阅读说明：本技术 一种弹上智能振动控制电动舵机及控制方法 (On-missile intelligent vibration control electric steering engine and control method ) 是由 李兆凯 马文桥 杨培 唐旭东 马俊 秦文渊 邓超 于 2021-07-30 设计创作，主要内容包括：本发明涉及一种弹上智能振动控制电动舵机及控制方法,属于弹上电动舵机控制技术领域,解决了现有弹上电动舵机难以根据导弹振动环境变化实时调整频率,容易出现颤振现象导致可靠性较低的问题。包括：电机驱动器用于驱动电机,电机驱动减速齿轮副旋转,继而驱动固定在滚珠丝杠副上的传动销在轴套副内滑动,带动轴套副旋转；位置传感器采集轴套副的位置信息；压电驱动器用于向压电元件施加驱动电压,压电元件输出相应驱动力或驱动位移用于调整弹上舵机的频率状态；压电元件还用于采集弹上舵机的加速度信号；控制器组件用于根据位置信息和舵偏控制指令生成控制电机驱动器的电机控制信号；以及用于根据加速度信号生成控制压电驱动器的振动控制信号。(The invention relates to an on-missile intelligent vibration control electric steering engine and a control method, belongs to the technical field of on-missile electric steering engine control, and solves the problems that the existing on-missile electric steering engine is difficult to adjust the frequency in real time according to the change of a missile vibration environment, and the reliability is low due to the fact that the flutter phenomenon easily occurs. The method comprises the following steps: the motor driver is used for driving the motor, the motor drives the reduction gear pair to rotate, and then the transmission pin fixed on the ball screw pair is driven to slide in the shaft sleeve pair to drive the shaft sleeve pair to rotate; the position sensor collects the position information of the shaft sleeve pair; the piezoelectric driver is used for applying driving voltage to the piezoelectric element, and the piezoelectric element outputs corresponding driving force or driving displacement to adjust the frequency state of the missile-borne steering engine; the piezoelectric element is also used for acquiring an acceleration signal of the missile steering engine; the controller component is used for generating a motor control signal for controlling the motor driver according to the position information and the rudder deflection control instruction; and generating a vibration control signal for controlling the piezoelectric driver according to the acceleration signal.)

1. An intelligent vibration control electric steering engine on a missile is characterized by comprising a controller assembly and a plurality of actuating mechanism assemblies; the actuator assembly comprises: the device comprises a motor driver, a motor, a reduction gear pair, a ball screw pair, a shaft sleeve pair, a position sensor, a piezoelectric element and a piezoelectric driver; wherein, a driving pin is fixed on the ball screw pair;

the motor driver is used for driving the motor, the motor drives the reduction gear pair to rotate, and then the motor drives the transmission pin fixed on the ball screw pair to slide in the shaft sleeve pair to drive the shaft sleeve pair to rotate; the position sensor is used for acquiring position information of the shaft sleeve pair;

the piezoelectric driver is used for applying driving voltage to the piezoelectric element, and the piezoelectric element outputs corresponding driving force or driving displacement to adjust the frequency state of the elastic steering engine; the piezoelectric element is also used for acquiring an acceleration signal of the missile steering engine;

the controller component is used for generating a motor control signal for controlling the motor driver according to the received position information and the rudder deflection control command; and generating a vibration control signal for controlling the piezoelectric driver according to the acceleration signal.

2. The intelligent vibration control electric steering engine on a bullet according to claim 1, wherein the actuator assembly further comprises a main frame; the reduction gear pair comprises a motor gear, a secondary transmission gear, a lead screw gear and a first deep groove ball bearing; the ball screw assembly comprises a screw nut, a screw rod, a transmission pin and an angular contact bearing; the shaft sleeve pair comprises a shaft sleeve and a second deep groove ball bearing;

the motor is in threaded connection with the main frame; a motor gear of the reduction gear pair is fixed on a motor shaft through a pin; a secondary transmission gear of the reduction gear pair is meshed with a motor gear and is fixed on the main frame through a first deep groove ball bearing; a screw rod gear of the reduction gear pair is meshed with the secondary transmission gear; one end of a lead screw of the ball screw pair is fixed on the lead screw gear; a lead screw of the ball screw pair is arranged on the main frame through an angular contact bearing; a screw nut of the ball screw pair is in threaded connection with the transmission pin; two protruding round shafts of the transmission pin are arranged in a shaft sleeve shifting fork of the shaft sleeve pair, and a shaft sleeve of the shaft sleeve pair is arranged on the main frame through a second deep groove ball bearing; the motor driver is in threaded connection with the main frame; the position sensor is connected with the shaft sleeve through a gear; the position sensor and the motor driver are connected with the controller assembly through an electric connector.

3. The intelligent vibration control electric steering engine on bullet according to claim 2, wherein said piezoelectric element is adhered to one end of the ball screw pair and is electrically connected to the piezoelectric driver and the controller assembly respectively; the piezoelectric driver is in threaded connection with the main frame and is connected with the controller assembly through an electric connector.

4. The intelligent vibration control electric steering engine on bullet of claim 3, characterized in that, the piezoelectric element includes piezoelectric sensor and piezoelectric actuator, the piezoelectric sensor is connected with the controller assembly, the piezoelectric actuator is connected with the piezoelectric actuator;

the piezoelectric sensor is used for collecting an acceleration signal of the missile-borne steering engine;

and the piezoelectric actuator is used for outputting corresponding driving force or driving displacement according to the applied driving voltage.

5. The intelligent vibration control electric steering engine on a bullet according to claim 1, wherein the controller assembly comprises a controller box, a control panel and a power panel; the control panel and the power panel are arranged inside the controller box, and the control panel is connected with the actuating mechanism assembly through the electric connector.

6. The intelligent vibration control electric steering engine on bullet according to claim 1, characterized in that the number of said actuator components is 4; the four control surfaces are respectively used for driving the missile so as to control the flight direction of the missile.

7. The intelligent vibration control electric steering engine on bullet of claim 1, wherein the controller is used for generating vibration control signal for controlling piezoelectric driver according to the acceleration signal, comprising the following steps:

filtering, amplifying and carrying out analog-to-digital conversion on the received acceleration signal to obtain a digital signal;

carrying out Fourier transform on the digital signal to obtain a steering engine frequency signal;

and generating a vibration control signal according to the self-adaptive filtering control algorithm and the steering engine frequency signal.

8. The intelligent vibration control electric steering engine on a bullet according to claim 6, wherein a vibration control signal is generated according to an adaptive filtering control algorithm and a steering engine frequency signal, comprising the steps of:

s1, setting the initial value of filter weight coefficient vector W (t), the initial value of vibration control signal U (t) is 0, wherein, the filter is FIR transverse filter, the number of filter taps is M, the weight of each tap is w₀～w_M-1；

S2, using the steering engine frequency signal z (t) at time t as the input signal of the filter, obtaining the output signal y (t) of the filter as:

y(t)＝W^T(t)×Z(t)；

wherein W is ═ W₀,w₁,…,w_M-1]^T；

S3, obtaining an error signal e (t) based on the output signal of the filter:

e(t)＝D-y(t)；

in the formula, D represents a desired signal.

S4, if e (t) >0, the vibration control signal at the time t +1 is updated according to the following formula:

U(t+1)＝U(t)+λe(t)；

otherwise, update with the following equation:

U(t+1)＝U(t)-λe(t)；

in the formula, λ represents an adjustment coefficient;

the filter coefficient vector at time S5 and t +1 is updated using the following equation:

W(t+1)＝W(t)-2×μ×e(t)×Z(t)；

in the formula, μ represents an adaptive convergence factor;

s6, repeatedly executing the steps S2 to S5 until the root mean square of the error signal e (t) in the step S3 reaches the control requirement.

9. The on-missile intelligent vibration control electric steering engine of claim 1, wherein the controller generates a steering engine rotation command by a PID control algorithm according to the received position information and a rudder deflection control command sent by the missile information processor.

10. An intelligent vibration control method of an electric steering engine on a missile based on any one of claims 1 to 9, which is characterized by comprising the following steps:

acquiring an acceleration signal of an electric steering engine in a popup mode in real time through a piezoelectric element, and processing the acceleration signal to convert the acceleration signal into a steering engine frequency signal;

generating a vibration control signal for controlling the piezoelectric driver according to the steering engine frequency signal;

and the piezoelectric driver applies driving voltage to the piezoelectric element according to the vibration control signal, and then the piezoelectric element outputs corresponding driving force or driving displacement to adjust the frequency state of the electric steering engine in a bouncing manner in real time.

Technical Field

The invention relates to the technical field of control over missile-borne electric steering engines, in particular to a missile-borne intelligent vibration control electric steering engine and a control method.

Background

Along with the increase of the output power of the on-missile electric steering engine, the volume of main components of the on-missile steering engine is increased, the rigidity is greatly reduced, and meanwhile, in order to reduce the launching cost, the on-missile steering engine needs to be designed in a light weight mode, so that the on-missile steering engine is more and more sensitive to the vibration environment and even has serious harm. In addition, in each stage of missile flight, such as the processes of engine ignition time, boosting engine separation time, missile attitude adjustment and the like, the vibration environment where the electric steering engine on the missile is located can be greatly changed, great influence is generated on the performance of the steering engine, and even the steering engine exceeds the bearing range, so that the function is invalid.

At present, the traditional on-missile electric steering engine is designed according to the dynamic response characteristic of the ground in a vibration-free environment, so that the on-missile steering engine has poor environmental adaptability, the problem of flutter of the missile in different flight vibration environments can be solved, and great test is brought to the reliability of the on-missile steering engine. Therefore, an on-missile electric steering engine is urgently needed, and the problem that the existing on-missile electric steering engine is difficult to adjust the frequency in real time according to the change of the vibration environment of a missile, and the flutter phenomenon is easy to occur, so that the reliability is low is solved.

Disclosure of Invention

In view of the above analysis, an embodiment of the present invention aims to provide an on-missile intelligent vibration control electric steering engine and a control method thereof, so as to solve the problem that the existing on-missile electric steering engine is difficult to adjust the frequency in real time according to the change of the missile vibration environment, and the reliability is low due to the phenomenon of easy occurrence of flutter.

On one hand, the embodiment of the invention provides an intelligent vibration control electric steering engine on a missile, which comprises a controller assembly and a plurality of actuating mechanism assemblies; the actuator assembly comprises: the device comprises a motor driver, a motor, a reduction gear pair, a ball screw pair, a shaft sleeve pair, a position sensor, a piezoelectric element and a piezoelectric driver; wherein, a driving pin is fixed on the ball screw pair;

the motor driver is used for driving the motor, the motor drives the reduction gear pair to rotate, and then the motor drives the transmission pin fixed on the ball screw pair to slide in the shaft sleeve pair to drive the shaft sleeve pair to rotate; the position sensor is used for acquiring position information of the shaft sleeve pair;

the piezoelectric driver is used for applying driving voltage to the piezoelectric element, and the piezoelectric element outputs corresponding driving force or driving displacement to adjust the frequency state of the elastic steering engine; the piezoelectric element is also used for acquiring an acceleration signal of the missile steering engine;

the controller component is used for generating a motor control signal for controlling the motor driver according to the received position information and the rudder deflection control command; and generating a vibration control signal for controlling the piezoelectric driver according to the acceleration signal.

Further, the actuator assembly further comprises a main frame; the reduction gear pair comprises a motor gear, a secondary transmission gear, a lead screw gear and a first deep groove ball bearing; the ball screw assembly comprises a screw nut, a screw rod, a transmission pin and an angular contact bearing; the shaft sleeve pair comprises a shaft sleeve and a second deep groove ball bearing;

the motor is in threaded connection with the main frame; a motor gear of the reduction gear pair is fixed on a motor shaft through a pin; a secondary transmission gear of the reduction gear pair is meshed with a motor gear and is fixed on the main frame through a first deep groove ball bearing; a screw rod gear of the reduction gear pair is meshed with the secondary transmission gear; one end of a lead screw of the ball screw pair is fixed on the lead screw gear; a lead screw of the ball screw pair is arranged on the main frame through an angular contact bearing; a screw nut of the ball screw pair is in threaded connection with the transmission pin; two protruding round shafts of the transmission pin are arranged in a shaft sleeve shifting fork of the shaft sleeve pair, and a shaft sleeve of the shaft sleeve pair is arranged on the main frame through a second deep groove ball bearing; the motor driver is in threaded connection with the main frame; the position sensor is connected with the shaft sleeve through a gear; the position sensor and the motor driver are connected with the controller assembly through an electric connector.

Furthermore, the piezoelectric element is adhered to one end of the ball screw pair and is respectively and electrically connected with the piezoelectric driver and the controller component; the piezoelectric driver is in threaded connection with the main frame and is connected with the controller assembly through an electric connector.

Further, the piezoelectric element comprises a piezoelectric sensor and a piezoelectric actuator, the piezoelectric sensor is connected with the controller assembly, and the piezoelectric actuator is connected with the piezoelectric driver;

the piezoelectric sensor is used for collecting an acceleration signal of the missile-borne steering engine;

and the piezoelectric actuator is used for outputting corresponding driving force or driving displacement according to the applied driving voltage.

Further, the controller assembly comprises a controller box, a control board and a power board; the control panel and the power panel are arranged inside the controller box, and the control panel is connected with the actuating mechanism assembly through the electric connector.

Further, the number of the actuating mechanism components is 4; the four control surfaces are respectively used for driving the missile so as to control the flight direction of the missile.

Further, the controller is configured to generate a vibration control signal for controlling the piezoelectric driver according to the acceleration signal, and includes the following steps:

filtering, amplifying and carrying out analog-to-digital conversion on the received acceleration signal to obtain a digital signal;

carrying out Fourier transform on the digital signal to obtain a steering engine frequency signal;

and generating a vibration control signal according to the self-adaptive filtering control algorithm and the steering engine frequency signal.

Further, a vibration control signal is generated according to the adaptive filtering control algorithm and the steering engine frequency signal, and the method comprises the following steps:

s1, setting the initial value of filter weight coefficient vector W (t), the initial value of vibration control signal U (t) is 0, wherein, the filter is FIR transverse filter, the number of filter taps is M, the weight of each tap is w₀～w_M-1；

S2, using the steering engine frequency signal z (t) at time t as the input signal of the filter, obtaining the output signal y (t) of the filter as:

y(t)＝W^T(t)×Z(t)；

wherein W is ═ W₀,w₁,…,w_M-1]^T；

S3, obtaining an error signal e (t) based on the output signal of the filter:

e(t)＝D-y(t)；

in the formula, D represents a desired signal.

S4, if e (t) >0, the vibration control signal at the time t +1 is updated according to the following formula:

U(t+1)＝U(t)+λe(t)；

otherwise, update with the following equation:

U(t+1)＝U(t)-λe(t)；

in the formula, λ represents an adjustment coefficient;

the filter coefficient vector at time S5 and t +1 is updated using the following equation:

W(t+1)＝W(t)-2×μ×e(t)×Z(t)；

in the formula, μ represents an adaptive convergence factor;

s6, repeatedly executing the steps S2 to S5 until the root mean square of the error signal e (t) in the step S3 reaches the control requirement.

And further, the controller generates a steering engine rotation instruction by adopting a PID control algorithm according to the received position information and a rudder deflection control instruction sent by the missile information processor.

On the other hand, the embodiment of the invention also provides an intelligent vibration control method for the electric steering engine on the missile, which comprises the following steps:

acquiring an acceleration signal of an electric steering engine in a popup mode in real time through a piezoelectric element, and processing the acceleration signal to convert the acceleration signal into a steering engine frequency signal;

generating a vibration control signal for controlling the piezoelectric driver according to the steering engine frequency signal;

and the piezoelectric driver applies driving voltage to the piezoelectric element according to the vibration control signal, and then the piezoelectric element outputs corresponding driving force or driving displacement to adjust the frequency state of the electric steering engine in a bouncing manner in real time.

Compared with the prior art, the invention can realize the following beneficial effects:

according to the on-missile intelligent vibration control electric steering engine and the control method, the piezoelectric element, the piezoelectric driver and the control algorithm in the controller are arranged on the on-missile electric steering engine, so that the frequency of the on-missile electric steering engine is adjusted in real time according to the vibration frequency of the on-missile electric steering engine, the real-time adjustment of the vibration state of the steering engine is achieved, the problem that the electric steering engine vibrates due to the change of the vibration environment in the flying process of a missile is solved, the adaptability of the on-missile electric steering engine to the environment is enhanced, and the reliability of the on-missile electric steering engine is improved. In addition, according to the invention, the piezoelectric element is adhered to one end of the ball screw pair to form a transmission system which is formed by connecting the piezoelectric element with a transmission pin through the ball screw pair and then connecting the piezoelectric element with the shaft sleeve shifting fork, so that the real-time adjustment of the electric steering engine is realized, the structure is simple, easy to realize and compact, the installation space is greatly reduced, and the electric steering engine is more suitable for being used in a catapult electric steering engine.

In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.

Fig. 1 is a schematic structural diagram of an intelligent vibration control electric steering engine on a missile provided in embodiment 1 of the present invention;

fig. 2 is a schematic internal structural view of an actuator assembly according to embodiment 1 of the present invention;

fig. 3 is a right side sectional view of an actuator assembly provided in embodiment 1 of the present invention;

fig. 4 is a bottom sectional view of an actuator assembly provided in embodiment 1 of the present invention;

fig. 5 is a schematic diagram of an internal structure of a controller assembly according to embodiment 1 of the present invention;

fig. 6 is a schematic diagram of an intelligent vibration control electric steering engine on a missile provided in embodiment 1 of the present invention;

fig. 7 is a schematic flowchart of an adaptive filtering control algorithm according to embodiment 1 of the present invention;

fig. 8 is a flowchart of an intelligent vibration control method for the sprung electric steering engine according to embodiment 1 of the present invention;

reference numerals:

1-a motor; 2-reduction gear pair; 3-a ball screw pair; 4-a piezoelectric element; 5-a shaft sleeve pair; 6-a main frame; 7-a position sensor; 8-a motor driver; 9-a piezoelectric actuator; 10-an electrical connector; 11-an electrical connector; 12-a motor gear; 13-two-stage transmission gear 14-screw gear; 15-lead screw nut; 16-a lead screw; 17-a drive pin; 18-angular contact bearings; 19-shaft sleeve; 20-a second deep groove ball bearing; 21-a first deep groove ball bearing; 22-a shifting fork; 23-a controller box; 24-a control panel; 25-a power panel; 26-an electrical connector; 27-electrical connector.

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.

Example 1

The invention discloses an intelligent vibration control electric steering engine on a missile, which has a schematic structural diagram as shown in figure 1 and a schematic diagram as shown in figure 6 and comprises a controller assembly and a plurality of actuating mechanism assemblies; the internal structure, right-side cross-section and bottom-side cross-section of the actuator assembly are schematically illustrated in fig. 2-4, and the actuator assembly comprises: the device comprises a motor driver 8, a motor 1, a reduction gear pair 2, a ball screw pair 3, a shaft sleeve pair 5, a position sensor 7, a piezoelectric element 4 and a piezoelectric driver 9; wherein, a driving pin 17 is fixed on the ball screw pair 3; . Specifically, the motor 1 is a brushless dc motor.

The motor driver 8 is used for driving the motor 1, the motor 1 drives the reduction gear pair 2 to rotate, and then drives the transmission pin 17 fixed on the ball screw pair 3 to slide in the shaft sleeve pair 5 so as to drive the shaft sleeve pair 5 to rotate; the position sensor 7 is used for acquiring position information of the shaft sleeve pair 5.

The piezoelectric driver 9 is used for applying driving voltage to the piezoelectric element 4, and the piezoelectric element 4 outputs corresponding driving force or driving displacement for adjusting the frequency state of the missile-borne steering engine; the piezoelectric element 4 is also used for collecting an acceleration signal of the missile-borne steering engine.

The controller component is used for generating a motor control signal for controlling the motor driver 8 according to the received position information and the rudder deflection control command; and for generating a vibration control signal for controlling the piezoelectric driver 9 in dependence on said acceleration signal. It will be appreciated that the rudder deflection control command is generated by the missile information processor and sent to the controller assembly.

In practice, the actuator assembly further comprises a main frame 6 and an electrical connector; the reduction gear pair 2 comprises a motor gear 12, a secondary transmission gear 13, a lead screw gear 14 and a first deep groove ball bearing 21; the ball screw pair 3 comprises a screw nut 15, a screw rod 16, a transmission pin 17 and an angular contact bearing 18; the shaft sleeve pair 5 comprises a shaft sleeve 19 and a second deep groove ball bearing 20.

The motor 1 is in threaded connection with the main frame 6; the motor gear 12 of the reduction gear pair 2 is fixed on a motor shaft through a pin; a secondary transmission gear 13 of the reduction gear pair 2 is meshed with a motor gear 12 and is fixed on the main frame 6 through a first deep groove ball bearing 21; a screw rod gear 14 of the reduction gear pair 2 is meshed with a secondary transmission gear 13; one end of a screw rod 16 of the ball screw pair 3 is fixed on the screw rod gear 14; a lead screw 16 of the ball screw pair 3 is mounted on the main frame 6 through an angular contact bearing 18; a screw nut 15 of the ball screw pair 3 is in threaded connection with a transmission pin 17; two protruding round shafts of the transmission pin 17 are arranged in a shaft sleeve shifting fork 22 of the shaft sleeve pair 5, and a shaft sleeve 19 of the shaft sleeve pair 5 is arranged on the main frame 6 through a second deep groove ball bearing 20; the motor driver 8 is in threaded connection with the main frame 6; the position sensor 7 is connected with a shaft sleeve 19 through a gear; the position sensor 7 and the motor driver 8 are connected to the controller assembly by an electrical connector 11. The actuating mechanism assembly is connected with the battery on the bullet through the electric connector 10, and power supply of the motor and the piezoelectric element is achieved; the electrical connector 10 and the electrical connector 11 are screwed to the main frame.

When the electric power transmission device works, the output power of the motor 1 is reduced through the reduction gear pair 2 to drive the screw rod 16 of the ball screw pair 3 to rotate, the screw rod 16 drives the transmission pin 17 fixed on the screw nut 15 of the ball screw pair 3 to move up and down linearly, the transmission pin 17 rotates through the shifting shaft sleeve shifting fork 22, and the output power of the motor 1 is converted into the rotary output of the executing mechanism.

In implementation, the piezoelectric element 4 is adhered to one end of the ball screw pair 3 and is respectively and electrically connected with the piezoelectric driver 9 and the controller component; the piezoelectric actuator 9 is in threaded connection with the main frame 6 and is connected with the controller assembly through an electrical connector 11.

Specifically, the piezoelectric element 4 includes a piezoelectric sensor connected to the controller assembly and a piezoelectric actuator connected to the piezoelectric driver 9.

And the piezoelectric sensor is used for acquiring an acceleration signal of the missile-borne steering engine.

And the piezoelectric actuator is used for outputting corresponding driving force or driving displacement according to the applied driving voltage.

It can be understood that when the piezoelectric element generates strain type deformation, electric charge is generated, the electric charge quantity is in direct proportion to the deformation, the polarity of the electric charge is related to compression or stretching, and within the elastic range of the piezoelectric element material, the piezoelectric property and the force applied to the piezoelectric element material are in a linear relation, so that the piezoelectric element is used as an actuator for controlling the vibration of the steering engine on the spring, and the adjustment of the vibration state of the steering engine is realized.

During operation, piezoelectric sensor gathers the acceleration signal of steering wheel on the bullet, and the controller subassembly is handled acceleration signal, and generate vibration control signal and give piezoelectric actuator 9, and piezoelectric actuator 9 applys drive voltage to piezoelectric actuator, and piezoelectric actuator exports corresponding drive power or drive displacement to drive driving pin 17 through ball screw pair 3, and then drive axle sleeve shift fork 22, realize the real-time adjustment to electric steering wheel vibration state on the bullet.

In implementation, the schematic diagram of the internal structure of the controller assembly is shown in fig. 5, and the controller assembly includes a controller box 23, a control board 24 and a power board 25; the control board 24 and the power supply board 25 are disposed inside the controller box 23, and the control board 24 is connected to the actuator assembly through an electrical connector 26. As can be understood, the control board 24 is used for completing the instruction processing of the onboard information processor and generating a motor control signal according to the position information, processing an acceleration signal collected by the piezoelectric element 4 and generating a vibration control signal of the piezoelectric driver 9; the power panel 25 is used to convert the battery voltage to power the actuator assembly and control panel 24. Specifically, a 485 processing chip and a DSP signal processing chip are arranged on the control board 24; the power board 25 is provided with a DC/DC power converter.

Specifically, the controller component comprises a communication and power supply interface (an electric connector 27) with the missile-borne information processor, a PWM and GPIO interface (an electric connector 26) with the steering engine executing mechanism, an interface (an electric connector 26) with the position sensor 7 and a communication interface (an electric connector 26) with the piezoelectric element 4.

More specifically, an instruction output by the on-board information processor is transmitted to the 485 processing chip for processing after being subjected to RS485 driving, optical coupling isolation and driving on the control panel, and a control signal is transmitted to the DSP signal processing chip after being processed; the DSP signal processing chip receives the signal of the 485 processing chip and the position information of the position sensor, generates a control instruction through a control algorithm and sends the control instruction to the motor driver, wherein the control instruction comprises a PWM (pulse width modulation) signal for controlling the rotating speed and a DIR (direct pointing) direction signal for controlling the rotating position; the DSP signal processing chip receives the acceleration signal of the piezoelectric element, filters, amplifies and A/D converts the acceleration signal into a digital signal suitable for the DSP signal processing chip to process, the DSP signal processing chip identifies the frequency information of the signal by methods such as Fourier transform and the like, then the frequency information is converted into a control signal through a self-adaptive filtering control algorithm and transmitted to the piezoelectric driver, the piezoelectric driver sends a driving voltage signal to the piezoelectric element after carrying out D/A conversion, smooth filtering and power amplification on the control signal, and the piezoelectric element outputs corresponding driving force or driving displacement to change the frequency of the steering engine in real time.

When the device works, the controller assembly receives a rudder deflection control instruction of the missile-borne information processor and shaft sleeve position information of the position sensor 7, and generates a motor control instruction for controlling the motor driver 8 through a PID control algorithm, wherein the motor control instruction is used for controlling the rotating speed and the position of the motor 1 so as to control the deflection of the actuating mechanism assembly. Meanwhile, the controller component processes the received acceleration signal acquired by the piezoelectric element 4 in the executing mechanism component to obtain a steering engine vibration frequency signal, and then obtains a vibration control signal through a self-adaptive filtering control algorithm to further control a piezoelectric driver 9 of the executing mechanism, so that the vibration state of the electric steering engine on the missile can be adjusted in real time.

It should be noted that the acceleration signal is collected in real time through the piezoelectric element 4, when the vibration environment of the missile changes, the acceleration signal changes, and the controller component adjusts in real time according to the adaptive filtering control algorithm, so that the adaptability to the environment change is stronger, and the reliability is higher.

In implementation, the number of the actuating mechanism components is 4; the four control surfaces are respectively used for driving the missile so as to control the flight direction of the missile.

In practice, the controller is configured to generate a vibration control signal for controlling the piezoelectric driver 9 according to the acceleration signal, and includes the following steps:

filtering, amplifying and carrying out analog-to-digital conversion on the received acceleration signal to obtain a digital signal;

carrying out Fourier transform on the digital signal to obtain a steering engine frequency signal;

and generating a vibration control signal according to the self-adaptive filtering control algorithm and the steering engine frequency signal.

Specifically, as shown in fig. 7, generating a vibration control signal according to an adaptive filtering control algorithm and a steering engine frequency signal includes the following steps:

s1, setting the initial value of filter weight coefficient vector W (t), the initial value of vibration control signal U (t) is 0, wherein, the filter is FIR transverse filter, the number of filter taps is M, the weight of each tap is w₀～w_M-1(ii) a The initial value of the filter coefficient vector may be set empirically or may be set to 0.

S2, using the steering engine frequency signal z (t) at time t as the input signal of the filter, obtaining the output signal y (t) of the filter as:

y(t)＝W^T(t)×Z(t)；

wherein W is ═ W₀,w₁,…,w_M-1]^T。

S3, obtaining an error signal e (t) based on the output signal of the filter:

e(t)＝D-y(t)；

in the formula, D represents a desired signal. Specifically, the expected signal is a target value of the steering engine system frequency, and can be set according to practical application.

S4, if e (t) >0, the vibration control signal at the time t +1 is updated according to the following formula:

U(t+1)＝U(t)+λe(t)；

otherwise, update with the following equation:

U(t+1)＝U(t)-λe(t)；

in the formula, λ represents an adjustment coefficient; specifically, the adjustment coefficient is an empirical value and can be set according to the actual condition of the steering engine system.

The filter coefficient vector at time S5 and t +1 is updated using the following equation:

W(t+1)＝W(t)-2×μ×e(t)×Z(t)；

in the formula, μ represents an adaptive convergence factor; specifically, μmay be 0.005, 0.01 or 0.02.

S6, repeatedly executing the steps S2 to S5 until the root mean square of the error signal e (t) in the step S3 reaches the control requirement. It should be noted that the closer the root mean square of the error signal is to 0, the better the control effect, and the range threshold may be set according to actual requirements.

When the steering engine rotation control method is implemented, the controller generates a steering engine rotation instruction by adopting a PID control algorithm according to the received position information and a rudder deflection control instruction sent by the missile information processor.

Compared with the prior art, the invention can realize the following beneficial effects:

according to the on-missile intelligent vibration control electric steering engine and the control method, the piezoelectric element, the piezoelectric driver and the control algorithm in the controller are arranged on the on-missile electric steering engine, so that the frequency of the on-missile electric steering engine is adjusted in real time according to the vibration frequency of the on-missile electric steering engine, the real-time adjustment of the vibration state of the steering engine is achieved, the problem that the electric steering engine vibrates due to the change of the vibration environment in the flying process of a missile is solved, the adaptability of the on-missile electric steering engine to the environment is enhanced, and the reliability of the on-missile electric steering engine is improved. In addition, according to the invention, the piezoelectric element is adhered to one end of the ball screw pair to form a transmission system which is formed by connecting the piezoelectric element with a transmission pin through the ball screw pair and then connecting the piezoelectric element with the shaft sleeve shifting fork, so that the real-time adjustment of the electric steering engine is realized, the structure is simple, the realization is easy, the installation space is greatly reduced, and the electric steering engine is more suitable for being used in a spring.

Example 2

The invention further discloses an intelligent vibration control method for the power-on elastic electric steering engine, a flow chart is shown in fig. 8, and the power-on elastic electric steering engine in the embodiment 1 is adopted for intelligent vibration control, and specifically comprises the following steps:

acquiring an acceleration signal of an electric steering engine in a popup mode in real time through a piezoelectric element, and processing the acceleration signal to convert the acceleration signal into a steering engine frequency signal;

generating a vibration control signal for controlling the piezoelectric driver according to the steering engine frequency signal;

and the piezoelectric driver applies driving voltage to the piezoelectric element according to the vibration control signal, and then the piezoelectric element outputs corresponding driving force or driving displacement to adjust the frequency state of the electric steering engine in a bouncing manner in real time, so that the vibration state of the steering engine can be adjusted in real time.

It should be noted that, because the intelligent vibration control method for the electric steering engine on the missile in the embodiment and the relevant parts of the electric steering engine on the missile can be referred to each other, the description is repeated here, and thus, the description is not repeated here. The principle of the embodiment of the method is the same as that of the embodiment of the electric steering engine on the missile, so the method also has the corresponding technical effect of the embodiment of the electric steering engine.

Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.