阅读说明：本技术 一种导***钳及其控制方法 (Missile gripper and control method thereof ) 是由 刘汉武 丁伟 张延平 雷勇杰 郑智伟 王辉 于 2020-05-27 设计创作，主要内容包括：本申请公开了一种导弹夹钳的控制方法,涉及导弹地面设备领域,导弹夹钳包括夹钳、伺服电机及伺服控制器,伺服控制器存储有夹钳的运动参数,且伺服控制器控制伺服电机驱动夹钳运动至该夹钳闭合或打开；控制方法包括以下步骤：伺服控制器接收用于闭合或打开夹钳的开关指令信号；伺服控制器采集夹钳的实际运动信息,实际运动信息包括实际位置信息；根据运动参数,伺服控制器计算得到夹钳的规划位置信息；根据规划位置信息和实际运动信息,伺服控制器进行PID控制,并驱动伺服电机的转动,以使伺服电机驱动夹钳运动至该夹钳闭合或打开。本申请能够实现一键夹紧,简化导弹夹钳的控制流程,缩短导弹发射的准备时间,且能够提导弹夹钳的控制精度。(The application discloses a control method of a missile gripper, which relates to the field of missile ground equipment, wherein the missile gripper comprises a gripper, a servo motor and a servo controller, the servo controller stores motion parameters of the gripper, and the servo controller controls the servo motor to drive the gripper to close or open; the control method comprises the following steps: the servo controller receives a switch command signal for closing or opening the clamp; the method comprises the steps that a servo controller collects actual movement information of a clamp, wherein the actual movement information comprises actual position information; according to the motion parameters, the servo controller calculates to obtain the planning position information of the clamp; and according to the planned position information and the actual motion information, the servo controller performs PID control and drives the servo motor to rotate, so that the servo motor drives the clamp to move until the clamp is closed or opened. The missile launcher and the missile launcher can realize one-key clamping, simplify the control flow of the missile launcher, shorten the preparation time of missile launching, and improve the control precision of the missile launcher.)

1. The missile gripper control method is characterized in that the missile gripper comprises a gripper, a servo motor and a servo controller, wherein the servo controller stores motion parameters of the gripper, and controls the servo motor to drive the gripper to close or open; the control method comprises the following steps:

the servo controller receives a switch command signal for closing or opening the clamp;

the servo controller acquires actual motion information of the clamp, wherein the actual motion information comprises actual position information;

according to the motion parameters, the servo controller calculates to obtain the planning position information of the clamp;

and according to the planned position information and the actual motion information, the servo controller performs PID control and drives the servo motor to rotate so that the servo motor drives the clamp to move until the clamp is closed or opened.

2. The missile gripper control method as claimed in claim 1, wherein the servo controller comprises a displacement outer ring, a speed middle ring and a current inner ring which are connected in sequence; the control method comprises the following steps:

the displacement outer ring receives a switch command signal for closing or opening the clamp;

the displacement outer ring acquires the actual position information of the clamp and calculates the planning position information of the clamp according to the motion parameters;

the displacement outer ring compares the actual position information and the planned position information of the clamp to obtain position comparison information, position PID control is carried out, and the current inner ring is controlled through the speed middle ring to generate a duty ratio signal;

and carrying out frequency conversion processing on the duty ratio signal by adopting a bridge type inversion module, outputting the duty ratio signal to the servo motor, and driving the servo motor to rotate.

3. The missile gripper control method of claim 2, wherein the actual movement information further comprises actual speed information; the control method further comprises the following steps:

the displacement outer ring carries out position PID control and outputs set speed information;

the speed middle ring receives the set speed information;

the speed middle ring acquires the actual speed information of the clamp;

and the speed middle ring compares the actual speed information and the set speed information of the clamp to obtain speed comparison information, and performs speed PID control to control the current inner ring to generate a duty ratio signal.

4. The missile gripper control method of claim 3, wherein the actual motion information further comprises actual current information; the control method further comprises the following steps:

the speed middle ring carries out speed PID control and outputs set current information;

the current inner ring receives the set current information;

the current inner ring acquires actual current information of the servo motor, wherein the motion states of the clamp and the motion states of the servo motor have a one-to-one correspondence relationship;

and the current inner ring compares actual current information and set current information of the servo motor to obtain current comparison information, and after the current comparison information is subjected to Park and Clarke coordinate transformation, current PID control and Park and Clarke coordinate inverse transformation are performed, and voltage space vector control is performed to generate a duty ratio signal.

5. The missile gripper control method of claim 1, wherein the motion parameters comprise acceleration time, uniform velocity time, deceleration time, acceleration, deceleration acceleration, and maximum velocity, and the maximum velocity at which the gripper is allowed to move is the uniform velocity of the gripper; the specific step of calculating the planned position information of the clamp by the servo controller according to the motion parameters comprises the following steps:

and calculating the planned position of the clamp in the closing or opening process by the displacement outer ring according to the acceleration time, the constant speed time, the deceleration time, the acceleration, the deceleration acceleration and the constant speed.

6. The missile gripper set forth in claim 5, wherein the servo controller performs a speed limit when the servo controller detects that the actual speed of the gripper exceeds the maximum speed, or performs an overspeed alarm.

7. The missile gripper set forth in claim 2, wherein the position outer ring has a period of interruption equal to that of the speed inner ring, and wherein the period of interruption of the position outer ring is longer than that of the current inner ring.

8. The missile gripper control method of claim 8, wherein the period of interruption for the position outer ring is 1ms and the period of interruption for the velocity inner ring is 0.1 ms.

9. The missile gripper control method of claim 1, wherein the switch command signal is an I/O signal.

10. The missile gripper is characterized by comprising a gripper, a servo motor and a servo controller, wherein the servo controller stores motion parameters of the gripper and controls the servo motor to drive the gripper to move; the servo controller is used for executing the missile gripper control method as claimed in any one of claims 1 to 9.

Technical Field

The application relates to the field of missile ground equipment, in particular to a missile clamp and a control method thereof.

Background

The missile gripper is an important component of the missile lifting vertical arm and comprises a front lock and a rear lock; the front lock is used for pressing the missile body by the clamp to limit the upward movement of the missile in the transportation process; the rear lock drives the telescopic rod swing arm to rotate and press the adapter through the spiral transmission mechanism, so that the missile is limited to roll, move forwards and move upwards. The traditional clamp mostly adopts a hydraulic system to drive a hydraulic cylinder to act so as to control the closing or opening of the clamp, and the hydraulic system is simple to control, but has the defects of slow clamp action, low precision and high noise.

Disclosure of Invention

The missile gripper and the control method thereof can realize one-key clamping, simplify the control flow of the missile gripper, shorten the preparation time of missile launching, and improve the control precision of the missile gripper.

In a first aspect, the embodiment of the application provides a missile gripper control method, the missile gripper comprises a gripper, a servo motor and a servo controller, the servo controller stores motion parameters of the gripper, and the servo controller controls the servo motor to drive the gripper to move until the gripper is closed or opened; the control method comprises the following steps:

the servo controller receives a switch command signal for closing or opening the clamp;

the servo controller acquires actual motion information of the clamp, wherein the actual motion information comprises actual position information;

according to the motion parameters, the servo controller calculates to obtain the planning position information of the clamp;

and according to the planned position information and the actual motion information, the servo controller performs PID control and drives the servo motor to rotate so that the servo motor drives the clamp to move until the clamp is closed or opened.

In this embodiment, preferably, the servo controller includes a displacement outer loop, a speed middle loop, and a current inner loop connected in sequence; the control method comprises the following steps:

the displacement outer ring receives a switch command signal for closing or opening the clamp;

the displacement outer ring acquires the actual position information of the clamp and calculates the planning position information of the clamp according to the motion parameters;

the displacement outer ring compares the actual position information and the planned position information of the clamp to obtain position comparison information, position PID control is carried out, and the current inner ring is controlled through the speed middle ring to generate a duty ratio signal;

and carrying out frequency conversion processing on the duty ratio signal by adopting a bridge type inversion module, outputting the duty ratio signal to the servo motor, and driving the servo motor to rotate.

Preferably, the actual motion information further includes actual speed information; the control method further comprises the following steps:

the displacement outer ring carries out position PID control and outputs set speed information;

the speed middle ring receives the set speed information;

the speed middle ring acquires the actual speed information of the clamp;

and the speed middle ring compares the actual speed information and the set speed information of the clamp to obtain speed comparison information, and performs speed PID control to control the current inner ring to generate a duty ratio signal.

Preferably, the actual motion information further includes actual current information; the control method further comprises the following steps:

the speed middle ring carries out speed PID control and outputs set current information;

the current inner ring receives the set current information;

the current inner ring acquires actual current information of the servo motor, wherein the motion states of the clamp and the motion states of the servo motor have a one-to-one correspondence relationship;

and the current inner ring compares actual current information and set current information of the servo motor to obtain current comparison information, and after the current comparison information is subjected to Park and Clarke coordinate transformation, current PID control and Park and Clarke coordinate inverse transformation are performed, and voltage space vector control is performed to generate a duty ratio signal.

Preferably, the motion parameters include acceleration time, uniform speed time, deceleration time, acceleration, deceleration acceleration and maximum speed, and the maximum speed of the movement of the permitted clamp is the uniform speed of the clamp; the specific step of calculating the planned position information of the clamp by the servo controller according to the motion parameters comprises the following steps:

and calculating the planned position of the clamp in the closing or opening process by the displacement outer ring according to the acceleration time, the constant speed time, the deceleration time, the acceleration, the deceleration acceleration and the constant speed.

Preferably, when the servo controller acquires that the actual speed of the clamp exceeds the maximum speed, the servo controller performs speed limiting, or the servo controller performs overspeed alarm.

Preferably, the interruption period of the position outer ring is the same as that of the speed inner ring, and the interruption period of the position outer ring is longer than that of the current inner ring.

Preferably, the interruption period of the position outer loop is 1ms, and the interruption period of the speed inner loop is 0.1 ms.

Preferably, the switch command signal is an I/O signal.

In a second aspect, the missile gripper provided by the embodiment of the application comprises a gripper, a servo motor and a servo controller, wherein the servo controller stores the motion parameters of the gripper, and controls the servo motor to drive the gripper to move; the servo controller is used for executing the control method of the missile gripper.

The beneficial effect that technical scheme that this application provided brought includes:

the embodiment of the application provides a control method of a missile gripper, which can realize one-key clamping, simplify the control flow of the missile gripper, shorten the preparation time of missile launching, and improve the control precision of the missile gripper. The servo controller is used for controlling the action of the clamp, the operation is more accurate and faster than that of hydraulic driving, the motion parameters of the clamp are stored in the servo controller, the theoretical planning position information of the clamp can be planned according to the motion parameters, and the clamp can move basically according to the theoretical planning after the servo controller receives a command signal for closing or opening the clamp; meanwhile, the servo controller collects the actual motion information of the clamp and performs closed-loop control to obtain an accurate control scheme of the clamp, and the control accuracy of closing or opening of the clamp is effectively improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic flow chart of a missile launcher control method provided by an embodiment of the present application;

FIG. 2 is a graph of the speed of the clamp according to the embodiment of the present application;

fig. 3 is a detailed schematic topological diagram of a flow of a missile gripper control method provided by an embodiment of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, the missile gripper provided by the embodiment of the present application includes a gripper, a servo motor and a servo controller, where the servo controller stores motion parameters of the gripper, and controls the servo motor to drive the gripper to close or open; the control method comprises the following steps:

step 1: the servo controller receives a switch command signal for closing or opening the clamp;

step 2: the servo controller acquires actual motion information of the clamp, wherein the actual motion information comprises actual position information;

and step 3: according to the motion parameters, the servo controller calculates to obtain the planning position information of the clamp;

and 4, step 4: and according to the planned position information and the actual motion information, the servo controller performs PID control and drives the servo motor to rotate so that the servo motor drives the clamp to move until the clamp is closed or opened.

Furthermore, the servo controller comprises a displacement outer ring, a speed middle ring and a current inner ring which are sequentially connected; the control method comprises the following steps:

the displacement outer ring receives a switch command signal for closing or opening the clamp;

the displacement outer ring acquires the actual position information of the clamp and calculates the planning position information of the clamp according to the motion parameters;

the displacement outer ring compares the actual position information and the planned position information of the clamp to obtain position comparison information, position PID control is carried out, and the current inner ring is controlled through the speed middle ring to generate a duty ratio signal;

and carrying out frequency conversion processing on the duty ratio signal by adopting a bridge type inversion module, outputting the duty ratio signal to the servo motor, and driving the servo motor to rotate.

Further, the actual motion information further includes actual speed information; the control method further comprises the following steps:

the displacement outer ring carries out position PID control and outputs set speed information;

the speed middle ring receives the set speed information;

the speed middle ring acquires the actual speed information of the clamp;

and the speed middle ring compares the actual speed information and the set speed information of the clamp to obtain speed comparison information, and performs speed PID control to control the current inner ring to generate a duty ratio signal.

Still further, the actual motion information further includes actual current information; the control method further comprises the following steps:

the speed middle ring carries out speed PID control and outputs set current information;

the current inner ring receives the set current information;

the current inner ring acquires actual current information of the servo motor, wherein the motion states of the clamp and the motion states of the servo motor have a one-to-one correspondence relationship;

and the current inner ring compares actual current information and set current information of the servo motor to obtain current comparison information, and after the current comparison information is subjected to Park and Clarke coordinate transformation, current PID control and Park and Clarke coordinate inverse transformation are performed, and voltage space vector control is performed to generate a duty ratio signal.

In the embodiment, the servo controller acquires the actual motion information of the clamp and performs closed-loop control to obtain an accurate control scheme for the clamp, so that the control accuracy of closing or opening the clamp is effectively improved. Specifically, the servo controller adopts three closed-loop controls of a displacement outer loop, a speed middle loop and a current inner loop, and can effectively provide the control precision of the servo controller in the embodiment of the application.

Specifically, the motion parameters include acceleration time, uniform speed time, deceleration time, acceleration, deceleration acceleration and maximum speed, and the maximum speed of the movement of the clamp is allowed to be the uniform speed of the clamp; the specific step of calculating the planned position information of the clamp by the servo controller according to the motion parameters comprises the following steps:

and calculating the planned position of the clamp in the closing or opening process by the displacement outer ring according to the acceleration time, the constant speed time, the deceleration time, the acceleration, the deceleration acceleration and the constant speed.

As shown in fig. 2, the time-course graph of the corresponding clamp speed of the planned position information of the clamp driven by the servo motor by the servo controller according to the motion parameter is shown, where the acceleration time of the clamp is T1, the uniform speed time is T2, the deceleration time is T3, and the uniform speed is V, and the planned position, that is, the planned displacement, of the clamp can be calculated according to the time-course graph. Generally, the clamping or opening tracks of the clamp are the same, and the tracks for clamping for multiple times are also the same, so that the rapid planning control can be realized in a one-key switch mode according to the form of prestored motion parameters, an upper computer is not required to be used for sending speed or pulse instructions, and the control difficulty of the upper computer is increased.

In view of the particularity of the action object of the servo controller in the embodiment of the application, in order to ensure the safety, when the servo controller acquires that the actual speed of the clamp exceeds the maximum speed, the servo controller performs speed limiting, or the servo controller performs overspeed alarm.

Preferably, the interruption period of the position outer ring is the same as that of the speed inner ring, and the interruption period of the position outer ring is longer than that of the current inner ring. In this embodiment, the position outer loop and the speed middle loop are in the same interrupt period, which reduces the calculation complexity and enables the current inner loop to have a higher calculation frequency to ensure the control accuracy of the servo controller.

In this embodiment, specifically, the interruption period of the position outer loop is 1ms, and the interruption period of the speed inner loop is 0.1 ms.

Specifically, the switch command signal is an I/O signal. The rapid programming control is realized in a one-key switch mode, and the upper computer is not required to be used for sending speed or pulse instructions, so that the control difficulty of the upper computer is increased. The servo controller enables the clamp to move basically according to the theoretical plan after receiving a command signal for closing or opening the clamp, so that the application simplifies the clamp control flow and is simple to operate, and the preparation time for missile launching is shortened

Referring to fig. 3, in the embodiment of the present application, the servo controller stores the motion parameters of the clamp, the motion parameters can plan a complete path for closing and clamping or opening the clamp, the actual motion information includes actual position information, actual speed information, and actual current information, and the servo motor is connected to the clamp, and the motion states of the two are the same or in one-to-one correspondence; when the servo controller receives a switch command signal for closing or opening the clamp, the servo controller is started to operate, and the servo controller consists of a displacement outer ring, a speed middle ring and a current inner ring; the specific working process of the servo controller comprises the following steps:

step 001: the position outer ring receives a switch command signal for closing or opening the clamp;

step 002: the position outer ring acquires the actual position information of the clamp; the speed middle ring acquires the actual speed information of the clamp; the current inner ring acquires actual current information of the servo motor;

step 003: according to the motion parameters, the position outer ring calculates to obtain planning position information of the clamp;

step 004: the position outer ring performs position PI control and outputs set speed information according to the position comparison information of the actual position information and the planning position information; specifically, the position comparison information is a difference between the actual position and the planned position;

step 005: the speed middle ring receives the set speed information, and performs speed PI control and outputs set current information according to speed comparison information of the set speed information and the actual speed information; specifically, the speed comparison information is a difference value between an actual speed and a set speed;

step 006: the current inner ring receives the set current information, and according to current comparison information of the set current information and the actual current information, the linearization processing is realized through Park and Clarke coordinate transformation, then current PID control and Park and Clarke coordinate inverse transformation are carried out, voltage space vector control is carried out, and a duty ratio signal is generated; wherein the current comparison information is a difference value between an actual current and a planned current;

step 007: performing frequency conversion processing on the duty ratio signal by adopting a bridge type inversion module, outputting the duty ratio signal to the servo motor, and driving the servo motor to rotate; the servo motors are connected with the clamps, and the motions of the servo motors and the clamps are the same or can be in one-to-one correspondence, so that the clamps are driven to move.

The missile gripper comprises a gripper, a servo motor and a servo controller, wherein the servo controller stores the motion parameters of the gripper, and controls the servo motor to drive the gripper to move; the servo controller is used for executing the control method of the missile gripper.

In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.