阅读说明：本技术 一种中低空飞艇挂弹姿态稳定装置 (Middle and low altitude airship missile hanging posture stabilizing device ) 是由 刘超锋 刘立武 邢笑月 白雪强 凌晨 李晓龙 郭杰 张龙 李哲 廖道毅 张嘉辉 于 2020-12-21 设计创作，主要内容包括：本发明属于飞艇技术领域,提供一种适用于中低空飞艇可调弹体吊挂装置,其方位调整机构的下端连接俯仰调整机构；俯仰调整机构下端连接弹体吊挂机构；方位调整机构通过涡轮蜗杆机构带动旋转筒、连接盘和弹体吊挂机构,实现弹体吊挂装置方位调整；俯仰调整机构通过涡轮蜗杆和主从动齿轮传动方式,实现弹体吊挂装置俯仰；姿态稳定控制装置有惯性导航单元传感器和伺服电机控制器,惯性导航单元传感器安装在方位、俯仰调整机构以及弹体吊挂机构上,对弹体姿态进行实时监测以及姿态数据反馈,伺服电机控制器根据姿态反馈数据,驱动伺服电机带动方位与俯仰调整机构动作,实现对弹体姿态动态调整。本发明设计合理结构紧凑,实用性强可靠性高且便于维护。(The invention belongs to the technical field of airship, and provides an adjustable projectile hanging device suitable for a medium and low altitude airship, wherein the lower end of a position adjusting mechanism is connected with a pitching adjusting mechanism; the lower end of the pitching adjusting mechanism is connected with a projectile body hanging mechanism; the direction adjusting mechanism drives the rotating cylinder, the connecting disc and the projectile hanging mechanism through the worm gear mechanism to realize the direction adjustment of the projectile hanging device; the pitching adjusting mechanism realizes pitching of the projectile hanging device in a transmission mode of a worm gear and a main driven gear; the attitude stabilization control device is provided with an inertial navigation unit sensor and a servo motor controller, the inertial navigation unit sensor is arranged on the azimuth and pitch adjusting mechanism and the projectile body hanging mechanism and used for monitoring the attitude of the projectile body in real time and feeding back attitude data, and the servo motor controller drives the servo motor to drive the azimuth and pitch adjusting mechanism to act according to the attitude feedback data so as to realize dynamic adjustment of the attitude of the projectile body. The invention has reasonable design, compact structure, strong practicability, high reliability and convenient maintenance.)

1. A middle and low altitude airship missile hanging posture stabilizing device is characterized by comprising an azimuth angle adjusting mechanism (1), a pitch angle adjusting mechanism (2), a missile body hanging mechanism (3) and a posture stabilizing control unit; the pitch angle adjusting mechanism (2) is positioned at the lower end of the azimuth angle adjusting mechanism (1), and the lower end of the pitch angle adjusting mechanism (2) is connected with the projectile body hanging mechanism (3);

the azimuth angle adjusting mechanism (1) comprises a main shaft (11), a worm (12), a worm wheel (13) and a rotary cylinder (14), wherein the main shaft (11) and the airship (5) are relatively fixed; the worm wheel (13) and the rotary cylinder (14) are relatively fixed and can rotate around the main shaft; the rotary cylinder (14) is relatively fixed with the worm gear box (212); when the motor drives the worm (12) to rotate, the worm wheel (13), the rotary cylinder (14) and the worm and gear box (212) correspondingly rotate around the main shaft (11), so that the azimuth angle of the missile hanging device is changed;

the pitch angle adjusting mechanism (2) comprises a worm (201), a worm wheel (202), a worm wheel shaft (203), driving gears (204, 205), driven gears (206, 207, 208, 209), pitch plates (210, 211) and a worm and gear box (212); the worm wheel (202) is fixed relative to the worm wheel shaft (203);

the driving gears (204, 205) are respectively arranged at two ends of the worm gear shaft (203) and are relatively fixed with the worm gear shaft (203); the worm wheel (202), the worm wheel shaft (203) and the driving gears (204, 205) can rotate around the axis of the worm wheel shaft (203) relative to the worm gear box (212);

the driven gears (206, 207) are positioned on two sides of the driving gear (204) and are meshed with the driving gear (204); the driven gears (206, 207) and the pitching plate (210) are relatively fixed;

the driven gears (208, 209) are positioned on two sides of the driving gear (205) and are meshed with the driving gear (205); the driven gears (208, 209) and the pitching plate (211) are relatively fixed;

the driven gears (206, 207, 208, 209) and the pitch plates (210, 211) can rotate around the axis of the worm gear shaft (203) relative to the worm gear box (212), when the worm (201) is driven by the servo motor to rotate, the worm gear (202), the worm gear shaft (203) and the driving gears (204, 205) rotate around the worm gear shaft (203) relative to the worm gear box (212), and the driven gears (206, 207, 208, 209) and the pitch plates (210, 211) also rotate around the worm gear shaft (203) relative to the worm gear box (212) correspondingly, so that the pitch angle of the missile hooking device is changed;

the projectile body hanging mechanism (3) is used for realizing the hanging of projectiles of various types;

the attitude stabilization control unit comprises two servo motors, an inertial navigation unit sensor and a servo motor controller, wherein the two servo motors are respectively arranged on an azimuth angle adjusting mechanism (1) and a pitch angle adjusting mechanism (2), the inertial navigation unit sensor is arranged on a projectile body hanging mechanism (3), and the servo motor controller is positioned on the servo motors;

the two servo motors respectively drive corresponding actuating mechanisms on two degrees of freedom of pitching and yawing, the servo motors are integrated with encoders, and the rotating speed of the motors can be fed back through the encoders to realize the speed loop control of the servo motors;

the inertial navigation unit sensor is used for acquiring pitching and yawing angle information of the projectile body, and acquiring attitude deviation of the projectile body by combining the target attitude of the projectile body acquired by commanding, wherein the attitude deviation is used for realizing position loop control of the servo motor;

the servo motor controller mainly completes data processing and dynamic control functions and is an attitude control core component, the servo motor controller can process data of an inertial navigation unit sensor and an encoder and is communicated with an upper computer to obtain a target attitude of a projectile body, the attitude deviation and the rotating speed deviation of the servo motor are used as error signals, a servo motor control instruction is output in a PID control mode, the control instruction is amplified by a power amplifier and used for driving the servo motor to operate, and pitching and yawing control of the projectile body is realized by combining with an actual mechanical structure of a projectile body hanging device.

2. The device for stabilizing the missile hanging posture of the medium and low altitude airship according to claim 1, wherein the missile hanging mechanism (3) comprises a fixed ring buckle (31) and a locking ring buckle (32), and the distance between the fixed ring buckle (31) and the locking ring buckle (32) is adjustable, so that the fixing and the positioning of missiles with different lengths are realized.

3. The device for stabilizing the missile hanging posture of the medium and low altitude airship as claimed in claim 2, wherein the fixing ring fastener (31) is lined with a rubber gasket to achieve an electrical isolation effect while fastening the head of the missile body.

4. The medium and low altitude airship missile hooking posture stabilizing device according to claim 3, wherein the locking ring buckle (32) comprises an upper half ring and a lower half ring to adapt to loads of different specifications and sizes.

5. The device for stabilizing the missile hanging posture of the medium and low altitude airship as claimed in claim 2, wherein the inertial navigation unit sensor is mounted on a locking ring buckle (32) of the missile hanging mechanism (3).

Technical Field

The invention belongs to the technical field of airships, and particularly relates to a device for stabilizing a missile hanging posture of a medium and low altitude airship.

Background

In a flight target practice test, a medium and low altitude airship is adopted to carry a missile to simulate a real battlefield situation vividly, the missile carrying device is required to have a function of dynamically adjusting an azimuth angle and a pitch angle, meanwhile, in order to avoid the situation that the airship is influenced by factors such as wind speed, wind direction and altitude change in the air to generate oscillation and influence aiming precision, the missile carrying device is required to have a compensation function on the position deviation of the missile body generated due to the oscillation of the airship.

The traditional airship missile hanging device does not have an independent adjusting function, and the adjustment of the missile hanging posture is realized by adjusting the movement of the airship. Firstly, the adjustment mode realizes the adjustment of the missile hanging posture by controlling the movement of the airship, is limited to the characteristics of the airship and has long response time; secondly, the movement of the airship is realized by inflating and deflating an airship airbag, so that the control cost is high; moreover, practice proves that the adjusting control mode also has the defects of low precision, large influence of climate environment and the like. And certain difference exists between the requirements of high efficiency, controllability and the like of the test task.

Disclosure of Invention

The invention aims to solve the technical problem that the conventional airship missile hanging device does not have the functions of independently adjusting the direction and pitching.

In order to achieve the above purpose and solve the above technical problems, the invention provides a device for stabilizing the missile hanging posture of a medium and low altitude airship, which has the following specific technical scheme:

the device for stabilizing the missile hanging posture of the medium and low altitude airship comprises an azimuth angle adjusting mechanism posture stable control 1 posture stable control, a pitch angle adjusting mechanism posture stable control 2 posture stable control, a missile body hanging mechanism posture stable control 3 posture stable control and a posture stable control unit; the attitude stabilization control 2 of the pitch angle adjusting mechanism is positioned at the lower end of the attitude stabilization control 1 of the azimuth angle adjusting mechanism, and the attitude stabilization control 2 of the pitch angle adjusting mechanism is connected with the attitude stabilization control 3 of the projectile hanging mechanism;

the attitude stabilization control of the azimuth angle adjusting mechanism 1 comprises main shaft attitude stabilization control 11 attitude stabilization control, worm attitude stabilization control 12 attitude stabilization control, worm wheel attitude stabilization control 13 attitude stabilization control and rotary drum attitude stabilization control 14 attitude stabilization control, and the main shaft attitude stabilization control 11 attitude stabilization control and airship attitude stabilization control 5 attitude stabilization control are relatively fixed; the worm wheel posture stable control 13 and the rotary cylinder posture stable control 14 are relatively fixed and can rotate around the main shaft; the posture stability control of the rotary cylinder 14 and the posture stability control of the worm gear box 212 are relatively fixed; when the motor drives the worm posture stable control 12 posture stable control to rotate, the worm wheel posture stable control 13 posture stable control, the rotary cylinder posture stable control 14 posture stable control, the worm wheel and worm box posture stable control 212 posture stable control correspondingly rotates around the main shaft posture stable control 11 posture stable control, and the change of the azimuth angle of the missile hanging device is realized;

attitude stabilization control of pitch angle adjusting mechanism 2 includes attitude stabilization control of worm attitude stabilization control 201, worm wheel attitude stabilization control 202, worm wheel shaft attitude stabilization control 203, driving gear attitude stabilization control 204, 205, driven gear attitude stabilization control 206, 207, 208, 209, pitch plate attitude stabilization control 210, 211 and worm gear box attitude stabilization control 212; the posture stable control of the worm gear posture stable control 202 and the posture stable control of the worm gear shaft posture stable control 203 are relatively fixed;

the attitude stabilization control of the driving gear 204 and 205 is respectively arranged at two ends of the attitude stabilization control of the worm gear shaft 203 and is relatively fixed with the attitude stabilization control of the worm gear shaft 203; the worm wheel attitude stabilization control 202, the worm wheel shaft attitude stabilization control 203, and the driving gear attitude stabilization controls 204 and 205 can rotate around the worm wheel shaft attitude stabilization control 203 with respect to the worm wheel and worm box attitude stabilization control 212;

the posture stabilizing controls 206 and 207 of the driven gears are positioned at two sides of the posture stabilizing control 204 of the driving gear posture and are mutually meshed with the posture stabilizing control 204 of the driving gear posture; the attitude stabilization control of the driven gears 206 and 207 and the attitude stabilization control of the pitching plate 210 are relatively fixed;

the driven gear attitude stabilization controls 208 and 209 are positioned on both sides of the driving gear attitude stabilization control 205 and are mutually meshed with the driving gear attitude stabilization control 205; the posture stabilization control of the driven gears 208 and 209 and the posture stabilization control of the pitching plate 211 are relatively fixed;

the slave gear attitude stabilization control 206, 207, 208, 209 attitude stabilization control and pitch plate attitude stabilization control 210, 211 attitude stabilization control can rotate around a worm wheel shaft attitude stabilization control 203 attitude stabilization control axis with respect to the worm wheel and worm case attitude stabilization control 212 attitude stabilization control, when the worm wheel attitude stabilization control 201 attitude stabilization control is rotated by the servo motor, the worm wheel attitude stabilization control 202 attitude stabilization control, the worm wheel shaft attitude stabilization control 203 attitude stabilization control and the master gear attitude stabilization control 204, 205 attitude stabilization control correspondingly rotates around the worm wheel shaft attitude stabilization control 203 attitude stabilization control with respect to the worm wheel and worm case attitude stabilization control 212 attitude stabilization control, and the slave gear attitude stabilization control 206, 207, 208, 209 attitude stabilization control and pitch plate attitude stabilization control 210, 211 attitude stabilization control also correspondingly rotates around the worm wheel shaft attitude stabilization control 203 attitude stabilization control with respect to the worm wheel and worm wheel case attitude stabilization control 212 attitude stabilization control The pitch angle of the missile hanging device is changed;

the posture stability control 3 of the projectile hanging mechanism is used for realizing the hanging of projectiles of various models;

the attitude stabilization control unit comprises two servo motors, an inertial navigation unit sensor and a servo motor controller, wherein the two servo motors are respectively arranged on attitude stabilization control 1 of an azimuth angle adjusting mechanism and attitude stabilization control 2 of a pitch angle adjusting mechanism, the inertial navigation unit sensor is arranged on attitude stabilization control 3 of a projectile hanging mechanism, and the servo motor controller is positioned on the servo motors;

the two servo motors respectively drive corresponding actuating mechanisms on two degrees of freedom of pitching and yawing, the servo motors are integrated with encoders, and the rotating speed of the motors can be fed back through the encoders to realize the speed loop control of the servo motors;

the inertial navigation unit sensor is used for acquiring pitching and yawing angle information of the projectile body, and acquiring attitude deviation of the projectile body by combining the target attitude of the projectile body acquired by commanding, wherein the attitude deviation is used for realizing position loop control of the servo motor;

the servo motor controller mainly completes data processing and dynamic control functions and is an attitude control core component, the servo motor controller can process data of an inertial navigation unit sensor and an encoder and is communicated with an upper computer to obtain a target attitude of a projectile body, the attitude deviation and the rotating speed deviation of the servo motor are used as error signals, a servo motor control instruction is output in a PID control mode, the control instruction is amplified by a power amplifier and used for driving the servo motor to operate, and pitching and yawing control of the projectile body is realized by combining with an actual mechanical structure of a projectile body hanging device.

Further, 3 attitude stability controls of the projectile hanging mechanism include 31 attitude stability controls of the fixed ring buckle and 32 attitude stability controls of the locking ring buckle, and the distance between the 31 attitude stability controls of the fixed ring buckle and the 32 attitude stability controls of the locking ring buckle is adjustable, so that the projectiles with different lengths can be fixed and positioned.

Furthermore, 31 gesture stable control inside lining rubber packing rings of fixed latch closure gesture stable control play the electrical isolation effect when improving fastening body head.

Further, the locking ring buckle posture stability control 32 includes an upper half ring and a lower half ring to adapt to loads of different specifications and sizes.

Further, the inertial navigation unit sensor is installed on the locking ring buckle attitude stabilization control 32 attitude stabilization control of the projectile hanging mechanism attitude stabilization control 3 attitude stabilization control.

Compared with the prior art, the method has the following effective benefits:

1. the invention can independently, dynamically adjust the azimuth angle and the pitch angle of the hanging bomb in real time, and ensure the stable attitude of the hanging bomb in the air.

2. The invention adopts two groups of worm and gear mechanisms to carry out indexing transmission in two directions of a pitch angle and an azimuth angle respectively, the rotation angles of the worm gears in the two groups of mechanisms respectively correspond to the change of the missile hanging azimuth angle and the pitch angle of the device, and the requirements of power transmission and precision transmission can be considered by selecting different transmission ratios.

3. Compared with gear transmission, the worm gear transmission structure of the invention is compact, the whole size is easy to control, and the application range is wide;

4. the worm gear has a large limit transmission ratio, and under the condition of a large transmission ratio, the worm gear is indirectly controlled by controlling the rotation of the worm, so that the tiny rotation angle of the worm gear can be more accurately controlled;

5. the worm gear transmission of the invention has a self-locking function, and the influence of weight and inertia on control precision can be overcome after the posture is adjusted in place.

6. The invention adopts closed-loop control on the attitude of the missile hanging, can correct the attitude change of the missile hanging caused by atmospheric disturbance of the airship in real time, ensures the attitude stability of the missile hanging in the air, and provides support for a flight target practice test.

Description of the drawings

Fig. 1 is a schematic perspective view (containing a missile) of a missile hanging posture stabilizing device of a medium and low altitude airship according to the invention;

FIG. 2 is a cross-sectional view of the device for stabilizing the missile hanging posture of the medium and low altitude airship according to the invention (without the missile);

FIG. 3 is a perspective view of the device for stabilizing the missile hanging posture of the medium and low altitude airship according to the invention (without a missile);

FIG. 4 is a block diagram of attitude stabilization control of a device for stabilizing the missile hanging attitude of a medium and low altitude airship according to the invention;

FIG. 5 is a process of changing azimuth angle of the device for stabilizing missile hanging posture of the medium and low altitude airship;

fig. 6 shows the pitch angle change process of the device for stabilizing the missile hanging posture of the medium and low altitude airship.

Wherein: 1-azimuth angle adjusting mechanism, 2-pitch angle adjusting mechanism, 3-missile hanging fixing mechanism, 4-missile hanging, 5-airship, 11-main shaft, 12-worm, 13-worm wheel, 14-rotary cylinder, 201-worm, 202-worm wheel, 203-worm wheel shaft, 204-driving gear, 205-driving gear, 206-driven gear, 207-driven gear, 208-driven gear, 209-driven gear, 210-pitching plate, 211-pitching plate, 212-worm gear box, 31-fixed ring buckle and 32-locking ring buckle

Detailed Description

The following describes the implementation of the present invention in detail with reference to the drawings and embodiments.

In a flight target practice test, a medium and low altitude airship is adopted to carry a missile to simulate a real battlefield situation vividly, the missile carrying device is required to have a function of dynamically adjusting an azimuth angle and a pitch angle, meanwhile, in order to avoid the situation that the airship is influenced by factors such as wind speed, wind direction and altitude change in the air to generate oscillation and influence aiming precision, the missile carrying device is required to have a compensation function on the position deviation of the missile body generated due to the oscillation of the airship.

Therefore, the invention provides a device for stabilizing the missile hanging posture of a medium and low altitude airship, which mainly adopts the following design ideas: two groups of worm and worm gear mechanisms are adopted to carry out indexing transmission in the azimuth direction and the pitching direction respectively, and the rotation angles of the worm gears in the two groups of mechanisms correspond to the azimuth angle and the pitching angle of the missile hanging device respectively. Two servo motors respectively drive the worms in the two groups of mechanisms, the worm gears are meshed through the worm and worm wheel to respectively drive the worm wheels to correspondingly rotate, the requirements of power transmission and precision transmission can be met simultaneously by selecting different transmission ratios, in addition, the worm and worm wheel mechanisms have self-locking characteristics, and the influence of weight and inertia on control precision can be overcome after the posture is adjusted in place.

The invention provides a device for stabilizing the missile hanging posture of a medium and low altitude airship, which comprises an azimuth angle adjusting mechanism posture stable control 1 posture stable control, a pitch angle adjusting mechanism posture stable control 2 posture stable control, a missile hanging mechanism posture stable control 3 posture stable control and a missile posture control unit, as shown in figures 1-3; the attitude stabilization control 2 of the pitch angle adjusting mechanism is positioned at the lower end of the attitude stabilization control 1 of the azimuth angle adjusting mechanism, and the attitude stabilization control 2 of the pitch angle adjusting mechanism is connected with the attitude stabilization control 3 of the projectile hanging mechanism;

the attitude stabilization control of the azimuth angle adjusting mechanism 1 comprises main shaft attitude stabilization control 11 attitude stabilization control, worm attitude stabilization control 12 attitude stabilization control, worm wheel attitude stabilization control 13 attitude stabilization control and rotary drum attitude stabilization control 14 attitude stabilization control, and the main shaft attitude stabilization control 11 attitude stabilization control and airship attitude stabilization control 5 attitude stabilization control are relatively fixed; the worm wheel posture stable control 13 and the rotary cylinder posture stable control 14 are relatively fixed and can rotate around the main shaft; the posture stability control of the rotary cylinder 14 and the posture stability control of the worm gear box 212 are relatively fixed; when the motor drives the worm posture stable control 12 posture stable control to rotate, the worm wheel posture stable control 13 posture stable control, the rotary cylinder posture stable control 14 posture stable control, the worm wheel and worm box posture stable control 212 posture stable control correspondingly rotates around the main shaft posture stable control 11 posture stable control, and the change of the azimuth angle of the missile hanging device is realized;

attitude stabilization control of pitch angle adjusting mechanism 2 includes attitude stabilization control of worm attitude stabilization control 201, worm wheel attitude stabilization control 202, worm wheel shaft attitude stabilization control 203, driving gear attitude stabilization control 204, 205, driven gear attitude stabilization control 206, 207, 208, 209, pitch plate attitude stabilization control 210, 211 and worm gear box attitude stabilization control 212; the posture stable control of the worm gear posture stable control 202 and the posture stable control of the worm gear shaft posture stable control 203 are relatively fixed;

the attitude stabilization control of the driving gear 204 and 205 is respectively arranged at two ends of the attitude stabilization control of the worm gear shaft 203 and is relatively fixed with the attitude stabilization control of the worm gear shaft 203; the worm wheel attitude stabilization control 202, the worm wheel shaft attitude stabilization control 203, and the driving gear attitude stabilization controls 204 and 205 can rotate around the worm wheel shaft attitude stabilization control 203 with respect to the worm wheel and worm box attitude stabilization control 212;

the posture stabilizing controls 206 and 207 of the driven gears are positioned at two sides of the posture stabilizing control 204 of the driving gear posture and are mutually meshed with the posture stabilizing control 204 of the driving gear posture; the attitude stabilization control of the driven gears 206 and 207 and the attitude stabilization control of the pitching plate 210 are relatively fixed;

the driven gear attitude stabilization controls 208 and 209 are positioned on both sides of the driving gear attitude stabilization control 205 and are mutually meshed with the driving gear attitude stabilization control 205; the posture stabilization control of the driven gears 208 and 209 and the posture stabilization control of the pitching plate 211 are relatively fixed;

the slave gear attitude stabilization control 206, 207, 208, 209 attitude stabilization control and pitch plate attitude stabilization control 210, 211 attitude stabilization control can rotate around a worm wheel shaft attitude stabilization control 203 attitude stabilization control axis with respect to the worm wheel and worm case attitude stabilization control 212 attitude stabilization control, when the worm wheel attitude stabilization control 201 attitude stabilization control is rotated by the servo motor, the worm wheel attitude stabilization control 202 attitude stabilization control, the worm wheel shaft attitude stabilization control 203 attitude stabilization control and the master gear attitude stabilization control 204, 205 attitude stabilization control correspondingly rotates around the worm wheel shaft attitude stabilization control 203 attitude stabilization control with respect to the worm wheel and worm case attitude stabilization control 212 attitude stabilization control, and the slave gear attitude stabilization control 206, 207, 208, 209 attitude stabilization control and pitch plate attitude stabilization control 210, 211 attitude stabilization control also correspondingly rotates around the worm wheel shaft attitude stabilization control 203 attitude stabilization control with respect to the worm wheel and worm wheel case attitude stabilization control 212 attitude stabilization control And the pitch angle of the missile hanging device is changed.

Attitude stability control 3 attitude stability control of the projectile hoisting mechanism includes attitude stability control 31 of the fixed eye ring and attitude stability control 32 of the locking eye ring, and the like. The distance between the 31-posture stable control of the fixed ring buckle posture and the 32-posture stable control of the locking ring buckle posture is adjustable, and the 31-posture stable control of the fixed ring buckle posture controls the lining rubber washer; locking ring buckle attitude stabilization control 32 the attitude stabilization control includes an upper and a lower half ring to accommodate loads of different specifications and sizes.

The projectile attitude adjustment control of the device of the invention is shown in figures 4-6, an attitude stabilization control unit comprises two servo motors, an inertial navigation unit sensor and a servo motor controller, the two servo motors are respectively arranged on an azimuth angle adjusting mechanism attitude stabilization control 1 attitude stabilization control and a pitch angle adjusting mechanism attitude stabilization control 2 attitude stabilization control, the inertial navigation unit sensor is arranged on an projectile hanging mechanism attitude stabilization control 3 attitude stabilization control, and the servo motor controller is positioned on the servo motors;

the two servo motors respectively drive corresponding actuating mechanisms on two degrees of freedom of pitching and yawing, the servo motors are integrated with encoders, and the rotating speed of the motors can be fed back through the encoders to realize the speed loop control of the servo motors;

the inertial navigation unit sensor is arranged on the locking ring buckle attitude stabilization control 32 attitude stabilization control of the projectile body hanging mechanism attitude stabilization control 3 attitude stabilization control, and is used for acquiring pitching and yawing angle information of a projectile body, acquiring projectile body attitude deviation by combining with a target attitude of the projectile body acquired by commanding, and the attitude deviation is used for realizing position ring control of a servo motor.

The servo motor controller mainly completes data processing and dynamic control functions and is a core component of an attitude stabilization control unit, the servo motor controller can process data of an inertial navigation unit sensor and an encoder and is communicated with an upper computer to obtain a target attitude of a projectile body, attitude deviation and servo motor rotating speed deviation are used as error signals, a servo motor control instruction is output in a PID control mode, the control instruction is amplified by a power amplifier and used for driving a servo motor to operate, and pitching and yawing control of the projectile body is realized by combining with an actual mechanical structure of a projectile body hanging device.

The invention provides a device for stabilizing a missile hanging posture of a medium and low altitude airship, which comprises the following specific working processes:

before the test, the posture of the missile hanging to the ground target is set, after the airship is hung and lifted to reach the designated position, the device is started, and the mechanical structure is driven by the servo motor to adjust the posture of the missile hanging to the posture of the target to the ground in the directions of azimuth and elevation and keep the posture.

In the test process, considering that the position of the airship possibly changes due to airflow disturbance, the ground attitude of the missile is also changed, the sensors arranged at corresponding positions monitor the ground attitude of the missile in real time, and the control system sends out a correction instruction in time when the ground attitude of the airship changes, drives the mechanical structure to move, adjusts the ground attitude of the missile and enables the ground attitude of the missile to be kept stable all the time.