CN102324198A - Aircraft attitude tracking control teaching experimental device based on polar coordinate target and three-axis turntable - Google Patents

Abstract

The invention discloses an aircraft attitude tracking control teaching experimental device based on a polar coordinate target and a three-axle table, relates to the aircraft attitude tracking control teaching experimental device and solves the problem that various kinds of control law experiments of an aircraft cannot be accomplished due to lacking of an aircraft teaching experimental device in the conventional teaching process. A pitching oscillating shaft part is fixed on an azimuth rotary shaft part; a target sensor and a target plate are fixedly arranged on a motor rotary shaft of a target driving motor; a plurality of indicating lamps are fixedly arranged on the target plate; a rolling shaft part is arranged on the pitching oscillating shaft part in a rolling manner; the aircraft is fixedly arranged on the rolling shaft part; and a sensing head of an aircraft optical sensor faces the target plate in a polar coordinate target component. By measuring a target point, determining the change situation of a position where the aircraft points to the target point and controlling the attitude of the aircraft by using a three-axle table component, the target point can be tracked by the aircraft in real time. An ideal experimental platform can be provided for course teaching such as aircraft control.

Description

Aircraft attitude tracking control teaching experimental device based on polar coordinate target and three-axis turntable

technical field

The invention relates to an aircraft attitude tracking control teaching experiment device.

Background technique

The real-time control of the aircraft is the key link of the aircraft target tracking system, and the effect of the aircraft target tracking depends entirely on the excellent aircraft control law. How to display the characteristics of various aircraft control laws through an experimental device has become an important part of the teaching of aircraft control and detection and guidance. In the teaching process, due to the influence of technology, environment, economy and other factors, the experimental teaching of the target tracking system of physical aircraft is difficult to implement, and there is a lack of an aircraft teaching experimental device to complete various control law experiments of aircraft.

Contents of the invention

In order to solve the problem that various control law experiments of aircraft cannot be completed due to the lack of aircraft teaching experimental devices in the existing teaching process, the present invention proposes an aircraft attitude tracking control teaching experimental device based on a polar coordinate target and a three-axis turntable.

An aircraft attitude tracking control teaching experiment device based on a polar coordinate target and a three-axis turntable, which consists of a polar coordinate target assembly, an aircraft, a parameter measurement and drive control assembly, a three-axis turntable assembly, and a central control assembly; the polar coordinate target assembly and The three-axis turntable assembly is fixedly installed on the base; the polar coordinate target assembly is composed of a target drive motor, a target sensor and a target disk; the target sensor and the target disk are fixedly installed on the motor shaft of the target drive motor; A plurality of indicator lights are fixedly arranged on the target plate; the three-axis turntable assembly includes an azimuth rotation shaft part, a roll shaft part and a pitch swing shaft part; the pitch swing shaft part is arranged on the azimuth rotation shaft part through a bracket, so The pitch swing shaft part is used to adjust the pitch angle; the roll shaft part is installed on the pitch swing shaft part, the roll shaft part is used to adjust the roll direction, and the aircraft is fixedly arranged on the roll shaft part; the aircraft includes The main body and the seeker, the said seeker is fixedly provided with the aircraft optical sensor; the sensing head of the aircraft optical sensor faces the target disk in the polar coordinate target assembly; the target sensing signal output terminal of the target sensor is connected to the The target sensing signal input end of the parameter measurement and drive control assembly is connected; the target motor drive signal input end of the target drive motor is connected with the target motor drive signal output end of the parameter measurement and drive control assembly; the indicator light of the target plate The flashing drive signal input end is connected with the indicator light flashing drive signal output end of the parameter measurement and drive control assembly; the aircraft light sensing signal output end of the aircraft light sensor is connected with the aircraft light sensing signal of the parameter measurement and drive control assembly The input end is connected; the first three-axis turntable sensing signal input end of the parameter measurement and drive control assembly is connected to the first three-axis turntable sensing signal output end of the azimuth rotation axis component in the three-axis turntable assembly; the parameter The second three-axis turntable sensing signal input end of the measurement and drive control assembly is connected to the second three-axis turntable sensing signal output end of the rolling shaft component in the three-axis turntable assembly; the third of the parameter measurement and drive control assembly The input end of the three-axis turntable sensor signal is connected to the third three-axis turntable sensor signal output end of the pitch swing axis component in the three-axis turntable assembly; the first three-axis turntable motor drive signal output of the parameter measurement and drive control assembly The end is connected with the first three-axis turntable motor drive signal input end of the azimuth rotation axis part in the three-axis turntable assembly; the second three-axis turntable motor drive signal output end of the parameter measurement and drive control assembly is connected with the three-axis turntable assembly. The second three-axis turntable motor drive signal input end of the rolling axis component is connected; the third three-axis turntable motor drive signal output end of the parameter measurement and drive control assembly is connected to the third pitch swing axis component in the three-axis turntable assembly. The drive signal input end of the three-axis turntable motor is connected; the parameter measurement data output end of the parameter measurement and drive control component is connected to the parameter measurement data input end of the central control component; the drive control signal input end of the parameter measurement and drive control component is connected to the center The drive control signal output terminals of the control components are connected.

The aircraft attitude tracking control teaching experiment device based on the polar coordinate target and the three-axis turntable of the present invention uses the polar coordinate target to provide the target point motion trajectory, and the aircraft optical sensor 2-1 measures the target point to determine the position of the aircraft 2 pointing to the target point Change status, determine the attitude change data of the aircraft 2 according to the position change, complete the attitude control of the aircraft 2 pointing to the target point by driving the three-axis turntable assembly 4 to rotate, and realize the real-time tracking of the aircraft 2 to the target point. The teaching experiment device of the invention can provide an ideal experiment platform for the teaching of aircraft control and other courses.

Description of drawings

Fig. 1 is a schematic structural diagram of the teaching experiment device of the present invention; Fig. 2 is a schematic diagram of a target plate 1-3; Fig. 3 is a module schematic diagram of the teaching experiment device of the present invention.

Detailed ways

Specific embodiment one: this embodiment is described in conjunction with Fig. 1 to Fig. 3, the aircraft attitude tracking control teaching experimental device based on the polar coordinate target and the three-axis turntable described in this embodiment, it consists of a polar coordinate target assembly 1, an aircraft 2, parameters The measurement and drive control assembly 3, the three-axis turntable assembly 4 and the central control assembly 5; the polar coordinate target assembly 1 and the three-axis turntable assembly 4 are fixedly installed on the base; the polar coordinate target assembly 1 is driven by the target Composed of a motor 1-1, a target sensor 1-2 and a target disc 1-3; the target sensor 1-2 and the target disc 1-3 are fixedly mounted on the motor shaft of the target drive motor 1-1; the target disc 1-3 is fixedly provided with a plurality of indicator lights 1-4; the three-axis turntable assembly 4 includes an azimuth rotation axis part 4-1, a roll axis part 4-2 and a pitch swing axis part 4-3; the pitch swing The shaft part 4-3 is arranged on the azimuth rotation shaft part 4-1 through a bracket, and the pitch swing shaft part 4-3 is used to adjust the pitch angle; the roll shaft part 4-2 is installed on the pitch swing shaft part 4-3 , the rolling shaft part 4-2 is used to adjust the rolling direction, and the aircraft 2 is fixedly arranged on the rolling shaft part 4-2; the aircraft 2 includes a body and a seeker, and the guider is fixedly arranged There is an aircraft light sensor 2-1; the sensing head of the aircraft light sensor 2-1 faces the target disk 1-3 in the polar coordinate target assembly 1; the target sensing signal output terminal and parameters of the target sensor 1-2 The target sensing signal input end of the measurement and drive control assembly 3 is connected; the target motor drive signal input end of the target drive motor 1-1 is connected with the target motor drive signal output end of the parameter measurement and drive control assembly 3; the target The indicator light flashing drive signal input end of the disc 1-3 is connected with the indicator light flashing drive signal output end of the parameter measurement and drive control assembly 3; The aircraft optical sensing signal input end of the measurement and drive control assembly 3 is connected; the first three-axis turntable sensor signal input end of the parameter measurement and drive control assembly 3 is connected to the azimuth rotation axis part 4- in the three-axis turntable assembly 4 The first three-axis turntable sensor signal output end of 1 is connected; the second three-axis turntable sensor signal input end of the parameter measurement and drive control assembly 3 is connected to the first three-axis turntable component 4-2 in the three-axis turntable assembly 4. The second and third axis turntable sensing signal output ends are connected; the third three axis turntable sensing signal input end of the parameter measurement and drive control assembly 3 is connected to the third third of the pitch swing axis part 4-3 in the three axis turntable assembly 4 The sensor signal output end of the axis turntable is connected; the first three-axis turntable motor drive signal output end of the parameter measurement and drive control assembly 3 is connected to the first three-axis turntable of the azimuth rotation axis component 4-1 in the three-axis turntable assembly 4 The motor drive signal input end is connected; the second three-axis turntable motor drive signal output end of the parameter measurement and drive control assembly 3 is connected to the second three-axis turntable motor drive signal of the rolling shaft part 4-2 in the three-axis turntable assembly 4 The input terminal is connected; the parameter measurement and drive control component 3 The third three-axis turntable motor drive signal output end is connected to the third three-axis turntable motor drive signal input end of the pitch swing axis component 4-3 in the three-axis turntable assembly 4; the parameter measurement and the parameter measurement of the drive control assembly 3 The data output terminal is connected to the parameter measurement data input terminal of the central control component 5 ; the drive control signal input terminal of the parameter measurement and drive control component 3 is connected to the drive control signal output terminal of the central control component 5 .

Specific embodiment 2: This embodiment is described in conjunction with FIG. 3 . The difference between this embodiment and specific embodiment 1 is that the parameter measurement and drive control assembly 3 consists of a target drive controller 3-1, a target measurement controller 3-2, Aircraft measurement controller 3-3, three-axis turntable measurement controller 3-4, three-axis turntable drive controller 3-5 and motion control card interface 3-6; the target motor of the target drive controller 3-1 The drive signal output end is the target motor drive signal output end of the parameter measurement and drive control assembly 3; The light flashing drive signal output end; the target drive control signal input end of the target drive controller 3-1 is connected to the target drive control signal output end of the motion control card interface part 3-6; the target measurement controller 3- The target sensing signal input end of 2 is the target sensing signal input end of the parameter measurement and drive control assembly 3; the target sensing signal output end of the target measurement controller 3-2 is connected with the motion control card interface part 3-6 The target sensing signal input end of the aircraft is connected; the aircraft optical sensing signal input end of the aircraft measurement controller 3-3 is the aircraft optical sensing signal input end of the parameter measurement and drive control assembly 3; the aircraft measurement controller The output end of the aircraft optical sensing signal of 3-3 is connected with the input end of the aircraft optical sensing signal of the motion control card interface part 3-6 of the parameter measurement and drive control assembly 3;

The azimuth rotation axis sensing signal input end of the three-axis turntable measurement controller 3-4 is the first three-axis turntable sensing signal input end of the parameter measurement and drive control assembly 3;

The roll axis sensing signal input end of the three-axis turntable measurement controller 3-4 is the second three-axis turntable sensing signal input end of the parameter measurement and drive control assembly 3;

The pitch and swing axis sensing signal input end of the three-axis turntable measurement controller 3-4 is the third three-axis turntable sensing signal input end of the parameter measurement and drive control assembly 3;

The three-axis turntable sensing signal output end of the three-axis turntable measurement controller 3-4 is connected to the three-axis turntable sensing signal input end of the motion control card interface part 3-6;

The azimuth rotation axis motor drive signal output end of the three-axis turntable drive controller 3-5 is the first three-axis turntable motor drive signal output end of the parameter measurement and drive control assembly 3;

The output end of the rolling axis motor drive signal of the three-axis turntable drive controller 3-5 is the second three-axis turntable motor drive signal output end of the parameter measurement and drive control assembly 3;

The drive signal output end of the pitching axis motor of the three-axis turntable drive controller 3-5 is the third three-axis turntable motor drive signal output end of the parameter measurement and drive control assembly 3;

The three-axis turntable motor drive signal input end of the three-axis turntable drive controller 3-5 is connected to the three-axis turntable motor drive signal output end of the motion control card interface part 3-6;

The parameter measurement data output end of the motion control card interface part 3 - 6 is the parameter measurement data output end of the parameter measurement and drive control component 3 .

The drive control signal input end of the motion control card interface part 3 - 6 is the drive control signal input end of the parameter measurement and drive control component 3 . Other compositions and connection methods are the same as those in Embodiment 1.

Specific embodiment three: This embodiment is described in conjunction with FIG. 3. The difference between this embodiment and specific embodiment one or two is that the azimuth rotation shaft component 4-1 includes an azimuth rotation shaft drive motor 4-1-1, an azimuth rotation shaft The sensor 4-1-2 and the azimuth rotation axis; the motor drive signal input end of the azimuth rotation axis drive motor 4-1-1 is the first three-axis turntable motor drive signal input end of the azimuth rotation axis component 4-1; The azimuth rotation shaft is fixedly connected to the motor shaft of the azimuth rotation shaft drive motor 4-1-1, and the azimuth rotation shaft sensor 4-1-2 is fixedly arranged on the motor shaft of the azimuth rotation shaft drive motor 4-1-1 Above: the sensing signal output end of the azimuth rotation axis sensor 4-1-2 is the first three-axis turntable sensing signal output end of the azimuth rotation axis component 4-1. Other compositions and connection modes are the same as those in Embodiment 1 or 2.

Embodiment 4: This embodiment is described in conjunction with FIG. 3. The difference between this embodiment and Embodiment 3 is that the rolling shaft component 4-2 includes a rolling shaft drive motor 4-2-1, a rolling shaft sensor 4-2- 2 and the rolling shaft; the motor drive signal input end of the rolling shaft drive motor 4-2-1 is the second three-axis turntable motor drive signal input end of the rolling shaft part 4-2; the rolling shaft is fixedly connected in the azimuth On the motor shaft of the rotating shaft drive motor 4-2-1, the azimuth and rolling shaft sensor 4-2-2 is fixedly arranged on the motor shaft of the rolling shaft driving motor 4-2-1; the rolling shaft sensor 4-2- The sensor signal output terminal of 2-2 is the sensor signal output terminal of the second three-axis turntable of the rolling axis component 4-2.

Other compositions and connection methods are the same as those in the third embodiment.

Embodiment 5: This embodiment is described in conjunction with FIG. 3 . The difference between this embodiment and Embodiment 4 is that the pitching axis component 4-3 includes a pitching axis drive motor 4-3-1 and a pitching axis sensor 4 -3-2 and the pitch swing axis; the motor drive signal input end of the pitch swing axis drive motor 4-3-1 is the third three-axis turntable motor drive signal input end of the pitch swing axis component 4-3; the said The pitch swing shaft is fixedly connected to the motor shaft of the pitch swing shaft drive motor 4-3-1, and the pitch swing shaft sensor 4-3-2 is fixedly arranged on the motor shaft of the pitch swing shaft drive motor 4-3-1; The sensing signal output end of the pitching axis sensor 4-3-2 is the third three-axis turntable sensing signal output end of the pitching axis component 4-3. Other composition and connection modes are the same as those in Embodiment 4.

Embodiment 6: This embodiment is described in conjunction with FIG. 3. The difference between this embodiment and Embodiment 5 is that the central control assembly 5 includes a central controller 5-1 and a motion control card 5-2; the motion control card The parameter measurement data input terminal of 5-2 is the parameter measurement data input terminal of the central control component 5;

The drive control signal output end of the motion control card 5-2 is the drive control signal output end of the central control assembly 5;

The data signal output and input terminals of the motion control card 5-2 are connected with the data signal input and output terminals of the central controller 5-1. Other compositions and connection methods are the same as those in Embodiment 5.

Working principle of the present invention:

The object of the present invention is to provide a method that can use a polar coordinate target to realize the movement trajectory of the target point. Through the aircraft seeker installed on the three-axis turntable, the movement of the target point set on the target can be identified, and the analysis system can determine that the aircraft points to the target. The angular attitude of the aircraft at the point position, and analyze the rotation angle of each axis of the control three-axis turntable, drive the three-axis turntable to rotate through the drive circuit, and realize the teaching experiment device for the aircraft installed on the three-axis turntable to point to the target point for real-time tracking movement.

The present invention utilizes the polar coordinate target assembly 1 to provide the motion trajectory of the target point, and utilizes the attitude adjustment characteristics of the three-axis turntable assembly 4 to realize a teaching experiment device for real-time tracking movement of the aircraft 2 installed on the three-axis turntable assembly 4 pointing to the target point . The central control assembly 5 controls the target disk 1-3 in the polar coordinate target assembly 1 to rotate left and right and the indicator lamps 1-4 to light up alternately and in sequence with the set target point motion trajectory, and the target disk 1-3 will be rotated in the rotation plane Copy the set target point movement trajectory, and the alternate sequence of indicator lights 1-4 provides the trajectory change of the target point movement.

Concrete working steps of the present invention are:

Step 1: The polar coordinate target assembly 1 forms a planar target point movement track through the rotation of the target plate 1-3 and the regular and alternating display of the indicator lights 1-4;

Step 2: The aircraft optical sensor 2-1 installed in the aircraft 2 on the three-axis turntable assembly 4 performs real-time measurement of the target point motion trajectory on the target disk 1-3;

Step 3: The aircraft light sensor 2-1 transmits the measured target point motion trajectory image information to the central control component 5 in real time;

Step 4: The central control component 5 performs image processing on the target point motion track image information;

Step 5: The central control component 5 determines the position of the current target point in the plane according to the processed image, and analyzes and calculates the angle of rotation of each axis in the three-axis turntable component 4 required for the aircraft 2 to point to this moving point according to the position;

Step 6: The central control component 5 sends the rotation angle value of each axis obtained in the previous step to the parameter measurement and drive control component 3;

Step 7: The parameter measurement and drive control component 3 drives the motors of each axis in the three-axis turntable component 4 to rotate according to the rotation angle of each axis and drive each axis to move;

Step 8: Each axis in the three-axis turntable assembly 4 moves to drive the aircraft 2 on the three-axis turntable assembly 4 to change its attitude, and realizes the real-time tracking of the target point movement by the aircraft.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in this technical field, without departing from the concept of the present invention, some simple deduction or replacement can also be made, which should be regarded as belonging to the scope of patent protection determined by the claims submitted by the present invention .

Claims (6)

1. based on the attitude of flight vehicle tracking Control experiment device for teaching of polar coordinates target and three-axle table, it is characterized in that it is made up of polar coordinates target assembly (1), aircraft (2), parameter measurement and drive controlling assembly (3), three-axle table assembly (4) and central control unit (5); Said polar coordinates target assembly (1) and three-axle table assembly (4) are installed on the pedestal; Said polar coordinates target assembly (1) is made up of target drive motor (1-1), target sensor (1-2) and target disc (1-3); Said target sensor (1-2) and target disc (1-3) are installed on the machine shaft of target drive motor (1-1); Be set with a plurality of pilot lamp (1-4) on the said target disc (1-3); Said three-axle table assembly (4) comprises azimuth rotation spindle unit (4-1), wobble shaft parts (4-2) and pitching axis of swing parts (4-3); Said pitching axis of swing parts (4-3) are arranged on the azimuth rotation spindle unit (4-1) through support, and said pitching axis of swing parts (4-3) are used to adjust luffing angle; Wobble shaft parts (4-2) are installed on the pitching axis of swing parts (4-3), and said wobble shaft parts (4-2) are used to adjust the lift-over direction, and said aircraft (2) is fixedly installed on the wobble shaft parts (4-2); Said aircraft (2) comprises body and target seeker, is set with aircraft optical sensor (2-1) on the said target seeker; The target disc (1-3) of the sensing head of said aircraft optical sensor (2-1) in polar coordinates target assembly (1); The target transducing signal output terminal of said target sensor (1-2) links to each other with the target transducing signal input end of parameter measurement and drive controlling assembly (3); The target motor drive signal input end of said target drive motor (1-1) links to each other with the target motor drive signal output terminal of parameter measurement and drive controlling assembly (3); The glittering driving signal input of pilot lamp of said target disc (1-3) links to each other with the glittering drive signal output terminal of pilot lamp of parameter measurement and drive controlling assembly (3); The aircraft light transducing signal output terminal of said aircraft optical sensor (2-1) links to each other with the aircraft light transducing signal input end of parameter measurement and drive controlling assembly (3); The first three-axle table transducing signal output terminal of the azimuth rotation spindle unit (4-1) in the first three-axle table transducing signal input end of said parameter measurement and drive controlling assembly (3) and the three-axle table assembly (4) links to each other; The second three-axle table transducing signal output terminal of the wobble shaft parts (4-2) in the second three-axle table transducing signal input end of said parameter measurement and drive controlling assembly (3) and the three-axle table assembly (4) links to each other; The 3rd three-axle table transducing signal output terminal of the pitching axis of swing parts (4-3) in the 3rd three-axle table transducing signal input end of said parameter measurement and drive controlling assembly (3) and the three-axle table assembly (4) links to each other; The first three-axle table motor drive signal input end of the azimuth rotation spindle unit (4-1) in the first three-axle table motor drive signal output terminal of said parameter measurement and drive controlling assembly (3) and the three-axle table assembly (4) links to each other; The second three-axle table motor drive signal input end of the wobble shaft parts (4-2) in the second three-axle table motor drive signal output terminal of said parameter measurement and drive controlling assembly (3) and the three-axle table assembly (4) links to each other; The 3rd three-axle table motor drive signal input end of the pitching axis of swing parts (4-3) in the 3rd three-axle table motor drive signal output terminal of said parameter measurement and drive controlling assembly (3) and the three-axle table assembly (4) links to each other; The parameter measurement data output end of said parameter measurement and drive controlling assembly (3) links to each other with the parameter measurement data input pin of central control unit (5); The drive control signal input end of parameter measurement and drive controlling assembly (3) links to each other with the drive control signal output terminal of central control unit (5).

2. the attitude of flight vehicle tracking Control experiment device for teaching based on polar coordinates target and three-axle table according to claim 1 is characterized in that said parameter measurement and drive controlling assembly (3) measure controller (3-2), aircraft measurement controller (3-3), three-axle table by target driving governor (3-1), target and measure controller (3-4), three-axle table driving governor (3-5) and motion control card mouthpiece (3-6) and form; The target motor drive signal output terminal of said target driving governor (3-1) is the target motor drive signal output terminal of parameter measurement and drive controlling assembly (3); The glittering drive signal output terminal of the pilot lamp of said target driving governor (3-1) is the glittering drive signal output terminal of pilot lamp of parameter measurement and drive controlling assembly (3); The target drive control signal input end of said target driving governor (3-1) links to each other with the target drive control signal output terminal of motion control card mouthpiece (3-6); The target transducing signal input end of said target measurement controller (3-2) is the target transducing signal input end of parameter measurement and drive controlling assembly (3); The target transducing signal output terminal that said target is measured controller (3-2) links to each other with the target transducing signal input end of motion control card mouthpiece (3-6); The aircraft light transducing signal input end of said aircraft measurement controller (3-3) is the aircraft light transducing signal input end of parameter measurement and drive controlling assembly (3); The aircraft light transducing signal output terminal of said aircraft measurement controller (3-3) links to each other with the aircraft light transducing signal input end of the motion control card mouthpiece (3-6) of parameter measurement and drive controlling assembly (3);

The azimuth rotation axle transducing signal input end of said three-axle table measurement controller (3-4) is the first three-axle table transducing signal input end of parameter measurement and drive controlling assembly (3);

The wobble shaft transducing signal input end of said three-axle table measurement controller (3-4) is the second three-axle table transducing signal input end of parameter measurement and drive controlling assembly (3);

The pitching axis of swing transducing signal input end of said three-axle table measurement controller (3-4) is the 3rd three-axle table transducing signal input end of parameter measurement and drive controlling assembly (3);

The three-axle table transducing signal output terminal that said three-axle table is measured controller (3-4) links to each other with the three-axle table transducing signal input end of motion control card mouthpiece (3-6);

The azimuth rotation spindle motor drive signal output terminal of said three-axle table driving governor (3-5) is the first three-axle table motor drive signal output terminal of parameter measurement and drive controlling assembly (3);

The wobble shaft motor drive signal output terminal of said three-axle table driving governor (3-5) is the second three-axle table motor drive signal output terminal of parameter measurement and drive controlling assembly (3);

The pitching axis of swing motor drive signal output terminal of said three-axle table driving governor (3-5) is the 3rd three-axle table motor drive signal output terminal of parameter measurement and drive controlling assembly (3);

The three-axle table motor drive signal input end of said three-axle table driving governor (3-5) links to each other with the three-axle table motor drive signal output terminal of motion control card mouthpiece (3-6);

The parameter measurement data output end of said motion control card mouthpiece (3-6) is the parameter measurement data output end of parameter measurement and drive controlling assembly (3).

The drive control signal input end of said motion control card mouthpiece (3-6) is the drive control signal input end of parameter measurement and drive controlling assembly (3).

3. the attitude of flight vehicle tracking Control experiment device for teaching based on polar coordinates target and three-axle table according to claim 1 and 2 is characterized in that said azimuth rotation spindle unit (4-1) comprises azimuth rotation axis drive motor (4-1-1), azimuth rotation axle sensor (4-1-2) and azimuth rotation axle; The motor drive signal input end of said azimuth rotation axis drive motor (4-1-1) is the first three-axle table motor drive signal input end of azimuth rotation spindle unit (4-1); Said azimuth rotation axle is fixedly connected on the machine shaft of azimuth rotation axis drive motor (4-1-1), and said azimuth rotation axle sensor (4-1-2) is fixedly installed on the machine shaft of azimuth rotation axis drive motor (4-1-1); The transducing signal output terminal of said azimuth rotation axle sensor (4-1-2) is the first three-axle table transducing signal output terminal of azimuth rotation spindle unit (4-1).

4. the attitude of flight vehicle tracking Control experiment device for teaching based on polar coordinates target and three-axle table according to claim 3 is characterized in that said wobble shaft parts (4-2) comprise wobble shaft drive motor (4-2-1), wobble shaft sensor (4-2-2) and wobble shaft; The motor drive signal input end of said wobble shaft drive motor (4-2-1) is the second three-axle table motor drive signal input end of wobble shaft parts (4-2); Said wobble shaft is fixedly connected on the machine shaft of azimuth rotation axis drive motor (4-1-1), and said orientation tumbler rotating shaft sensing device (4-2-2) is fixedly installed on the machine shaft of wobble shaft drive motor (4-2-1); The transducing signal output terminal of said wobble shaft sensor (4-2-2) is the second three-axle table transducing signal output terminal of wobble shaft parts (4-2).

5. the attitude of flight vehicle tracking Control experiment device for teaching based on polar coordinates target and three-axle table according to claim 4 is characterized in that said pitching axis of swing parts (4-3) comprise pitching axis of swing drive motor (4-3-1), pitching axis of swing sensor (4-3-2) and pitching axis of swing; The motor drive signal input end of said pitching axis of swing drive motor (4-3-1) is the 3rd three-axle table motor drive signal input end of pitching axis of swing parts (4-3); Said pitching axis of swing is fixedly connected on the machine shaft of pitching axis of swing drive motor (4-3-1), and said pitching axis of swing sensor (4-3-2) is fixedly installed on the machine shaft of pitching axis of swing drive motor (4-3-1); The transducing signal output terminal of said pitching axis of swing sensor (4-3-2) is the 3rd three-axle table transducing signal output terminal of pitching axis of swing parts (4-3).

6. the attitude of flight vehicle tracking Control experiment device for teaching based on polar coordinates target and three-axle table according to claim 5 is characterized in that said central control unit (5) comprises central control unit (5-1) and motion control card (5-2); The parameter measurement data input pin of said motion control card (5-2) is the parameter measurement data input pin of central control unit (5); The drive control signal output terminal of said motion control card (5-2) is the drive control signal output terminal of central control unit (5); The data-signal I/O of said motion control card (5-2) links to each other with the data-signal input/output terminal of central control unit (5-1).

Images