CN101017074B - Automatically agilely leveling system for missile launching platform - Google Patents
Automatically agilely leveling system for missile launching platform Download PDFInfo
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- CN101017074B CN101017074B CN200710037256XA CN200710037256A CN101017074B CN 101017074 B CN101017074 B CN 101017074B CN 200710037256X A CN200710037256X A CN 200710037256XA CN 200710037256 A CN200710037256 A CN 200710037256A CN 101017074 B CN101017074 B CN 101017074B
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Abstract
The invention discloses a missile emission platform automatic leveling system, comprising an X-axle hydraulic system 1, a Y-axle hydraulic system 2, a Y-axle mechanical transmitter 3, a platform plate 4, and an X-axle mechanical transmitter 5. The output of the X-axle hydraulic system 1 is connected with the input of the X-axle mechanical transmitter 5, the output of Y-axle hydraulic system 2 is connected with the input of the Y-axle mechanical transmitter 3, the output of the X-axle mechanical transmitter 5 is connected with the platform plate 4 to control the platform adjustment on X-axle, the output of the Y-axle mechanical transmitter 3 is connected with the platform plate 4 to control the platform adjustment on Y-axle. The invention has high leveling speed, high accuracy, and compact structure, while the angle range is +-(30+-0.1degrees).
Description
Technical field
The invention belongs to flat pad leveling field, particularly relate to a kind of automatically agilely leveling system for missile launching platform.
Background technology
In current fierce international competition, the enhancing of national defence and military power is the pith that promotes national synthesized competitiveness.The emission of guided missile is main aspect of military field engineering, and the leveling of missile launching platform directly has influence on the precision and the efficient of MISSILE LAUNCHING.
Existing missile launching platform comprises level monitoring device, controller, control valve, workbench, extension type supporter; At least three level monitoring devices are set on the workbench, and the workbench bottom is provided with at least three retractable supports pin; The output of level monitoring device is connected with the input of controller, and the output of controller is connected with the input of control valve, and the output of control valve is connected with the input interface of retractable supports pin.But the level monitoring device is easy to receive extraneous interference, and antijamming capability is not strong, and also more complicated (the Chinese patent publication number is CN2649653, and open day is 2004.10.20) of control system.
Existing levelling device, it is provided with a hinge at the telescopic arm end is hinged itself and job platform, the otic placode of telescopic arm end setting is hinged by hinge with the fixed head that is fixed on double piston-rod damping oil cylinder cylinder barrel, and an end of double piston-rod is connected on the job platform by pivot pin, and the other end is a free end; And between the rod chamber at oil cylinder two ends, be connected into a closed-loop path through hydraulic tube and switch series.But the leveling of device relies on artificial operation to a certain extent, the precision of leveling not high (the Chinese patent publication number is CN2203964, and open day is 1995.07.26).
Existing levelling device, it comprises crossbeam, be arranged on cylinder on the crossbeam, the piston rod in the cylinder, the joint that is connected with piston rod one end, the top lap assembly that is connected with joint, its technical characterstic is to be provided with automatic aligning ball strand between piston rod and joint, described automatic aligning ball strand comprises ball strand housing, the centre of sphere, the centre of sphere can be in ball twists housing free deflection 10-15 degree, automatic aligning ball strand is threaded with being connected to of piston rod and joint.But the bearing capacity of this levelling device is lower, and the speed of regulating slow (the Chinese patent publication number is CN2571539, and open day is 2003.09.10).
Flat pad for guided missile, at present, the laser leveler of China's development, it measures level reference by the output signal of internal liquid pendulum air bubble sensor, but apparatus measures all is based on manual adjustment to a certain extent, rather than system regulates the requirement that does not therefore reach expection automatically.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of automatically agilely leveling system for missile launching platform is provided, make that its leveling speed is fast, precision is high, simple in structure, reliable in action, Operation and maintenance be convenient, simultaneity factor has very strong antijamming capability, can be good at adapting to the adverse circumstances that guided missile truck often runs into.
The present invention is achieved by the following technical solutions, the present invention includes the directions X hydraulic system, Y direction hydraulic system, Y direction mechanical transmission mechanism, landing slab and directions X mechanical transmission mechanism, the output of directions X hydraulic system is connected with the input of directions X mechanical transmission mechanism, the output of Y direction hydraulic system is connected with the input of Y direction mechanical transmission mechanism, the output of directions X mechanical transmission mechanism is connected with landing slab, the adjustment of control platform on directions X, the output of Y direction mechanical transmission mechanism is connected with landing slab, the adjustment of control platform on the Y direction.
Described directions X hydraulic system comprises: directions X electrolyte sensor, control circuit, electrohydraulic servo-controlling system and hydraulic gear, the output of directions X electrolyte sensor is connected with the input of control circuit, the output of control circuit is connected with the input of electrohydraulic servo-controlling system, and the output of electrohydraulic servo-controlling system is connected with the input of hydraulic gear.
Described Y direction hydraulic system comprises: Y direction electrolyte sensor, control circuit, electrohydraulic servo-controlling system and hydraulic gear, the output of Y direction electrolyte sensor is connected with the input of control circuit, the output of control circuit is connected with the input of electrohydraulic servo-controlling system, and the output of electrohydraulic servo-controlling system is connected with the input of hydraulic gear.
Described X, Y direction electrolyte sensor are half immersion type, the thermistor of a positive temperature coefficient respectively in parallel, and the two end electrodes of sensor is connected by bridge circuit with two precision resistances respectively.
Described electrohydraulic servo-controlling system comprises hydraulic cylinder, electrohydraulic servo valve, hydraulic valve, filter, sensor, amplifying circuit and pressure gauge, electrohydraulic servo valve is connected respectively with hydraulic cylinder, hydraulic valve, amplifying circuit and pressure gauge, filter is connected with hydraulic valve, and sensor is connected with amplifying circuit.
Described hydraulic gear comprises speed control loop and locking loop, and speed control loop is the open loop circulatory system, tightens the loop and constitutes by the check valve of respectively connecting in hydraulic cylinder oil circuit both sides, and hydraulic gear adopts double pump or limit pressure type variable pump as oil sources.
The high sensitivity of electrolyte sensor, the control section that high degree of regulation is sent into the uneven signal of platform automatic horizontal control system are adopted in this invention, the angular displacement of platform and horizontal plane is converted to is availablely entered electrohydraulic servo system by cognitive voltage, remove correspondingly to control servo hydraulic cylinder by the electro-hydraulic servo valve core, the adjustment of platform datum horizontal plane is carried out in transmission by hydraulic pressure one mechanical transmission mechanism, flat pad is adjusted automatically be up to the standard.
Compared with prior art, the invention has the beneficial effects as follows: 1, leveling speed is fast; 2, precision height, adjustable angle scope are ± (30 ° ± 0.1 °); 3, compact conformation loads and unloads easyly, and reaction is fast, is suitable for field work.
Description of drawings
Fig. 1 is the three-dimensional sketch of system of the present invention.
Fig. 2 is a system works schematic diagram of the present invention.
Fig. 3 is a sensor of the present invention installation site schematic diagram.
Fig. 4 is that linear sensor of the present invention is amplified bridge circuit figure.
Fig. 5 is an electrohydraulic servo-controlling system schematic diagram of the present invention.
Fig. 6 is electrohydraulic servo-controlling system figure of the present invention.
Fig. 7 is that X of the present invention is to hydraulic-machinery kinematic link mechanism map.
Fig. 8 is that Y of the present invention is to hydraulic-machinery kinematic link mechanism map.
The specific embodiment
As shown in Figure 1, the present invention includes: directions X hydraulic system 1, Y direction hydraulic system 2, Y direction mechanical transmission mechanism 3, landing slab 4 and directions X mechanical transmission mechanism 5, the output of directions X hydraulic system 1 is connected with the input of directions X mechanical transmission mechanism 5, the output of Y direction hydraulic system 2 is connected with the input of Y direction mechanical transmission mechanism 3, the output of directions X mechanical transmission mechanism 5 is connected with landing slab 4, the adjustment of control platform on directions X, the output of Y direction mechanical transmission mechanism 3 is connected with landing slab 4, the adjustment of control platform on the Y direction.
As shown in Figure 2, operation principle of the present invention is: adopt the high sensitivity of electrolyte sensor, the control section that high degree of regulation is sent into the uneven signal of platform automatic horizontal control system, the angular displacement of platform and horizontal plane is converted to is availablely entered electrohydraulic servo system by cognitive voltage, remove correspondingly to control servo hydraulic cylinder by the electro-hydraulic servo valve core, carry out the adjustment of platform datum horizontal plane by the transmission of hydraulic-machinery transmission mechanism, flat pad is adjusted automatically be up to the standard.
As shown in Figure 3, sensor C1 is installed in the flat pad directions X among the present invention, the leveling of control platform directions X, and sensor C2 is installed in flat pad Y direction, the leveling of control platform Y direction.
The electrolyte sensor is a kind of sensor with advantages such as high sensitivity, long-lives.When the sensor run-off the straight, the area that covers on electrode owing to electrolyte changes, then the resistance value difference of sensor two ends output.System wants to reach the precision and the reaction speed of expection, and the selection of sensor is most important.In the angular range that is suitable for, sensor will have high degree of regulation and fast response speed; Because the emission of guided missile often is to carry out in than rugged environment, so sensor also will have antivibration ability preferably.Native system has been selected the SX-03OD-lin type obliquity sensor of Shanghai brightness lattice science and technology: resistance to shock is good, and degree of regulation is at 0.5 degree, adapts to adjustable range ± 30 °, and the response time is less than 40ms; Price is also relatively more cheap.
The electrolyte sensor is that the variation by sensor electrolyte inside shape detects dip angle signal, and any resistivity of electrolyte all varies with temperature and changes.So environment temperature is very big to the measurement result influence, during operation especially in the open air, has limited its application and development greatly.Must solve by temperature-compensating for this reason, the temperature characterisitic of preparation electrolyte and the temperature characterisitic of thermistor are complementary, its compensation effect is fine.
Thermistor shunt compensation method is generally adopted in the temperature-compensating of electric bridge.When variations in temperature was identical, the change in resistance of thermistor was about 10 times of platinum resistance.Select the thermistor of positive temperature coefficient for use, along with the rising of temperature, the conductance of thermistor reduces, the reduction that its resistivity raises and just in time offsets electrolyte sensor resistance rate.After native system is temperature compensated, in 0～40 ℃ temperature range, its error＜0.5%.
As shown in Figure 4, in the control circuit of the present invention, the two end electrodes of sensor respectively with two precision resistance R
0Pressing bridge circuit connects.R
X1=R
0+ dR, R
X2=R
0-dR, the input stimulus voltage U
C, bridge circuit output signal dEx, and among the output signal dEx access amplification system K, last output voltage V
i
dEx＝(R
2/(R
1+R
2)-R
X2/(R
X1+R
X2))UC＝(R
0/(R
0+R
0)-(R
0-dR)/(R
0+R
0))U
C＝dR＊U
C/2R
0
Can draw the dEx linear relationship that is directly proportional with dR by following formula.When sensor was horizontal, bubble was placed in the middle, dR=0, R
X1=R
X2=R
0, bridge balance, dEx=0; When the sensor run-off the straight, electrolyte is under the effect of gravity, and bubble departs from the center, and the electric bridge disequilibrium just has dEx output.Because the polarity of output signal is relevant with the sensor perturbations direction, size is linear with inclination angle [theta], dEx=Kd θ, and wherein proportionality coefficient K is relevant with geometry, resistivity of electrolyte and the driving voltage of sensor.The detection sensitivity of electrolyte sensor can be below the 0.5mv/ rad.
As shown in Figure 5, the control system formed by electric signal processing part and hydraulic power output of electrohydraulic control system of the present invention.Because electric or electronic technology has remarkable advantages at the aspects such as detection, amplification, processing and transmission of signal than other modes.And aspect power transfer amplifying unit and execution unit, adopt hydraulic pressure then to have more superiority.Electrohydraulic control system combines the advantage of electronics and hydraulic pressure two aspects, advantage such as have the precision height, response is fast, signal is handled flexibly, power output is big, compact conformation and weight are lighter.
As shown in Figure 6, electrohydraulic servo-controlling system of the present invention comprises: hydraulic cylinder 6, electrohydraulic servo valve 7, hydraulic valve 8, filter 9, sensor 10, amplifying circuit 11 and pressure gauge 12, electrohydraulic servo valve 7 is connected respectively with hydraulic cylinder 6, hydraulic valve 8, amplifying circuit 11 and pressure gauge 12, filter 9 is connected with hydraulic valve 8, and sensor 10 is connected with amplifying circuit 11.
Hydraulic Power Transmission System is to realize self-leveling important step.It comprises: the drafting of the check of the analysis of Hydraulic Elements and selection, intensity, hydraulic pressure fundamental circuit.
Speed control loop is the core of hydraulic system, and it often has decisive influence to the selection in other loops.Big for speed adjustable range, the small-power system that allows big temperature rise can adopt throttling speed control circuit.The high-power system can adopt volume speed-modulating loop for raising the efficiency.System can adopt volume-flow control circuit to the more sensitive small-power of temperature rise.Adopt the inlet throttle speed governing of flow speed control valve in the native system, should be the open loop circulatory system, this speed control loop has low-speed stability and speed load characteristic preferably.
The function in locking loop is to make it be parked in the optional position by oil-feed and the oil discharge passage that cuts off executive component, and prevents from because of extraneous factor play to take place after the stop motion.The most frequently used method is to adopt hydraulically-controlled one-way valve to make locking element.Electrohydraulic servo valve is adopted in the commutation of this hydraulic system, and the check valve of respectively connecting in hydraulic cylinder oil circuit both sides constitutes the locking loop.
Adopt single constant displacement pump fuel feeding, power loss is bigger, and system effectiveness is low, and adopts double pump or limit pressure type variable pump just reasonable than the school as oil sources, can guarantee the stationarity and the speed stationarity of moving to realize that flow is fit to, and reduces the system power loss and generates heat.
Shown in Fig. 7,8, the purpose that increases machine driving (connecting rod slider mechanism) among the design after hydraulic drive is can make the power of landing slab around a certain spot wobble for the horizontal force (or speed) that hydraulic stem is produced is converted to, and promptly last active force can make platform realize self-regulated.The design of machine driven system is an extremely important ring in the Machine Design, designs correctly and rationally whether, to improving the performance and the quality of machinery, it is very big to reduce influences such as manufacturing cost and maintenance cost.
The designing requirement of linkage: 1) can be converted to the horizontal force (or speed) that hydraulic means produces the power that can allow landing slab swing.2) the connecting rod number will lack, and is simple in structure.The prerequisite that satisfies these requirements is exactly check qualified, comprises the check of connecting rod and the check of hinge axis.The material of the medium and small axle of this paper can adopt KTZ700-02, has high strength, and wearability is good, and processability is good, its [σ]=700MPa.The relevant data substitution of design is checked, all meet the demands.The hinge axis design also can be according to standard application, and material is No. 45 steel, and heat treatment is HRC35-40, and its [σ]=589Mpa also can meet design requirement.
Claims (8)
1. automatically agilely leveling system for missile launching platform, comprise: directions X hydraulic system (1), Y direction hydraulic system (2), Y direction mechanical transmission mechanism (3), landing slab (4) and directions X mechanical transmission mechanism (5), it is characterized in that, the output of directions X hydraulic system (1) is connected with the input of directions X mechanical transmission mechanism (5), the output of Y direction hydraulic system (2) is connected with the input of Y direction mechanical transmission mechanism (3), the output of directions X mechanical transmission mechanism (5) is connected with landing slab (4), the adjustment of control platform on directions X, the output of Y direction mechanical transmission mechanism (3) is connected with landing slab (4), the adjustment of control platform on the Y direction.
2. automatically agilely leveling system for missile launching platform according to claim 1, it is characterized in that, described directions X hydraulic system (1) comprising: directions X electrolyte sensor, control circuit, electrohydraulic servo-controlling system and hydraulic gear, the output of directions X electrolyte sensor is connected with the input of control circuit, the output of control circuit is connected with the input of electrohydraulic servo-controlling system, and the output of electrohydraulic servo-controlling system is connected with the input of hydraulic gear.
3. automatically agilely leveling system for missile launching platform according to claim 1, it is characterized in that, described Y direction hydraulic system (2) comprising: Y direction electrolyte sensor, control circuit, electrohydraulic servo-controlling system and hydraulic gear, the output of Y direction electrolyte sensor is connected with the input of control circuit, the output of control circuit is connected with the input of electrohydraulic servo-controlling system, and the output of electrohydraulic servo-controlling system is connected with the input of hydraulic gear.
4. according to claim 2 or 3 described automatically agilely leveling system for missile launching platform, it is characterized in that described X, Y direction electrolyte sensor are half immersion type, the thermistor of a positive temperature coefficient respectively in parallel.
5. according to claim 2 or 3 described automatically agilely leveling system for missile launching platform, it is characterized in that in the described control circuit, the two end electrodes of sensor is connected by bridge circuit with two precision resistances respectively.
6. according to claim 2 or 3 described automatically agilely leveling system for missile launching platform, it is characterized in that, described electrohydraulic servo-controlling system comprises hydraulic cylinder (6), electrohydraulic servo valve (7), hydraulic valve (8), filter (9), sensor (10), amplifying circuit (11) and pressure gauge (12), electrohydraulic servo valve (7) is connected respectively with hydraulic cylinder (6), hydraulic valve (8), amplifying circuit (11) and pressure gauge (12), filter (9) is connected with hydraulic valve (8), and sensor (10) is connected with amplifying circuit (11).
7. according to claim 2 or 3 described automatically agilely leveling system for missile launching platform, it is characterized in that, described hydraulic gear comprises speed control loop and locking loop, speed control loop is the open loop circulatory system, tightens the loop and constitutes by the check valve of respectively connecting in hydraulic cylinder (6) oil circuit both sides; Described hydraulic gear adopts double pump or limit pressure type variable pump as oil sources.
8. automatically agilely leveling system for missile launching platform according to claim 1 is characterized in that, is applied in the occasion that needs high accuracy, fast leveling, comprising: missile truck.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200710037256XA CN101017074B (en) | 2007-02-07 | 2007-02-07 | Automatically agilely leveling system for missile launching platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200710037256XA CN101017074B (en) | 2007-02-07 | 2007-02-07 | Automatically agilely leveling system for missile launching platform |
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| CN101017074A CN101017074A (en) | 2007-08-15 |
| CN101017074B true CN101017074B (en) | 2010-11-17 |
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| CN104776754B (en) * | 2015-04-15 | 2016-05-18 | 北京航天发射技术研究所 | A kind of 8 fulcrum leveling methods of rocket launch platform |
| CN107102607A (en) * | 2016-02-22 | 2017-08-29 | 北京航天发射技术研究所 | Large-scale activity flat pad multi-point leveling control system and control method |
| CN106125572A (en) * | 2016-06-16 | 2016-11-16 | 南京理工大学 | Ten two support Vertical Launch platform stance leveling system modeling method |
| CN109781077B (en) * | 2018-10-06 | 2024-03-26 | 沈向安 | Laser level meter capable of measuring angle |
| CN111426242B (en) * | 2020-04-14 | 2022-07-01 | 上海机电工程研究所 | Guided missile fixing mechanism |
| CN112595173B (en) * | 2020-12-08 | 2021-10-01 | 北京理工大学 | Stable launching platform for small naval vessel modular rocket and control method thereof |
| CN116573582B (en) * | 2023-07-12 | 2023-11-17 | 临工重机股份有限公司 | Leveling structure of telescopic boom forklift and telescopic boom forklift |
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