阅读说明：本技术 一种炮弹精确制导的模拟电磁炮控制装置 (Simulated electromagnetic gun control device for accurate guidance of shells ) 是由 杨柳 庄建军 于 2019-09-26 设计创作，主要内容包括：本发明炮弹精确制导的模拟电磁炮控制装置,包括电源模块、升压模块、限压充电模块、线圈炮膛、控制开关、两自由度云台、激光测距模块、炮弹制导控制模块。所述电源模块,提供12V直流电源；所述升压模块,将12V直流电源经过逆变、变压、整流后变为15-390V可调高压直流电；所述限压充电模块,将一稳压管和一电阻串联起来,并联大电容,防止电容过充；所述线圈炮膛,绕制的多匝线圈炮管；所述控制开关,高耐压大电流的直流继电器；所述两自由度云台,控制炮管水平和俯仰斜倾角运动；所述激光测距模块,测量前方障碍物的；两自由度云台,控制炮管水平和俯仰斜倾角运动；电磁炮装置控制微处理器运行有炮弹制导控制策略,精确控制云台,使之炮击目标位置。(The invention relates to an electromagnetic cannon simulation control device for accurate guidance of cannonballs, which comprises a power supply module, a boosting module, a voltage-limiting charging module, a coil barrel, a control switch, a two-degree-of-freedom cradle head, a laser ranging module and a cannonball guidance control module. The power supply module provides a 12V direct-current power supply; the boosting module is used for converting a 12V direct-current power supply into 15-390V adjustable high-voltage direct current after inversion, transformation and rectification; the voltage-limiting charging module is used for connecting a voltage-stabilizing tube and a resistor in series and connecting a large capacitor in parallel to prevent the capacitor from being overcharged; the coil bore is a multi-turn coil gun barrel wound; the control switch is a high voltage-resistant high-current direct-current relay; the two-degree-of-freedom cradle head controls the horizontal and pitching oblique inclination angle motion of the gun barrel; the laser ranging module is used for measuring a front obstacle; the two-degree-of-freedom cradle head controls the horizontal and pitching oblique dip angle motion of the gun barrel; the electromagnetic gun device controls the microprocessor to operate a shell guidance control strategy, and accurately controls the cradle head to enable the cradle head to blast a target position.)

1. The device for controlling the simulated electromagnetic cannon for accurately guiding the cannonball is characterized by comprising a power supply module, a boosting module, a voltage-limiting charging module, a coil barrel, a control switch, a two-degree-of-freedom cradle head, a laser ranging module and a cannonball guiding control module. The power supply module provides a 12V direct-current power supply; the boosting module is used for converting a 12V direct-current power supply into 15-390V adjustable high-voltage direct current after inversion, transformation and rectification; the voltage-limiting charging module is characterized in that a voltage-stabilizing tube and a resistor are connected in series and connected with a large capacitor in parallel, so that the capacitor is prevented from being overcharged; the coil bore is a multi-turn coil gun barrel wound; the control switch adopts a direct current relay with high voltage resistance and large current; the two-degree-of-freedom cradle head controls the horizontal and pitching oblique inclination angle motion of the gun barrel; the laser ranging module is used for measuring a front obstacle or a target object; the two-degree-of-freedom cradle head controls the horizontal and pitching oblique dip angle motion of the gun barrel; the electromagnetic gun device controls the microprocessor to operate a shell guidance control strategy, and accurately controls the cradle head to enable the cradle head to blast a target position.

2. The device for controlling the simulated electromagnetic cannon for accurately guiding the cannon shell as claimed in claim 1, is characterized in that: two ends of a discharge capacitor in the electromagnetic gun device are connected with resistors in parallel and are connected with an ADC port of the microcontroller through resistor voltage division.

3. The device for controlling the simulated electromagnetic cannon for accurately guiding the cannon shell as claimed in claim 1, is characterized in that: the laser ranging module and the electromagnetic cannon are arranged on the horizontal cradle head together, so that the electromagnetic cannon can be generated after the target is scanned.

4. The device for controlling the simulated electromagnetic cannon for accurately guiding the cannon shell as claimed in claim 1, is characterized in that: the gun muzzle of the electromagnetic gun is arranged on a two-freedom-degree cradle head (consisting of 2 LD-1501MG digital steering engines).

5. The device for controlling the simulated electromagnetic cannon for accurately guiding the cannon shell as claimed in claim 1, is characterized in that: two ends of a discharge capacitor in the electromagnetic gun device are connected with resistors in parallel and are connected with an ADC port of the microcontroller through resistor voltage division.

Technical Field

The invention relates to the field of electromagnetic emission practice and simulation equipment, in particular to a control device of a simulated electromagnetic cannon for accurately guiding a cannonball.

Background

The electromagnetic gun is an advanced high-energy weapon which converts electric energy into gun shell kinetic energy by using an electromagnetic field, can kill and destroy a target by using ultrahigh kinetic energy, and can strike the target by additionally loading ammunition. Compared with the traditional artillery and rocket launching, the electromagnetic artillery has the remarkable advantages of smaller launching noise, good concealment, high shell outlet speed and the like, and is a research hotspot in the field of military in recent years.

The existing electromagnetic gun model has the following defects: 1. the voltage of the existing electromagnetic cannon is fixed and cannot be adjusted, and the voltage during capacitor charging cannot be controlled, so that the speed and the range of the cannon cannot be adjusted; 2. due to the first point, the existing electromagnetic cannon cannot accurately shoot a certain position, namely, cannot accurately shoot a target position through inputting.

Aiming at the problems, the simulated electromagnetic gun control device for the accurate guidance of the cannonball can automatically scan the shooting position according to the laser ranging module, the voltage charged by the capacitor is adjusted as required, the shooting speed of the cannonball is controlled, then the movement process of the cannonball is modeled, the shooting range is accurately calculated, and finally the shooting is more accurate.

Disclosure of Invention

The invention aims to solve the technical problem of overcoming the defects in the prior art and provide the simulated electromagnetic cannon device which has a simple and reasonable structure, can automatically scan a target and accurately shoot a cannonball.

The invention adopts the technical scheme that the control device of the simulated electromagnetic cannon for accurately guiding the cannonball is realized by the following technical scheme that the experimental device comprises a power supply module, a boosting module, a voltage-limiting charging module, a coil barrel, a control switch, a two-degree-of-freedom cradle head, a laser ranging module and a cannonball guiding control module. The power supply module provides a 12V direct-current power supply; the boosting module is used for converting a 12V direct-current power supply into 15-390V adjustable high-voltage direct current after inversion, transformation and rectification; the voltage-limiting charging module is characterized in that a voltage-stabilizing tube and a resistor are connected in series and connected with a large capacitor in parallel, so that the capacitor is prevented from being overcharged; the coil bore is a wound multi-turn coil gun barrel; the control switch is a direct current relay with high voltage resistance and large current; the two-degree-of-freedom cradle head can control horizontal and pitching oblique dip angle movements of the gun barrel; the laser ranging module can measure the distance of a front obstacle, and is convenient for calculating the ballistic process and the inclination angle of a gun barrel.

The two-degree-of-freedom cradle head (composed of 2 LD-1501MG digital steering engines) can control the horizontal and pitching oblique dip angle movement of the gun barrel;

the electromagnetic gun device controls the microprocessor to operate a shell guidance control strategy, and can accurately control the holder to enable the holder to gun a target position.

Two ends of a discharge capacitor in the electromagnetic gun device are connected with resistors in parallel and are connected with an ADC port of the microcontroller through resistor voltage division.

The laser ranging module and the electromagnetic cannon are arranged on the horizontal cradle head together, so that the electromagnetic cannon can be generated after the target is scanned.

The shell guidance control strategy is a control method which scans the periphery of an electromagnetic gun of the shell guidance control strategy, controls the charge-discharge voltage of a capacitor and the horizontal and pitching oblique inclination angles of the movement of a holder through calculation after finding a shooting target position, and deflects for a certain angle.

The two ends of a discharge capacitor in the electromagnetic cannon device are connected with a sampling resistor in parallel, and the sampling resistor is connected with an ADC port of the microcontroller through the voltage division of the sampling resistor, so that the capacitor voltage is accurately measured, and the initial speed of the cannonball is guaranteed to keep the adaptive fixed value unchanged.

In conclusion, when the electromagnetic cannon starts to work, the electromagnetic cannon transversely rotates through the two-degree-of-freedom cradle head, the cannon position is scanned through the laser ranging module, after the cannon position is searched, the cannon elevation angle can be accurately calculated according to the target position through the cannon guidance control strategy, then the direct current power supply is boosted through the boosting module to rapidly charge the capacitor, the voltage limiting charging module prevents the capacitor from overshooting through the voltage stabilizing diode, the microcontroller monitors the voltage value of the capacitor in real time in the charging process, and charging is stopped and the cannon is launched after the charging voltage meets the shooting requirement.

Has the advantages that: the invention provides an adjustable high-voltage direct current of 15-390V; the voltage-limiting charging module is characterized in that a voltage-stabilizing tube and a resistor are connected in series and connected in parallel with a large capacitor to serve as an energy source for launching the cannonball, the coil bore is a wound multi-turn coil cannon barrel, and the capacitor discharges large current instantly to provide electromagnetic force for the metal cannonball with the steel shell; controlling the horizontal and pitching oblique dip angle motion of the gun barrel by using a cradle head with two degrees of freedom; the laser ranging module can measure the distance of a front obstacle, and is convenient for calculating the ballistic process and the inclination angle of a gun barrel. The invention can be used as a practical modeling and simulating device of the electromagnetic cannon, and has simple and convenient implementation and low cost. Achieving the control of a more ideal electromagnetic gun. The electromagnetic cannon (experimental device) can accurately shoot the cannonball to a target position, and has the advantages of high control precision, long shooting range and good stability.

Drawings

FIG. 1 is a schematic diagram of an analog electromagnetic gun control device of the present invention.

FIG. 2 is a schematic diagram of a control strategy according to the present invention.

Detailed Description

The experimental device comprises a power module, a boosting module, a voltage-limiting charging module, a coil bore, a control switch, a two-degree-of-freedom holder, a laser ranging module and a cannonball guidance control module. The power supply module provides a 12V direct-current power supply; the boosting module is used for converting a 12V direct-current power supply into 15-390V adjustable high-voltage direct current after inversion, transformation and rectification; the voltage-limiting charging module is characterized in that a voltage-stabilizing tube and a resistor are connected in series and connected with a large capacitor in parallel, so that the capacitor is prevented from being overcharged; the coil bore is a wound multi-turn coil gun barrel; the control switch is a direct current relay with high voltage resistance and large current; the two-degree-of-freedom cradle head can control horizontal and oblique dip angle movements of the gun barrel; the laser ranging module can measure the distance of a front obstacle, and is convenient for calculating the ballistic process and the inclination angle of a gun barrel.

The two-degree-of-freedom holder is different from the existing common electromagnetic gun which cannot move to shoot, and can move in two directions.

And a laser ranging module is arranged behind the muzzle of the electromagnetic gun.

The gun muzzle of the electromagnetic gun is arranged on a two-freedom-degree cradle head.

The electromagnetic gun device controls the microprocessor to operate a shell guidance control strategy, and can accurately control the holder to enable the holder to gun a target position.

Two ends of a discharge capacitor in the electromagnetic gun device are connected with resistors in parallel and are connected with an ADC port of the microcontroller through resistor voltage division.

The control strategy method of the electromagnetic gun device comprises the following steps: as shown in fig. 2.

Establishing a rectangular coordinate system by taking a muzzle as an O point, and establishing a shell motion model

The oblique projectile motion trajectory equation is as follows:

the vertical coordinate of the ground of the cannonball is known as-H, then

Wherein:

h is the height of the muzzle from the ground;

v₀a barrel ejection speed for the gun;

x is the target position distance;

g is the acceleration of gravity;

theta is the included angle between the bore and the horizontal.

The electromagnetic gun ejects the chamber velocity v by controlling the gun₀Constant, known as v₀And under the condition of H, calculating equation solution theta, namely gun pitch angle height (aligning the horizontal angle when the first degree-of-freedom cradle head rotates for distance measurement) through the shooting target position x detected by the ultrasonic distance measurement module. By solving the equation in real time on the microprocessor, the shooting position and angle of the cannonball can be accurately controlled.

The electromagnetic cannon adopts a 400V2200uf capacitor to charge and discharge, the boosting module outputs 300V charging voltage, the cannonball is a steel ball with the diameter of 5mm, the capacitor charging voltage is 147V, when the number of turns of the coil is 100, the cannonball discharging speed is 5.5 meters per second, the maximum launching distance is 3.3 meters, and the final cannonball shooting precision is less than 6 centimeters.