CN110986694B - A rocket model and fixed-point landing method using coaxial reverse propellers - Google Patents

Abstract

The invention provides a rocket model using a coaxial reverse propeller and a fixed-point landing method, belonging to the technical field of aerospace models, including a rocket model body, a power mechanism, a direction adjustment mechanism, an electric control cabin and a braking mechanism. The rocket model body is provided with a power mechanism and a direction adjustment mechanism; the rocket model body is provided with an electric control cabin, which is used to sense the position of the rocket model body and control the driving direction of the power mechanism through the direction adjustment mechanism; the rocket model body The front end is provided with a braking mechanism, which is used to control the power mechanism to stop. The present invention provides a rocket model using a coaxial reverse propeller. When the rocket model body needs to land, the electronic control cabin sends a control signal to the direction adjustment mechanism, and the drive mechanism adjusts its driving direction to make the rocket model land on the target point. The driving mechanism controls the power mechanism to stop running, so that the rocket model can land stably. Finally, the accurate fixed-point recovery of the rocket model can be realized.

Description

A rocket model and fixed-point landing method using coaxial reverse propeller

technical field

The invention belongs to the technical field of aerospace models, and more particularly relates to a rocket model and a fixed-point landing method using a coaxial reverse propeller.

Background technique

With the advancement of science and technology, human spaceflight technology is developing vigorously. At present, its recycling and reuse have received extensive attention. As the foundation of the aerospace industry, the rocket model is not only a toy, but also a vehicle. With the development of aerospace technology, it is also constantly improving. However, the main function of the current rocket model is to launch and parachute landing, but it cannot achieve accurate fixed-point recovery.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a rocket model using a coaxial reverse propeller, which aims to solve the problem that the rocket model cannot be accurately recovered at a fixed point.

In order to achieve the above object, the technical solution adopted in the present invention is to provide a rocket model using a coaxial reverse propeller, including a rocket model body, and a power mechanism and a direction adjustment mechanism are provided on the rocket model body;

The rocket model body is provided with an electric control cabin, and the electric control cabin is used to sense the position of the rocket model body and control the driving direction of the power mechanism through the direction adjustment mechanism;

The front end of the rocket model body is provided with a braking mechanism, and the braking mechanism is used to control the power mechanism to stop running.

As another embodiment of the present application, the power mechanism includes a coaxial reverse propeller motor and two propellers sequentially arranged on the drive shaft of the coaxial reverse propeller motor, and the braking mechanism is used to control the coaxial reverse propeller motor. The propeller motor stops running.

As another embodiment of the present application, the direction adjustment mechanism includes a horizontal rotation motor and a vertical rotation motor, the horizontal rotation motor is installed on the rocket model body, and the vertical rotation motor is connected to the horizontal rotation motor through a connecting device The rotation motor and the power mechanism, the horizontal rotation motor and the vertical rotation motor are used to adjust the driving direction of the power mechanism by receiving the induction signal of the electric control cabin.

As another embodiment of the present application, the connecting device includes a first connecting member and a second connecting member, the first connecting member is connected to the driving end of the horizontal rotation motor and the fixed end of the vertical rotation motor, The second connecting piece is connected to the driving end of the vertical rotation motor and the fixed end of the coaxial reverse propeller motor.

As another embodiment of the present application, the electronic control cabin includes a GPS module, a gyroscope module, and a single-chip microcomputer, the single-chip microcomputer is used to record the coordinates of the target point, and the GPS module is used to constantly sense the position coordinates of the rocket model body, The gyroscope module is used to sense the deviation angle between the position coordinates and the target point coordinates, and control the driving directions of the two propellers through the horizontal rotation motor and the vertical rotation motor.

As another embodiment of the present application, the front end of the rocket model body is provided with a rectifying nose cone, and the braking mechanism is provided at the end of the rectifying nose cone.

As another embodiment of the present application, the braking mechanism is a thimble switch, and the thimble switch is used to control the coaxial reverse propeller motor to stop running.

As another embodiment of the present application, the end of the rocket model body is provided with a parachute.

The beneficial effect of the rocket model using the coaxial reverse propeller provided by the present invention is: compared with the prior art, the rocket model using the coaxial reverse propeller of the present invention has the following advantages: when the rocket model body needs to land, the electric control cabin The position of the rocket model body is sensed, compared with the target position, and a control signal is sent to the direction adjustment mechanism. After the direction adjustment mechanism receives the control signal, the driving mechanism adjusts its driving direction and adjusts the landing direction of the rocket model body to make it Land to the target point. When the rocket model body falls to the ground, the braking mechanism controls the power mechanism to stop running, so that the rocket model can land stably. Finally, the accurate fixed-point recovery of the rocket model can be realized.

The present invention also provides a fixed-point landing method for a rocket model, including the rocket model using a coaxial reverse propeller, including the following steps:

S1: Input the coordinates of the target point (x, y, z) into the microcontroller;

S2: After the rocket model body is launched and the parachute is opened, the GPS module senses the current position coordinates (X, Y, Z);

S3: The single-chip microcomputer calculates the required pitch angle A and required yaw angle B of the rocket model body through the current position coordinates (X, Y, Z) and the target point coordinates (x, y, z);

S4: The gyroscope module reads the current pitch angle data a and heading angle data b from time to time;

S5: The microcontroller calculates the motor rotation direction F by comparing A and a, or B and b, and calculates the motor rotation speed V through the motor rotation direction F;

S6: After the rocket model touches the ground, trigger the thimble switch, and each motor stops rotating.

As another embodiment of the present application, in steps S3 to S5,

Calculate the required pitch angle A:

或

Calculate the required yaw angle B:

or

Calculate the motor rotation direction F: S _Δ =Aa,

e_(t)＝V₍₂₎-V₍₁₎,Calculate the motor rotation speed V:

e _(t) = V ₍₂₎ - V ₍₁₎ ,

The beneficial effect of the fixed-point landing method for a rocket model provided by the present invention is: compared with the prior art, the coordinates (x, y, z) of the target point are firstly input into the single-chip microcomputer on the rocket model body; After the parachute is opened, the GPS module senses the current position coordinates (X, Y, Z); the single-chip microcomputer calculates the required pitch of the rocket model body through the current position coordinates (X, Y, Z) and the target point coordinates (x, y, z). Angle A and required yaw angle B; the gyroscope module reads the current pitch angle data a and heading angle data b from time to time; the microcontroller calculates the motor rotation direction F by comparing A and a, or B and b, and rotates the motor through the motor The direction F calculates the motor rotation speed V; after the rocket model touches the ground, the thimble switch is triggered, and each motor stops rotating. It can realize the accurate fixed-point recovery of the rocket model.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the structural representation of a kind of rocket model that adopts coaxial counter-propeller provided by the embodiment of the present invention;

FIG. 2 is a flowchart of a fixed-point landing method for a rocket model provided by an embodiment of the present invention.

In the figure: 1. Rocket model body; 2. Electric control cabin; 3. Coaxial reverse propeller motor; 4. Propeller; 5. Horizontal rotation motor; 6. Vertical rotation motor; 7. First connecting piece; Two connectors; 9, rectifier head cone; 10, thimble switch.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

Referring to FIG. 1 , a rocket model using a coaxial reverse propeller provided by the present invention will now be described. A rocket model using a coaxial reverse propeller includes a rocket model body 1, a power mechanism, a direction adjustment mechanism, an electric control cabin 2 and a braking mechanism.

The rocket model body 1 is provided with a power mechanism and a direction adjustment mechanism; the rocket model body 1 is provided with an electric control cabin 2, and the electric control cabin 2 is used to sense the position of the rocket model body 1, and control the drive of the power mechanism through the direction adjustment mechanism Direction; the front end of the rocket model body 1 is provided with a braking mechanism, and the braking mechanism is used to control the power mechanism to stop running.

Compared with the prior art, when the rocket model body 1 needs to land, the electronic control cabin 2 senses the position of the rocket model body 1 and compares it with the target position. Analysis, send a control signal to the direction adjustment mechanism, after the direction adjustment mechanism receives the control signal, the driving mechanism adjusts its driving direction, adjusts the landing direction of the rocket model body 1, and makes it land on the target point. When the rocket model body 1 falls to the ground, the braking mechanism controls the power mechanism to stop running, so that the rocket model can land stably. Finally, the accurate fixed-point recovery of the rocket model can be realized.

As a specific embodiment of a rocket model using a coaxial counter-propeller provided by the present invention, please refer to FIG. 1 , the power mechanism includes a coaxial counter-propeller motor 3 and a coaxial counter-propeller motor 3 sequentially arranged on the drive shaft. The two propellers 4, and the braking mechanism is used to control the coaxial reverse propeller motor 3 to stop running. In this embodiment, the coaxial anti-propeller motor 3 is also known as a coaxial double-propeller motor, and two propellers 4 with opposite rotation directions are provided on the coaxial axis, which is a commonly used device in flight equipment, and can balance the unidirectional rotation deflection torque, When the rocket model uses the one-way propeller 4 to rotate, the single-phase deflection moment brought about will cause the rocket model body 1 to spin, resulting in the problem of difficult control. The braking device is electrically connected with the coaxial anti-propeller motor 3, and can control the stop operation of the coaxial anti-propeller motor 3 to realize the landing of the rocket model.

As a specific embodiment of a rocket model using a coaxial reverse propeller provided by the present invention, please refer to FIG. 1 , the direction adjustment mechanism includes a horizontal rotation motor 5 and a vertical rotation motor 6, and the horizontal rotation motor 5 is installed on the rocket model. On the main body 1, the vertical rotation motor 6 connects the horizontal rotation motor 5 and the power mechanism through the connecting device, and the horizontal rotation motor 5 and the vertical rotation motor 6 are used to adjust the driving direction of the power mechanism by receiving the induction signal of the electric control cabin 2. In this embodiment, the vertical rotation motor 6 drives the power mechanism to change the landing angle between the rocket model and the ground; the horizontal rotation motor 5 drives the power mechanism to change the landing direction. Both the horizontal rotation motor 5 and the vertical rotation motor 6 are controlled by the electric control cabin 2 . By receiving the induction signal of the electric control cabin 2 , the horizontal rotation motor 5 and the vertical rotation motor 6 change the rotational speed and rotation direction.

As a specific embodiment of a rocket model using a coaxial reverse propeller provided by the present invention, please refer to FIG. 1 , the connecting device includes a first connecting member 7 and a second connecting member 8, and the first connecting member 7 is connected to the horizontal The driving end of the rotating motor 5 and the fixed end of the vertical rotating motor 6 , and the second connecting member 8 is connected to the driving end of the vertical rotating motor 6 and the fixed end of the coaxial reverse propeller motor 3 . In this embodiment, the first connecting member 7 and the second connecting member 8 are both U-shaped frame bodies, and the corresponding free ends are hinged, and the first connecting member 7 is rotatably arranged above the second connecting member 8 . The first connector 7 is connected to the driving end of the horizontal rotating motor 5, the driving end of the horizontal rotating motor 5 is driven by rotation, and the vertical rotating motor 6 and the coaxial counter-propeller motor 3 are driven to convert the angles through the second connecting member 8, thereby changing the rocket model. direction of flight. The second connecting piece 8 connects the driving end of the vertical rotating motor 6 and the coaxial counter-propeller motor 3, and the vertical rotating motor 6 drives the second connecting piece 8 to rotate relative to the first connecting piece 7, thereby changing the flight between the rocket model and the ground. angle.

As a specific implementation of a rocket model using coaxial reverse propeller provided by the present invention, please refer to FIG. 1 , the electronic control cabin 2 includes a GPS module, a gyroscope module and a single-chip microcomputer. The single-chip computer is used to record the coordinates of the target point, and the GPS The module is used to always sense the position coordinates of the rocket model body 1, and the gyroscope module is used to sense the deviation angle between the position coordinates and the target point coordinates, and control the driving directions of the two propellers 4 through the horizontal rotation motor 5 and the vertical rotation motor 6. In this embodiment, the coordinates of the target point are first input into the microcontroller. During the flight of the rocket model, the GPS module constantly senses the position coordinates and analyzes and compares them with the coordinates of the target point. The motors, namely the horizontal rotation motor 5 and the vertical rotation motor 6, control the flight direction and angle of the rocket model by controlling the horizontal rotation motor 5 and the vertical rotation motor 6.

As a specific embodiment of a rocket model using a coaxial reverse propeller provided by the present invention, please refer to FIG. Ends. In this embodiment, the rectifying nose cone 9 is a conical mechanism, which can reduce the flight resistance of the rocket model. The braking device is installed at the end of the rocket model, and the braking device is activated by the landing of the rocket model to control the stability of the rocket model.

As a specific embodiment of a rocket model using a coaxial reverse propeller provided by the present invention, please refer to FIG. 1 , the braking mechanism is a thimble switch 10, and the thimble switch 10 is used to control the coaxial reverse propeller motor 3 to stop running. In this embodiment, the thimble switch 10 has a reset function. When the rocket model touches the ground, the thimble switch 10 touches the ground before the rocket model. Under the action of the gravity of the rocket model, the thimble switch 10 controls the coaxial reverse propeller motor 3 to open circuit, so that the The coaxial reverse propeller motor 3 stops running, and the two propellers 4 no longer rotate, so that the rocket model remains stable after landing.

As a specific embodiment of a rocket model using a coaxial reverse propeller provided by the present invention, please refer to FIG. 1 , a parachute is provided at the end of the rocket model body 1 . In this embodiment, the parachute is located on the rear side of the electronic control cabin 2 and pops up when the rocket model lands to buffer the landing speed of the rocket model, which can not only prevent the rocket model from being damaged due to excessive inertia when it falls, but also can adjust the flight for the rocket model. Orientation and angle provide long enough.

The present invention also provides a fixed-point landing method for a rocket model, using the above-mentioned rocket model using a coaxial reverse propeller, please refer to FIG. 2, including the following steps:

S1: Input the coordinates of the target point (x, y, z) into the microcontroller;

S2: After the rocket model body 1 is launched and the parachute is opened, the GPS module senses the current position coordinates (X, Y, Z);

S3: The single-chip microcomputer calculates the required pitch angle A and required yaw angle B of the rocket model body 1 through the current position coordinates (X, Y, Z) and the target point coordinates (x, y, z);

S4: The gyroscope module reads the current pitch angle data a and heading angle data b from time to time;

S5: The microcontroller calculates the motor rotation direction F by comparing A and a, or B and b, and calculates the motor rotation speed V through the motor rotation direction F;

S6: After the rocket model touches the ground, trigger the thimble switch 10, and each motor stops rotating.

Calculate the required pitch angle A:

Among them, x is the longitude of the target point, y is the latitude of the target point, z is the height of the target point, X is the longitude of the current rocket model location, Y is the latitude of the current rocket model location, and Z is the current rocket model location. the height of.

Calculate the required yaw angle B:

First, take the position of the current rocket model as the origin, the direction where the heading angle is zero is the positive direction of the Y-axis, and the 90-degree clockwise direction is the positive direction of the X-axis, establish a horizontal coordinate system, and determine which quadrant the target point is located in.

When the target point is in the first and second quadrants:

When the target point is in the third and fourth quadrants:

Among them, x is the longitude of the target point, y is the latitude of the target point, X is the longitude of the location of the current rocket model, and Y is the latitude of the location of the current rocket model.

Calculate the motor rotation direction F:

S _Δ =Aa,

Among them, the above A can be replaced by B, a can be replaced by b, and must be replaced at the same time; S _Δ is the difference between the current angle and the required angle.

Calculate the motor rotation speed V:

e_(t)＝V₍₂₎-V₍₁₎,

e _(t) = V ₍₂₎ - V ₍₁₎ ,

e _(t) the difference between the actual value of the motor speed and the predetermined value of the motor speed, V ₍₁₎ the predetermined value of the motor speed per unit time, V ₍₂₎ the actual value of the motor speed per unit time, K _P is the proportional coefficient, T _i is the integral coefficient, T _d Differential coefficient.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (8)

1. A fixed point landing method of a rocket model comprises the rocket model adopting coaxial counter-propellers, wherein the rocket model adopting the coaxial counter-propellers comprises a rocket model body, and a power mechanism and a direction adjusting mechanism are arranged on the rocket model body;

an electric control cabin is arranged in the rocket model body, and is used for sensing the position of the rocket model body and controlling the driving direction of the power mechanism through the direction adjusting mechanism;

the front end of the rocket model body is provided with a braking mechanism, and the braking mechanism is used for controlling the power mechanism to stop running;

the method is characterized by comprising the following steps:

s1: inputting the coordinates (x, y, z) of the target point into the single chip microcomputer;

s2: after the rocket model body is launched and the parachute is opened, the GPS module senses the current position coordinates (X, Y and Z);

s3: the single chip microcomputer calculates a pitching angle A and a yawing angle B required by the rocket model body through the current position coordinates (X, Y, Z) and the target point coordinates (X, Y, Z);

s4: the gyroscope module reads current pitch angle data a and current course angle data b at any time;

s5: the single chip microcomputer calculates the rotation direction F of the motor by comparing A with a or B with B, and calculates the rotation speed V of the motor according to the rotation direction F of the motor;

s6: after the rocket model touches the ground, triggering a thimble switch, and stopping the rotation of each motor;

in steps S3 to S5,

calculating a required pitch angle A:

wherein X is the longitude of a target point, Y is the latitude of the target point, Z is the height of the target point, X is the longitude of the position where the current rocket model is located, Y is the latitude of the position where the current rocket model is located, and Z is the height of the position where the current rocket model is located;

calculating a required yaw angle B: firstly, taking the position of a current rocket model as an original point, taking the direction with a zero course angle as the positive direction of a Y axis, clockwise rotating by 90 degrees as the positive direction of an X axis, establishing a horizontal coordinate system, and judging that a target point is positioned in the quadrant IV;

when the target point is located at the first and second boundaries:

when the target point is located in the third, fourth quadrant:

wherein X is the longitude of the target point, Y is the latitude of the target point, X is the longitude of the position where the current rocket model is located, and Y is the latitude of the position where the current rocket model is located;

calculating the motor rotation direction F: s_Δ＝A-a,

Wherein, A can be replaced by B, a can be replaced by B, and the A and the B must be replaced simultaneously; s_ΔThe difference between the current angle and the required angle;

calculating the rotating speed V of the motor:

e_(t)＝V₍₂₎-V₍₁₎,

e_(t)difference between actual value of motor speed and predetermined value of motor speed, V₍₁₎Predetermined motor speed value per unit time, V₍₂₎Actual motor speed, K, per unit time_PIs a proportionality coefficient, T_iIntegral coefficient, T_dA differential coefficient.

2. A rocket model fixed point landing method as recited in claim 1, wherein said power mechanism comprises a coaxial counter-blade motor and two propellers sequentially arranged on a driving shaft of said coaxial counter-blade motor, and said brake mechanism is used for controlling said coaxial counter-blade motor to stop running.

3. A rocket model fixed point landing method as recited in claim 2, wherein said direction adjustment mechanism comprises a horizontal rotation motor and a vertical rotation motor, said horizontal rotation motor is mounted on said rocket model body, said vertical rotation motor is connected with said horizontal rotation motor and said power mechanism through a connecting device, said horizontal rotation motor and said vertical rotation motor are used for adjusting the driving direction of said power mechanism by receiving the induction signal of said electric control cabin.

4. A rocket model fixed point landing method as recited in claim 3, wherein said connecting means comprises a first connecting member and a second connecting member, said first connecting member being connected to a driving end of said horizontal rotation motor and a fixed end of said vertical rotation motor, said second connecting member being connected to a driving end of said vertical rotation motor and a fixed end of said coaxial counter-paddle motor.

5. A rocket model fixed-point landing method as recited in claim 4, wherein said electric control cabin comprises a GPS module, a gyroscope module and a single chip microcomputer, said single chip microcomputer is used for recording the coordinates of a target point, said GPS module is used for sensing the position coordinates of said rocket model body from time to time, said gyroscope module is used for sensing the deviation angle between said position coordinates and said target point coordinates, and the driving directions of said two propellers are controlled by said horizontal rotating motor and said vertical rotating motor.

6. A rocket model fixed point landing method as recited in claim 5, wherein a fairing cone is provided at the front end of said rocket model body, and said braking mechanism is provided at the end of said fairing cone.

7. A rocket model fixed point landing method as recited in claim 6, wherein said braking mechanism is a thimble switch, said thimble switch is used to control said coaxial counter-rotating motor to stop running.

8. A method of landing a rocket model at a fixed point as recited in any one of claims 1-7, wherein a parachute is provided at the end of the rocket model body.

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