The Design And Implementation Of Posture Control Circuit Of Microminiature Moving Vehicle

This paper is based on a program of National Natural Science Foundation of China named The Research of Laser Active Guidance and Detection Technique Using In The Body of Small-Scale Movement. With cartridge as the carrier, it mainly researches on the posture control technology using in the body of small-scale movement and the posture control circuit has been finished. Based on the laser active guidance system, the control circuit gets the target's orientation by posture calculation and control actuator makes the corresponding action. It corrects the error of direction and distance between projectile and objective to achieve the check of flight posture and target tracking.This paper firstly expounded the elements and working principles of laser active guidance and posture control system using in the body of small-scale movement. According to the research emphases, the manage scheme of posture control system is analyzed and the control technology of empennage deflection is adopted to achieve plan of flight posture check. It checks the distance error by controlling the flying projectile's angle of pitch, and check the direction error by controlling the flying projectile's direction. The deflection control of empennage is achieved by micro servo and gearing.Programmable logical device FPGA is adopted in the posture control circuit as the key logic control chip. Using two dual channel AD9281 to achieve the acquisition and conversion of the four path bearing signal output for the laser active guidance system. FPGA gets the target's orientation by posture calculation and output PWM signal to achieve the control of micro servo's deflecting direction and angle. As the memory medium, flash memory is used for recovery memory PWM pulse signal. After the flight test, the data is uploaded to the upper computer to be analyzed.During the experiment, FLASH erases operation is firstly done under the external command and enter the mode to be written. After the external input servo (empennage) reset command, posture control circuit output PWM pulse signal to reset the servo and start FLASH into the writing mode to record data. After the projectile is launched, AD chip is triggered to start signal acquisition and conversion by insert off of projectile structure in order to make real-time correction to projectile pitching and yawing movement in the sky.This paper introduces the design of projectile structure, servo installation structure and posture control circuit installation structure. And it explains the design of emission test auxiliary devices and the test result. Now the design and process of posture control circuit and structures have been finished. Several emission tests have been done and interrelated data have been gathered.