland attachment screw and gland removed;

FIG. 3 is a state diagram of the present invention in use;

in the figure: 1-direct current motor, 2-power fuse cabin, 3-gear shaft, 4-small bearing, 5-gear shaft fastening small screw, 6-gland connecting screw, 7-rotating pan-tilt joint, 8-pressure ring, 9-large bearing, 10-motor working frame, 11-planet wheel, 12-gland, 13-driving pinion, 14-rotating wing cylinder, 15-rotating pan-tilt and 16-M52X3 standard thread.

Detailed Description

The technical scheme of the invention is clearly and completely described in the following with reference to the accompanying drawings.

As shown in fig. 1-2, the rotating tripod head for PGK in this embodiment includes a dc motor 1, a power fuse cabin 2, a gear shaft 3, a small bearing 4, a gear shaft fastening small screw 5, a gland connecting screw 6, a rotating tripod head joint 7, a compression ring 8, a large bearing 9, a motor working frame 10, two planet wheels 11, a gland 12 and a driving pinion 13; the motor working frame 10 is connected with the direct current motor 1 through threads, an output shaft of the direct current motor 1 is fixedly connected with a driving pinion 13, the motor working frame 10 is arranged in the power fuse cabin 2 and is coaxial with the power fuse cabin 2, the planet wheel 11 is arranged in a mounting hole arranged on the bottom surface of the motor working frame 10 through a gear shaft 3 and a small bearing 4 in a matching way and is meshed with a gear ring and a driving pinion 13 arranged on the power fuse cabin 2, the large bearing 9 is arranged between the outer wall of the motor working frame 10 and the inner wall of the power fuse cabin 2, the press ring 8 is arranged in the power fuse cabin 2 through threads and fixes the large bearing 9, the rotating tripod head joint 7 is connected with the motor working frame 10 through threads and is positioned on the end surface of the power fuse cabin 2, the gland 12 is connected with the motor working frame 10 through a gland connecting screw 6, and the gear shaft fastening small screw 5 is connected with the gear shaft 3 through a small threaded hole formed in the gland 12. As shown in fig. 3, the rotating cradle head 15 of the present invention is connected to the rotating wing cylinder 14, and the power fuze capsule 2 is connected to the projectile through the standard screw interface 16M 52X 3.

The number of teeth of the driving pinion 13, the two planet wheels 11 and the power fuse cabin 2 is as follows: number of driving pinion teeth z₁20, number of planetary gear teeth z₂46, power fuze capsule ring gear tooth number z₃112, m is 0.4.

The number of planet wheels 11 can also be 3.

A control method using the rotary holder for the PGK comprises the following specific steps:

(1) measuring rotation speed n of rotary holder by using geomagnetism₁；

(2) The rotational speed n of the rotating head to be measured₁Transmitting to a missile-borne computer and rotating at a preset speed n₀Comparing, regulating and controlling the rotating speed of the rotating holder according to the comparison result until n₁＝n₀；

(3) Calculating the rotating speed n of the driving motor of the rotary wing cylinder through a missile-borne computer₂，n₂＝n₁I, wherein i isThe transmission ratio between the rotary wing cylinder and the drive motor thereof is adjusted, and the rotary wing cylinder outputs the rotating speed;

(4) the Hall element is used for measuring the position of the rotary wing cylinder relative to the projectile body, and the position of the rotary wing cylinder relative to the projectile body is changed through a control program, so that the direction of a normal correction force is changed, and two-dimensional projectile path correction is realized.