CN103134383A - Electromagnetic launching device capable of controlling force and electromagnetic launching method thereof - Google Patents

Abstract

The invention discloses an electromagnetic launching device capable of controlling force and an electromagnetic launching method thereof. The electromagnetic launching device comprises a direct current power supply, a voltage adjusting module, a charging circuit, an energy storage module, a discharging circuit and a controller. The direct current power supply is connected with the charging circuit through the voltage adjusting module, the charging circuit is connected with the discharging circuit through the energy storage module, and the controller is respectively connected with the voltage adjusting module, the charging circuit and the discharging circuit. According to the force required by launching to a target, corresponding voltage is calculated, electric energy is stored to the energy storage module by adjusting output voltage of the voltage adjusting module, energy is released through the energy storage module, the launching device is driven, and required launching force is obtained. The electromagnetic launching device has the advantages of being high in controllability and energy conversion efficiency, short in preparing period and the like and is applied to various fields of civil use, industries, military use and the like.

Description

The electromagnetic launch device that dynamics is controlled and electromagnetic launch method thereof

Technical field

The present invention relates to the electromagnetic launch technical field, specifically a kind of controlled electromagnetic launch device and the electromagnetic launch method thereof of dynamics.

Background technology

In military field, the ejector such as rocket, the cannon etc. that occupy critical role belong to chemical ejector more.Yet traditional ejector has been difficult to satisfy demand for development.Electromagnetic launch technology EML (Electromagnetic Launch) is a kind of emerging straight line catapult technique, its plurality of advantages that has is along with the continuous progress of scientific research technology is day by day bright and clear, and dynamics is controlled, acceleration is even, energy conversion efficiency is high, the preparatory period is short etc. is the part advantage of electromagnetic launch technology.

Li Yong etc. are at " small and special electric machine " the 2001st, (5): " principle of electromagnetic launch technology and present situation [J] " that 3 – 18 deliver and Yang Shirong etc. are at " physics " the 2003rd, " principle of electromagnetic launcher and application [J] " that 32 (4): 253 – 256 deliver all embodied: these advantages of electromagnetic launch make it at military aspect, particularly particularly outstanding as the advantage on aircraft carrier-borne aircraft catapult.

PWM (Pulse Width Modulation), it is pulse width modulating technology, be a kind of analog control mode, its variation according to respective loads comes the biasing of modulation crystal tube grid or base stage, realizes the change of switching power supply output transistor or transistor turns time.Account for the ratio of total time by changing ON time, namely dutycycle, reach the purpose of adjusting voltage and frequency.It is widely used in many fields such as measurement, communication, Electric Machine Control, power conversion.

The existing carrier-borne ejector of aircraft carrier adopts the steam ejection technology more.perillaseed boats etc. are at " Canon launching and control journal " the 2011st, (1): " electromagnetic launch technology of unmanned aerial vehicle is used summary [J] " that 93 – 96 deliver and Li Meiwu etc. are in " naval vessel science and technology " the 2008th, 30 (2): the carrier-borne ejector steam ejection of the aircraft carrier method that " optimal selection that aircraft carrier takes off---electromagnetic ejection system [J] " that 34-37 delivers proposes, in steam ejection, ubiquitous shortcoming is that energy conversion efficiency is low, poor controllability, preparatory period is long, device volume is large etc., simultaneously, along with to launching improving constantly of requirement, its ejection speed and launch quality and also can't satisfy the demands all the more.

Summary of the invention

The present invention is directed to above shortcomings in prior art, the controlled electromagnetic launch device of a kind of dynamics and electromagnetic launch method thereof are provided, control electromagnetic launch device input voltage by voltage regulating module, to reach the controlled of the dynamics of launching.

The present invention is achieved by the following technical solutions.

The electromagnetic launch device that a kind of dynamics is controlled, comprise dc source, voltage regulating module, charging circuit, energy-storage module, discharge circuit and controller, wherein, described dc source is connected with charging circuit by voltage regulating module, described charging circuit is connected with discharge circuit by energy-storage module, and described controller is connected with voltage regulating module, charging circuit and discharge circuit respectively.

Described dc source can adopt different volt values as required.

Described voltage regulating module is pulsewidth modulation (PWM) module, the input duty cycle of described pulse width modulation module and output voltage positive correlation, and the duty by changing pulse width modulation module is the size of regulation output voltage recently.

Described controller is used for input duty cycle being provided and providing make-and-break signal to voltage regulating module, charging circuit and discharge circuit to voltage regulating module.

Described controller is single-chip microcomputer.

Described charging circuit is used for connecting voltage regulating module and energy-storage module, and the energy-storage module energy that the savings bank needs is provided, and charging circuit comprises the charge relay S that connects successively ₁, charging resistor R _L, charge relay S ₂With charging resistor R _C, described charge relay S ₁With charge relay S ₂As the conducting controller of charging circuit, and be connected with controller.

Described energy-storage module is used for the storage dc source and controls the electric energy of rear output by voltage regulating module, comprises one or more energy-storage travelling wave tubes by connecting and/or being connected in parallel.

Described energy-storage travelling wave tube is electric capacity.

Described discharge circuit comprises: launch relay, discharge resistance R, two parallel fixing and conductive ejection orbit, armature and emitter each other, wherein, the described relay that launches is connected with discharge resistance R, described discharge resistance R is connected with ejection orbit wherein, described armature is installed on the emitter end and is placed between two ejection orbits, is used for connecting ejection orbit; The described relay that launches is as the conducting controller of discharge circuit, and is connected with controller.

A kind of electromagnetic launch method based on the controlled electromagnetic launch device of above-mentioned dynamics comprises the following steps:

The first step, the total inductance gradient L ' of power taking magnetic catapult-launching gear is a constant, electromagnetic force F can be controlled by loop current i; Loop current i is provided by energy-storage module, and directly by the output voltage decision of voltage regulating module, simultaneously, the output voltage of voltage regulating module is by input duty cycle D for the tank voltage of energy-storage module _CControl; Obtain different output voltages by changing input duty cycle, then obtain the dynamics of launching that varies in size;

Second step is determined target voltage, and the conducting controller of charging circuit is closed, and energy-storage module is by the charging resistor R of charging circuit _CCharging, at this moment, the voltage of energy-storage module is charging resistor R _LThe voltage at two ends, when energy-storage module voltage surpasses required voltage, by the charging resistor discharge of charging circuit, thus the target voltage on the control energy-storage module;

The 4th step, the relay that launches of discharge module receives after ejection signal closed, the energy of energy-storage module discharges by discharge resistance R, current i is flow through a limit, the armature of U-shaped ejection orbit successively by the positive pole of energy-storage module, then another limit along U-shaped ejection orbit flows into the energy-storage module negative pole, consists of the loop; Current i will produce magnetic field between track, armature will be subject to electromagnetic force F under the effect of magnetic field, current i, advance thereby drive emitter.

Energy-storage travelling wave tube in described energy-storage module is capacitor C _eq

Described target voltage is:

$U_C=\sqrt{\frac{{2\mathrm{FR}}^2}{L^{\′}}},$

The charging interval of described energy-storage module is:

t=R _CC _eq，

Wherein, work as S ₂During disconnection, capacitor C _eqTo keep its acquired voltage, and prepare against when launching and use; Work as S ₁Disconnect S ₂When closed, capacitor C _eqTo pass through resistance R _CAnd R _LDischarge;

Be the discharge time of described energy-storage module:

t=(R _C+R _L)C _eq；

Be the discharge time of described discharge circuit:

t＝RC _eq。

The electromagnetic launch device that dynamics provided by the invention is controlled and electromagnetic launch method thereof, first calculate and launch to voltage corresponding to the required dynamics of target, output voltage by regulating voltage regulating module is to the energy-storage module storing electrical energy, release energy by energy-storage module afterwards, drive catapult-launching gear, obtain the required dynamics of launching.

The present invention has the characteristics such as controllability is high, energy conversion efficiency is high, the preparatory period is short, is applicable to the every field such as civilian, industrial, military.

Description of drawings

Fig. 1 is charging circuit schematic diagram of the present invention;

Fig. 2 is system and device schematic diagram of the present invention;

Fig. 3 is control flow schematic diagram of the present invention;

Fig. 4 is that the present invention launches schematic flow sheet;

In figure, 1 is dc source, and 2 is voltage regulating module, and 3 is controller, and 4 is charge relay S ₁, 5 is charge relay S ₂, 6 is charging resistor R _L, 7 is charging resistor R _C, 8 is energy-storage module, and 9 for launching relay, and 10 is discharge resistance R, and 11 is the first ejection orbit, and 12 is the second ejection orbit, and 13 is armature, and 14 is emitter.

The specific embodiment

The below elaborates to embodiments of the invention: the present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.

As depicted in figs. 1 and 2, the present embodiment provides a kind of dynamics controlled electromagnetic launch device, comprise dc source 1, voltage regulating module 2, charging circuit, energy-storage module 8, discharge circuit and controller 3, wherein, described dc source 1 is connected with charging circuit by voltage regulating module 2, described charging circuit is connected with discharge circuit by energy-storage module 8, and described controller 3 is connected with voltage regulating module 2, charging circuit and discharge circuit respectively.

Further, described dc source 1 can adopt different volt values as required.

Further, described voltage regulating module 2 is pulsewidth modulation (PWM) module, the input duty cycle of described pulse width modulation module and output voltage positive correlation, and the duty by the change pulse width modulation module is the size of regulation output voltage recently.

Further, described controller 3 is used for input duty cycle being provided and providing make-and-break signal to voltage regulating module, charging circuit and discharge circuit to voltage regulating module.Described controller can be selected single-chip microcomputer.

Further, described charging circuit is used for connecting voltage regulating module 2 and energy-storage module 8, and the energy-storage module energy that the savings bank needs is provided, and charging circuit comprises the charge relay S that connects successively ₁4, charging resistor R _L6, charge relay S ₂5 and charging resistor R _C7, described charge relay S ₁4 and charge relay S ₂The 5 conducting controllers as charging circuit, and be connected with controller 3.

Further, described energy-storage module 8 is used for storing dc source 1 and controls the electric energy of rear output by voltage regulating module 2, comprises one or more energy-storage travelling wave tubes by connecting and/or being connected in parallel.The design parameter of described energy-storage travelling wave tube can be selected as required, can be electric capacity or inductance, and the present embodiment is elected electric capacity as.

Further, described discharge circuit comprises: launch relay 9, discharge resistance R10, two parallel fixing and conductive ejection orbit, armature 13 and emitter 14 each other, wherein, the described relay 9 that launches is connected with discharge resistance R10, described discharge resistance R10 is connected with the first ejection orbit 11, described armature 13 is installed on emitter 14 ends and is placed between two ejection orbits, is used for connecting ejection orbit; The described relay 9 that launches is as the conducting controller of discharge circuit, and is connected with controller 3.

Further, the conducting controller also can be selected MOSFET pipe etc., preferred relay in the present embodiment.

As shown in Figure 3, power supply is connected with the input of pulse width modulation module, makes pulse width modulation module obtain supply voltage.The another reception one of pulse width modulation module comes the input duty cycle signal of self-controller, in order to the control module output voltage.The voltage output end of pulse width modulation module is connected with energy-storage module by charging circuit.Energy-storage module is connected with two tracks of catapult-launching gear simultaneously.When launching relay closes, will there be electric current to produce in the loop that is consisted of by energy-storage module, two guide rails, armatures, electric current will generate an electromagnetic field in the loop, then produce electromagnetic force, and its direction is followed left hand rule.Electromagnetic force makes its acceleration in emitter.To impact thing to be launched when emitter arrives track end, thing to be launched will be launched out.

The electromagnetic launch method of the electromagnetic launch device that the dynamics that provides based on the present embodiment is controlled comprises the following steps:

The first step, the total inductance gradient L ' of power taking magnetic catapult-launching gear is a constant, electromagnetic force F can be controlled by loop current i; Loop current i is provided by energy-storage module, and directly by the output voltage decision of voltage regulating module, simultaneously, the output voltage of voltage regulating module is by input duty cycle D for the tank voltage of energy-storage module _CControl; Obtain different output voltages by changing input duty cycle, then obtain the dynamics of launching that varies in size;

Second step is determined target voltage, and the conducting controller of charging circuit is closed, and energy-storage module is by the charging resistor R of charging circuit _CCharging, at this moment, the voltage of energy-storage module is charging resistor R _LThe voltage at two ends, when energy-storage module voltage surpasses required voltage, by the charging resistor discharge of charging circuit, thus the target voltage on the control energy-storage module;

The 4th step, the relay that launches of discharge module receives after ejection signal closed, the energy of energy-storage module discharges by discharge resistance R, current i is flow through a limit, the armature of U-shaped ejection orbit successively by the positive pole of energy-storage module, then another limit along U-shaped ejection orbit flows into the energy-storage module negative pole, consists of the loop; Current i will produce magnetic field between track, armature will be subject to electromagnetic force F under the effect of magnetic field, current i, advance thereby drive emitter.

Energy-storage travelling wave tube in described energy-storage module is capacitor C _eq

Described target voltage is:

$U_C=\sqrt{\frac{{2\mathrm{FR}}^2}{L^{\′}}},$

The charging interval of described energy-storage module is:

t=R _CC _eq，

Wherein, work as S ₂During disconnection, capacitor C _eqTo keep its acquired voltage, and prepare against when launching and use; Work as S ₁Disconnect S ₂When closed, capacitor C _eqTo pass through resistance R _CAnd R _LDischarge;

Be the discharge time of described energy-storage module:

t＝(R _C+R _L)C _eq；

Be the discharge time of described discharge circuit:

t＝RC _eq。

Be specially,

When the conducting controller was closed, current i was flow through successively track, armature and is flowed into the energy-storage travelling wave tube negative pole along another track by the positive pole of energy-storage travelling wave tube, consists of the loop.Current i will produce magnetic field between track, armature will be subject to electromagnetic force F under the effect of magnetic field, current i, drive emitter and advance.Use common nylon rod as emitter in the present embodiment.

By deriving as can be known, the suffered driving force size of emitter is

$F=\frac{1}{2}{L}^{\′}{i}^2---\left(1\right)$

Wherein L ' is the total inductance gradient of catapult-launching gear.If take track one end as initial point, the position offset of the relative initial point of armature is designated as x, the inductance gradient L ' that armature is positioned at the x place in device is (x) variable relevant with x only.For a structure of determining, in each ejection process, if the part that armature contacts with track all equates (as last to the other end from an end orbital head), the total inductance gradient of desirable device is a constant in calculating.Because the many factors such as the cross-sectional area of total inductance gradient and track and armature, length, material are relevant, therefore directly calculate comparatively difficulty, for ask for the total inductance gradient can in the situation that current known i with launch dynamics F and retrodict and obtain.

By formula (1) as can be known, the electromagnetic force F size that obtains of emitter and total inductance gradient L ', loop current i's is square relevant.The total inductance gradient of getting device is a constant, and electromagnetic force F can be controlled by loop current i.Loop current i is provided by energy-storage travelling wave tube, and native system uses electric capacity as energy-storage travelling wave tube, capacitance voltage U _CWith the pass of current i be

$i=\frac{U_C}{R}---\left(2\right)$

Determined when the discharge circuit resistance R as can be known by formula (1) and formula (2), R square be a constant time, electromagnetic force F size and tank voltage U _CSquare have a linear relationship.Tank voltage U in this system _CDirectly the output voltage by pulse width modulation module determines, the pulse width modulation module output voltage is by input duty cycle D simultaneously _CControl.Therefore the output voltage of pulse width modulation module and input duty cycle positive correlation can obtain different output voltages by changing input duty cycle easily, then obtain the dynamics of launching that varies in size.

After filling target voltage with to electric capacity, by its two ends being connected with two tracks respectively and the closed-loop path, can producing loop current i, and then produce electromagnetic force F.According to the left hand rule of Ampere force, electromagnetic force drives emitter and launches towards opening direction along track.When emitter advances to track end, impact object to be launched and complete and launch action.Whole ejection process is the inelastic collision process, and it observes the law of conservation of momentum.Suppose due to make wait the collision of launching thing that the speed of emitter is approximate after collision is decreased to zero, the moment is used the law of conservation of momentum to both and can get before and after the separating of emitter and thing to be launched:

Ft=mv (3)

In formula, F is electromagnetic force; T is for launching action time; M is the quality of thing to be launched, and v is the initial velocity of thing to be launched.

Can get electromagnetic force by formula (1), (2) is:

$F=\frac{L^{\′}{U}_C^2}{{2R}^2}---\left(4\right)$

To a required electromagnetic force, the voltage that need apply is:

$U_C=\sqrt{\frac{{2\mathrm{FR}}^2}{L^{\′}}}---\left(5\right)$

After can being launched by formula (3), (4), the initial velocity of thing to be launched is:

$v=\frac{L^{\′}{U}_C^{2}t}{{2R}^{2}m}---\left(6\right)$

Suppose dutycycle input D _CWith output voltage U _CPass in certain is interval is 1: 10:

$v=\frac{100L^{\′}t}{{2R}^{2}m}{D}_C^2---\left(7\right)$

The initial velocity v of thing to be launched and dutycycle input D after this is and launches _CRelational expression in certain is interval.

Charging interval:

The output voltage of pulse width modulation module such as Fig. 1 and charging resistor R _c, R _LAnd connection in series-parallel equivalent capacity C _eqBe connected.

As charge relay S ₁And S ₂When closed, capacitor C is passed through R _CCharging.This moment, its voltage was resistance R _LThe voltage at two ends when capacitance voltage surpasses required voltage, will pass through R _CDischarge.Charging interval is

t＝R _CC _eq (8)

Work as S ₂During disconnection, capacitor C will keep its acquired voltage, prepare against when launching and use.

Work as S ₁Disconnect S ₂When closed, capacitor C will be passed through resistance R _CAnd R _LDischarge.Be discharge time

t＝(R _C+R _L)C _eq (9)

Adopt such connected mode, easily the voltage on control capacitance C.

Discharge time:

When launching relay closes, the energy on capacitor C discharges by discharge resistance R.Be discharge time:

t＝RC _eq (10)

The idiographic flow of said method as shown in Figure 4.

As shown in table 1, compared with prior art, the present invention has following technical characterstic:

Table 1

	The dynamics controllable electromagnetic launches	Steam ejection	Crawler belt launches
				Ejection speed	Hurry up	In	Slowly

Launch quality	Greatly	In	Little
				Can conversion efficiency	High	Low	Low
Controllability	High	Low	Low
				Launch frequency	High	Low	In
Volume	Little	Greatly	Greatly

Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.

Claims (10)

1. electromagnetic launch device that dynamics is controlled, it is characterized in that, comprise dc source, voltage regulating module, charging circuit, energy-storage module, discharge circuit and controller, wherein, described dc source is connected with charging circuit by voltage regulating module, described charging circuit is connected with discharge circuit by energy-storage module, and described controller is connected with voltage regulating module, charging circuit and discharge circuit respectively.

2. the controlled electromagnetic launch device of dynamics according to claim 1, it is characterized in that, described voltage regulating module is pulse width modulation module, the input duty cycle of described pulse width modulation module and output voltage positive correlation, and the duty by changing pulse width modulation module is the size of regulation output voltage recently.

3. the controlled electromagnetic launch device of dynamics according to claim 2, is characterized in that, described controller is used for input duty cycle being provided and providing make-and-break signal to voltage regulating module, charging circuit and discharge circuit to voltage regulating module.

4. the controlled electromagnetic launch device of dynamics according to claim 3, is characterized in that, described controller is single-chip microcomputer.

5. the controlled electromagnetic launch device of dynamics according to claim 1, is characterized in that, described charging circuit is used for connecting voltage regulating module and energy-storage module, and the energy-storage module energy that the savings bank needs is provided, and charging circuit comprises the charge relay S that connects successively ₁, charging resistor R _L, charge relay S ₂With charging resistor R _C, described charge relay S ₁With charge relay S ₂As the conducting controller of charging circuit, and be connected with controller.

6. the controlled electromagnetic launch device of dynamics according to claim 1, is characterized in that, described energy-storage module is used for the storage dc source and controls the electric energy of rear output by voltage regulating module, comprises one or more energy-storage travelling wave tubes by connecting and/or being connected in parallel.

7. the controlled electromagnetic launch device of dynamics according to claim 1, it is characterized in that, described discharge circuit comprises: launch relay, discharge resistance R, two parallel fixing and conductive ejection orbit, armature and emitter each other, wherein, the described relay that launches is connected with discharge resistance R, described discharge resistance R is connected with ejection orbit wherein, and described armature is installed on the emitter end and is placed between two ejection orbits, is used for connecting ejection orbit; The described relay that launches is as the conducting controller of discharge circuit, and is connected with controller.

8. the electromagnetic launch method based on the controlled electromagnetic launch device of the described dynamics of any one in claim 1 to 7, is characterized in that, comprises the following steps:

The first step, the total inductance gradient L ' of power taking magnetic catapult-launching gear is a constant, electromagnetic force F is controlled by loop current i; Loop current i is provided by energy-storage module, and directly by the output voltage decision of voltage regulating module, simultaneously, the output voltage of voltage regulating module is by input duty cycle D for the tank voltage of energy-storage module _CControl; Obtain different output voltages by changing input duty cycle, then obtain the dynamics of launching that varies in size;

Second step is determined target voltage, and the conducting controller of charging circuit is closed, and energy-storage module is by the charging resistor R of charging circuit _CCharging, at this moment, the voltage of energy-storage module is charging resistor R _LThe voltage at two ends, when energy-storage module voltage surpasses required voltage, by the charging resistor discharge of charging circuit, thus the target voltage on the control energy-storage module;

The 4th step, the relay that launches of discharge module receives after ejection signal closed, the energy of energy-storage module discharges by discharge resistance R, current i is flow through a limit, the armature of U-shaped ejection orbit successively by the positive pole of energy-storage module, then another limit along U-shaped ejection orbit flows into the energy-storage module negative pole, consists of the loop; Current i will produce magnetic field between track, armature will be subject to electromagnetic force F under the effect of magnetic field, current i, advance thereby drive emitter.

9. the electromagnetic launch method of the controlled electromagnetic launch device of dynamics according to claim 8, is characterized in that, the energy-storage travelling wave tube in described energy-storage module is capacitor C _eq

10. the electromagnetic launch method of the controlled electromagnetic launch device of dynamics according to claim 8, is characterized in that,

Described target voltage is:

$U_C=\sqrt{\frac{{2\mathrm{FR}}^2}{L^{\′}}},$

The charging interval of the energy-storage module of going back is:

t=R _CC _eq，

Wherein, work as S ₂During disconnection, capacitor C _eqTo keep its acquired voltage, and prepare against when launching and use; Work as S ₁Disconnect S ₂When closed, capacitor C _eqTo pass through resistance R _CAnd R _LDischarge;

Be the discharge time of described energy-storage module:

t＝(R _C+R _L)C _eq；

Be the discharge time of described discharge circuit:

t＝RC _eq。

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