CN103488094B

CN103488094B - Car Ore-controlling Role emulation test method and system

Info

Publication number: CN103488094B
Application number: CN201310389819.7A
Authority: CN
Inventors: 李仁洙
Original assignee: China Academy of Launch Vehicle Technology CALT; Beijing Institute of Space Launch Technology
Current assignee: China Academy of Launch Vehicle Technology CALT; Beijing Institute of Space Launch Technology
Priority date: 2013-08-30
Filing date: 2013-08-30
Publication date: 2016-01-13
Anticipated expiration: 2033-08-30
Also published as: CN103488094A

Abstract

The invention discloses a kind of car Ore-controlling Role emulation test method and system.The method comprises: gather car launcher parameter, builds the car launcher mathematical model comprising test cell, sensing unit and performance element, for car launcher mathematical model writes the simulation testing software for test environment with the car launcher parameter gathered; Start simulation testing software, test cell receives the solenoid control instruction that external piloting control unit sends, and determines that solenoid control instruction is effective, calculates operational ton corresponding to solenoid control instruction and stores, and the operational ton information calculated is exported; Main control unit is according to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving sensing unit output, and generating run steering order also exports; Test cell, according to the operation steering order received, controls performance element and carries out test operation.Application the present invention, can reduce testing cost, shorten test required time.

Description

Car Ore-controlling Role emulation test method and system

Technical field

The present invention relates to Computer Simulation and measuring technology, particularly relate to a kind of car Ore-controlling Role emulation test method and system.

Background technology

Car launcher car Ore-controlling Role is used for passing through host computer according to operative technique personnel, such as, GU Generic Unit (realizing the common electric control unit that car Ore-controlling Role signal collecting and controlling drives), the instruction that the equipment such as stepper motor send, can to the hydraulic valve in car launcher, the equipment such as solenoid valve control, and, carry out judging and adjusting according to the signal of the sensor collection be laid on car launcher, thus in launch preparation time, control car launcher to complete car launcher supporting leg and stretch flow process and launching tube plays perpendicular flow process, after battery has fired, control car launcher completes launching tube and returns a series of actions such as advection journey and car launcher supporting leg receipts flow process.

In actual development process, car Ore-controlling Role, before being really installed to and car launcher starting test, has needed integrated ground to test the function, performance, the reliability that confirm car Ore-controlling Role, has namely built car detection test system and carry out the test of car Ore-controlling Role.

In prior art, generally carry out the test of car Ore-controlling Role by building all-real object emulation platform, the test of all-real object emulation platform can not consider actual installation position and the size of each equipment in car launcher, namely without the need to being complete car launcher by each device assembles, only need equipment connection each in discrete car launcher to car Ore-controlling Role, thus build car Ore-controlling Role emulation test system, at car Ore-controlling Role emulation test system, as long as can ensure that physical communication normally can be tested.

From above-mentioned, existing car Ore-controlling Role emulation test system, although the checking of each functions of the equipments in car launcher can be ensured, but need to buy hardware and carry out building of test platform, testing cost is high, test required time is long, correspondingly extends the time of carrying out car launcher research and development or improvement according to test result; Further, build the mode of car Ore-controlling Role emulation test system by buying hardware, the progress of building cannot be protected; And, the method of testing is carried out by the all-real object system of building, each equipment functional verification under normal operation in car launcher can only be carried out, the functional verification in exception conditions of each equipment cannot be carried out by the mode injecting fault, thus cannot comprehensively and objectively analyze and confirm the indices of car launcher.

Summary of the invention

Embodiments of the invention provide a kind of car Ore-controlling Role emulation test method, reduce testing cost, shorten test required time.

Embodiments of the invention also provide a kind of car Ore-controlling Role emulation test system, reduce testing cost, shorten test required time.

For achieving the above object, a kind of car Ore-controlling Role emulation test method that the embodiment of the present invention provides, the method comprises:

Gather car launcher parameter, build the car launcher mathematical model comprising test cell, sensing unit and performance element with the car launcher parameter gathered, for car launcher mathematical model writes the simulation testing software for test environment;

Start simulation testing software, test cell receives the solenoid control instruction that external piloting control unit sends, if determine that solenoid control instruction is effective, calculates operational ton corresponding to solenoid control instruction and stores, the operational ton information calculated being exported;

Main control unit according to from the operational ton information of test cell, the operational ton threshold value pre-set and whether receive sensing unit export the indication information that puts in place, generating run steering order also exports;

Test cell, according to the operation steering order received, controls performance element and carries out test operation.

Wherein, described main control unit according to from the operational ton information of test cell, the operational ton threshold value pre-set and whether receive sensing unit export the indication information that puts in place, generating run steering order comprises:

Main control unit determines that described operational ton does not exceed the operational ton threshold value pre-set, and does not receive the indication information that puts in place of the sensing unit output in car launcher mathematical model, generates the solenoid valve conduction operation steering order that solenoid control instruction is corresponding; Or,

Main control unit determines that the operational ton received does not exceed the operational ton threshold value pre-set, and receives the indication information that puts in place of the sensing unit output in car launcher mathematical model, generates the solenoid valve opening operation steering order that solenoid control instruction is corresponding; Or,

Main control unit determines that the operational ton received exceedes the operational ton threshold value pre-set, and generates the solenoid valve opening operation steering order that solenoid control instruction is corresponding.

After control performance element carries out test operation, described method comprises further:

Send the operation steering order contrary with operation steering order to test cell, the performance element in monitoring car launcher mathematical model performs the state after contrary operation steering order, receives the performance element status information that performance element is reported by test cell.

Wherein, described solenoid control instruction comprises: car launcher supporting leg stretches solenoid control instruction, launching tube plays perpendicular solenoid control instruction, launching tube returns ordinary telegram magnet valve steering order and car launcher supporting leg receives solenoid control instruction.

Wherein, described solenoid control instruction is that car launcher supporting leg stretches solenoid control instruction, describedly determines that solenoid control instruction is effective, and the operational ton calculating solenoid control instruction corresponding comprises:

Determine to comprise pump of unblanking to build car launcher supporting leg that end finger order and supporting leg stretch instruction and stretch solenoid control instruction and be high level;

Stretch Altitude control formula according to the supporting leg pre-set and regulate current height of landing leg, obtain the height of landing leg needing to be adjusted to, as the operational ton that solenoid control instruction is corresponding.

Wherein, described supporting leg is stretched Altitude control formula and is:

h _i+1＝h _i+KΔt

In formula,

H _i+1for needing the height of landing leg be adjusted to;

H _ifor current height of landing leg;

K is for heightening control coefrficient;

Δ t is the timestamp that supporting leg stretches instruction.

Wherein, described main control unit is according to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving sensing unit output, and generating run steering order comprises:

A11, main control unit judges that needing the height of landing leg be adjusted to whether to exceed the supporting leg pre-set stretches height threshold, if not, performs steps A 12, if so, performs steps A 14;

A12, judges whether to receive the indication information that puts in place that the sensor be arranged on supporting leg exports, and if not, performs steps A 13, if so, performs steps A 14;

A13, the conducting proximity switch instruction that the height of landing leg that generation needs are adjusted to is corresponding, with the proximity switch making test cell conducting corresponding, drives supporting leg to stretch;

A14, generates and disconnects proximity switch instruction, disconnects proximity switch to make test cell.

Wherein, described solenoid control instruction is that launching tube plays perpendicular solenoid control instruction, describedly determines that solenoid control instruction is effective, and the operational ton calculating solenoid control instruction corresponding comprises:

Determining that launching tube plays perpendicular solenoid control instruction is high level;

Regulate perpendicular hydraulic cylinder current vertical angle degree according to the vertical angle degree dominated formulate that rises pre-set, obtain the vertical angle degree needing to be adjusted to, as the operational ton that solenoid control instruction is corresponding.

Wherein, described vertical angle degree dominated formulate is:

U _i+1＝U _i+φΔt

In formula,

U _i+1for playing the vertical angle degree that perpendicular hydraulic cylinder needs to be adjusted to;

U _ifor playing perpendicular hydraulic cylinder current vertical angle degree;

φ has been perpendicular coefficient of angularity;

Δ t is the timestamp of effective instruction.

B11, main control unit judges whether the vertical angle degree needing to be adjusted to exceedes the first pre-set and erect angle threshold, if not, performs step B12, if so, performs step B13;

B12, sends the instruction of conducting first proximity switch to test cell, with the first proximity switch making test cell conducting corresponding, plays perpendicular hydraulic cylinder;

B13, sends the instruction of disconnection first proximity switch to test cell;

B14, has judged whether vertical angle degree exceedes second the perpendicular angle threshold pre-set, and if not, performs step B15, if so, performs step B16;

B15, judges whether to receive the indication information that puts in place that the sensor be arranged on launching tube exports, and if not, generates the instruction of conducting second proximity switch, if so, performs step B16;

B16, generates the instruction of disconnection second proximity switch.

Wherein, described solenoid control instruction is that launching tube returns ordinary telegram magnet valve steering order, described main control unit is according to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving sensing unit output, and generating run steering order comprises:

C11, main control unit judges whether time straight angle degree needing to be adjusted to exceedes the first time flat angle threshold pre-set, and if not, performs step C12, if so, performs step C13;

C12, sends the instruction of conducting first proximity switch to test cell, with the first proximity switch making test cell conducting corresponding, returns flat hydraulic cylinder;

C13, sends the instruction of disconnection first proximity switch to test cell;

C14, judges back whether straight angle degree exceedes the second time flat angle threshold pre-set, and if not, performs step C15, if so, performs step C16;

C15, judges whether to receive the indication information that puts in place that the sensor be arranged on launching tube exports, and if not, generates the instruction of conducting second proximity switch, if so, performs step C16;

C16, generates the instruction of disconnection second proximity switch.

Wherein, described solenoid control instruction is that car launcher supporting leg receives solenoid control instruction, described main control unit is according to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving sensing unit output, and generating run steering order comprises:

C11, the supporting leg that main control unit judges to need the height of landing leg be adjusted to whether to exceed and pre-sets receives height threshold, if not, performs step C12, if so, performs step C14;

C12, judges whether to receive the indication information that puts in place that the sensor be arranged on supporting leg exports, and if not, performs step C13, if so, performs step C14;

C13, the conducting proximity switch instruction that the height of landing leg that generation needs are adjusted to is corresponding, with the proximity switch making test cell conducting corresponding, drives supporting leg to receive;

C14, generates and disconnects proximity switch instruction, disconnects proximity switch to make test cell.

Wherein, described method comprises further:

Main control unit confirms that emulation testing terminates, and obtain the simulation results, described the simulation results comprises: the operational ton information that at the end of emulation testing, test cell reports and with or without receiving the indication information that puts in place.

A kind of car Ore-controlling Role emulation test system, this system comprises: car launcher mathematical model construction unit, main control unit, test cell and performance element, wherein,

Car launcher mathematical model construction unit, for gathering car launcher parameter, builds car launcher mathematical model with the car launcher parameter gathered, and the communication mechanism of each unit in founding mathematical models, for mathematical model writes the simulation testing software for test environment;

Main control unit, for when carrying out emulation testing, sends solenoid control instruction to test cell; According to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving the sensing unit output in car launcher mathematical model, generating run steering order, exports test cell to; Confirm that emulation testing terminates, obtain the simulation results.

Test cell, for receiving the solenoid control instruction that main control unit sends, starts simulation testing software, determines that solenoid control instruction is effective, calculates operational ton corresponding to solenoid control instruction and stores, exporting to main control unit; Receive operation steering order, export performance element to;

Performance element, operates for controlling car launcher mathematical model according to the operation steering order received.

Preferably, described main control unit is after generating run steering order, be further used for sending the operation steering order contrary with operation steering order to test cell, performance element in monitoring car launcher mathematical model performs the state after contrary operation steering order, receives the performance element status information that performance element is reported by test cell.

Preferably, described main control unit, after generating run steering order, is further used for storing the operational ton information received, and according to the operational ton information stored and the operational ton threshold value pre-set, determines the timestamp of next solenoid control instruction to be sent;

According to the timestamp information comprised in operation steering order, carry out timing, after timing is arrived, the timestamp information determined is carried in solenoid control instruction, exports test cell to.

As seen from the above technical solution, a kind of car Ore-controlling Role emulation test method that the embodiment of the present invention provides and system, by gathering each parameter of car launcher in advance, car launcher mathematical model is built with the parameter gathered, and by the function of software simulating to relevant device in car launcher, the emulation testing of performance and interface, thus carry out the emulation testing of car Ore-controlling Role with the car launcher mathematical model built, break away from necessary dependence hardware device just to hit the target the limitation of checking work, effectively reduce testing cost, and, owing to carrying out emulation testing by software, that greatly can shorten emulation test system builds the time, and make emulation test system can carry out test to target machine and the work of problem investigation in any place.

Accompanying drawing explanation

In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below.Apparently, the accompanying drawing in below describing is only some embodiments of the present invention, for those of ordinary skills, can also obtain other embodiment and accompanying drawing thereof according to these accompanying drawing illustrated embodiments.

Fig. 1 is embodiment of the present invention car Ore-controlling Role emulation test method schematic flow sheet.

Fig. 2 is that embodiment of the present invention car launcher supporting leg stretches emulation testing schematic flow sheet.

Fig. 3 is that embodiment of the present invention launching tube plays perpendicular emulation testing schematic flow sheet.

Fig. 4 is that the embodiment of the present invention returns flat launching tube emulation testing schematic flow sheet.

Fig. 5 is that embodiment of the present invention car launcher supporting leg receives emulation testing schematic flow sheet.

Fig. 6 is embodiment of the present invention car Ore-controlling Role emulation test system structural representation.

Embodiment

Carry out clear, complete description below with reference to accompanying drawing to the technical scheme of various embodiments of the present invention, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, other embodiments all that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belong to the scope that the present invention protects.

The emulation testing of existing car Ore-controlling Role, needs all or part of hardware of buying to build car Ore-controlling Role simulation test platform, make testing cost high, test required time long; Further, each equipment functional verification under normal operation in car launcher can only be carried out, the functional verification in exception conditions of each equipment cannot be carried out by the mode injecting fault.

In the embodiment of the present invention, in view of the test of all-real object emulation platform and semi-physical emulation platform test exist, development cost is high, development (building) progress cannot ensure, cannot inject the shortcomings such as fault, proposes the car Ore-controlling Role emulation test method without the need to hardware device and car Ore-controlling Role emulation test system.Namely by gathering each parameter of car launcher in advance, car launcher mathematical model is built with the parameter gathered, and the communication mechanism of each equipment (unit) in founding mathematical models, thus carry out the emulation testing of car Ore-controlling Role with the car launcher mathematical model built, and can carry out mathematical model functional verification in exception conditions by the mode injecting fault in testing.

Fig. 1 is embodiment of the present invention car Ore-controlling Role emulation test method schematic flow sheet.See Fig. 1, this flow process comprises:

Step 101, gathers car launcher parameter, builds car launcher mathematical model with the car launcher parameter gathered, and the communication mechanism of each unit in founding mathematical models, for mathematical model writes the simulation testing software for test environment;

In this step, based on existing car launcher, gather car launcher parameter, such as, the parameters of structural dimension of each equipment in car launcher, location parameter, annexation parameter between each equipment and the controling parameters etc. between equipment, according to the parameters of structural dimension of each equipment in the car launcher gathered, annexation parameter between location parameter and each equipment builds the Physics-mathematics model of car launcher, according to the communication mechanism of each unit in the controling parameters founding mathematical models between equipment, and based on test environment, coding code segment forms car Ore-controlling Role simulation testing software.Namely gather car launcher parameter, build the car launcher mathematical model comprising test cell, sensing unit and performance element with the car launcher parameter gathered, for car launcher mathematical model writes the simulation testing software for test environment.Like this, based on communication mechanism and car Ore-controlling Role simulation testing software, the emulation testing of car Ore-controlling Role can be carried out to Physics-mathematics model.Namely after structure car launcher mathematical model, by the emulation simulator (test cell, performance element and sensing unit) in car launcher mathematical model, can by the language scripts file of the certain syntax rule of programming automatic generation, and trigger emulation simulator and perform this language scripts file, realize the state of each equipment in analog transmissions car.

In the embodiment of the present invention, car launcher mathematical model is built with the car launcher parameter gathered, the communication mechanism of each unit and coding code segment in founding mathematical models, the environment can tested according to all-real object emulation platform by those of ordinary skill in the art and condition realize program code segments exploitation, omit detailed description at this.

Step 102, starts simulation testing software, receives the solenoid control instruction that main control unit sends, and determines that solenoid control instruction is effective, calculates operational ton corresponding to solenoid control instruction and stores, exporting to main control unit;

In this step, solenoid control instruction comprises: car launcher supporting leg stretches solenoid control instruction, launching tube plays perpendicular solenoid control instruction, launching tube returns ordinary telegram magnet valve steering order and car launcher supporting leg receives solenoid control instruction, and corresponding car launcher supporting leg stretches emulation testing respectively, launching tube plays perpendicular emulation testing, launching tube returns flat emulation testing and car launcher supporting leg receives emulation testing.That is, in the embodiment of the present invention, the emulation testing of car Ore-controlling Role comprises: car launcher supporting leg stretches emulation testing, launching tube plays perpendicular emulation testing, launching tube returns flat emulation testing and car launcher supporting leg receives emulation testing.

Step 103, main control unit is according to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving the sensing unit output in car launcher mathematical model, and generating run steering order, exports test cell to;

In this step, the operational ton information that main control unit reports according to test cell, the operational ton threshold value pre-set and whether receive the indication information that puts in place that sensing unit in car launcher mathematical model exports, control emulation testing flow process.

Main control unit is according to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving the sensing unit output in car launcher mathematical model, and generating run steering order specifically comprises:

Main control unit determines that the operational ton received does not exceed the operational ton threshold value pre-set, and does not receive the indication information that puts in place of the sensing unit output in car launcher mathematical model, generates the solenoid valve conduction operation steering order that solenoid control instruction is corresponding; Or,

Step 104, the performance element that test cell controls in car launcher mathematical model according to the operation steering order received operates;

In this step, if operation steering order is solenoid valve conduction operation steering order, then the proximity switch that electric conduction magnet valve is corresponding, if operation steering order is solenoid valve opening operation steering order, then disconnects proximity switch corresponding to solenoid valve.

Step 105, main control unit confirms that emulation testing terminates, and obtains the simulation results.

In this step, main control unit can be monitored emulation testing process, is known technology, omits detailed description at this about monitoring.Certainly, in practical application, also according to operational ton information, operational ton threshold value and whether can receive the indication information that puts in place, determine whether emulation testing terminates.The simulation results comprises: the operational ton information that at the end of emulation testing, test cell reports and with or without receiving the indication information that puts in place.Certainly, in practical application, the simulation results can also comprise the operational ton information that in emulation testing process, test cell reports for each time.

In practical application, the embodiment of the present invention can also be in testing, mathematical model functional verification is in exception conditions carried out by the mode injecting fault, namely by main control unit, whether the realization of emulation testing steering logic is correctly tested, after step 104, before step 105, comprise further:

Send the operation steering order contrary with operation steering order to test cell, the performance element in monitoring car launcher mathematical model performs the state after contrary operation steering order, reports performance element status information to main control unit.

In this step, by injecting the instruction contrary with normal testing operations steering order in normal emulation testing, monitoring performance element performs the state after contrary operation steering order, thus can acquisition mathematical model realize correct steering logic in exception conditions, thus can comprehensively and objectively analyze and confirm the indices of car launcher.

Respectively four kinds of emulation testing flow processs are described in detail below.

Fig. 2 is that embodiment of the present invention car launcher supporting leg stretches emulation testing schematic flow sheet.See Fig. 2, this flow process comprises:

Step 200, starts simulation testing software;

Step 201, the test cell in car launcher mathematical model receives the solenoid control instruction that main control unit exports;

In this step, technician can input solenoid control instruction by main control unit, and the solenoid control instruction of reception is exported to the test cell in car launcher mathematical model by main control unit.

In the embodiment of the present invention, solenoid control instruction is that car launcher supporting leg stretches solenoid control instruction, comprise: end finger order built by pump of unblanking and supporting leg stretches instruction, wherein, unblank to refer to and remove the rigidly connected action of lock cell in mathematical model, represent that end finger order built by pump of unblanking with YA2, supporting leg stretches the work step referring to that car launcher supporting leg stretches out, supporting leg is received and is referred to the work step that car launcher supporting leg reclaims, and is the inverse work step that car launcher supporting leg is stretched, and represents that supporting leg stretches instruction and supporting leg receives instruction with YA4 ~ YA11.Wherein, YA4, YA6, YA8 and YA10 represents that supporting leg stretches the 3rd proximity switch (SQ3) turn-on command (starting the solenoid valve that SQ3 is corresponding) in instruction respectively, correspondence stretches car launcher left front leg, 4th proximity switch (SQ4) turn-on command, correspondence stretches car launcher RAT, 5th proximity switch (SQ5) turn-on command, correspondence stretches the left back leg of car launcher, and, 6th proximity switch (SQ6) turn-on command, correspondence stretches car launcher right rear leg, YA5, YA7, YA9 and YA11 represents that supporting leg receives the 3rd proximity switch (SQ3) open command (turning off the solenoid valve that SQ3 is corresponding) in instruction respectively, corresponding receipts car launcher left front leg, 4th proximity switch (SQ4) open command, corresponding receipts car launcher RAT, 5th proximity switch (SQ5) open command, the left back leg of corresponding receipts car launcher, and, 6th proximity switch (SQ6) open command, corresponding receipts car launcher right rear leg.

In the embodiment of the present invention, car launcher mathematical model and simulation testing software form test platform, by the interface between main control unit, receive the pump of unblanking that sends of main control unit and build end finger order and supporting leg stretches instruction, with to car launcher supporting leg the support oil cylinder action of stretching in flow process test.

In the embodiment of the present invention, end finger order built by pump of unblanking is one, and it can be one or more that supporting leg stretches instruction.

In practical application, the content that the solenoid control instruction that main control unit exports comprises is same as the prior art.

Step 202, test cell judges that whether the solenoid control instruction received is effective, if so, performs step 203, otherwise, perform step 209;

In this step, judging that end finger order built by the pump of unblanking received and whether simultaneously effectively supporting leg stretches instruction, whether the pump of unblanking namely received to stretch instruction be high level simultaneously if building end finger order and supporting leg.Certainly, in practical application, also can represent effective with low level, and represent invalid with high level.That is, if supporting leg stretches instruction comprise YA2, YA4, YA6, YA8 and YA10, then determine whether YA2, YA4, YA6, YA8 and YA10 are high level.

Step 203, stretches Altitude control formula according to the supporting leg pre-set and regulates current height of landing leg, obtain the height of landing leg needing to be adjusted to;

In this step, end finger order built by pump of unblanking and supporting leg stretches instruction simultaneously effectively, current height of landing leg value substitution supporting leg is stretched Altitude control formula and calculates, obtain the height of landing leg needing to be adjusted to.

In the embodiment of the present invention, supporting leg is stretched Altitude control formula and is:

h _i+1=h _i+KΔt

In formula,

H _i+1for needing the height of landing leg be adjusted to;

H _ifor current height of landing leg, initial value is arranged according to actual needs, such as, can be set to 0;

K is for heightening control coefrficient;

Δ t is effective instruction, and namely supporting leg stretches the timestamp (abbreviation timestamp) of instruction, such as, if supporting leg is stretched in instruction only comprise YA2, and YA2 high level continue time be 10s, then Δ t=10s.

In the embodiment of the present invention, the height of landing leg information that the needs obtained are adjusted to by test cell replaces the last height of landing leg information stored.

Step 204, feeds back to main control unit by needing the height of landing leg be adjusted to;

In this step, each supporting leg stretches instruction to the height of landing leg that needs should be had to be adjusted to.

Step 205, main control unit judges that needing the height of landing leg be adjusted to whether to exceed the supporting leg pre-set stretches height threshold, if not, performs step 206, if so, performs step 208;

In this step, if the height of landing leg information that main control unit receives is multiple, then judge whether height of landing leg that each needs are adjusted to exceedes the respective leg pre-set and stretch height threshold respectively.

In the embodiment of the present invention, the height of landing leg information that the needs of reception are adjusted to by main control unit replaces the last height of landing leg information stored.

Step 206, judges whether to receive the indication information that puts in place that the sensor be arranged on supporting leg exports, and if not, performs step 207, if so, performs step 208;

In this step, the sensor be arranged on supporting leg comprises: left front leg reaches level sensor SQ3, RAT reaches level sensor SQ4, left back leg reaches level sensor SQ5 and right rear leg reaches level sensor SQ6.

Step 207, sends the conducting proximity switch instruction needing the height of landing leg that is adjusted to corresponding to test cell, with the proximity switch making test cell conducting corresponding, drive supporting leg to stretch;

In this step, solenoid valve conduction operation steering order is the instruction of conducting proximity switch, comprising: SQ3 turn-on command, SQ4 turn-on command, SQ5 turn-on command and SQ6 turn-on command.For example, if YA2, YA4 of receiving are effective, the height of landing leg be adjusted at the needs that YA2, YA4 are corresponding does not all exceed after corresponding supporting leg stretches height threshold, sends SQ3 turn-on command and SQ4 turn-on command to test cell.

In the embodiment of the present invention, after test cell receives the instruction of conducting proximity switch, if current proximity switch is in conducting state, then maintain current conducting state constant; If current proximity switch is in off-state, then the current proximity switch of conducting.

Further, test cell is monitoring proximity switch corresponding to conducting, driving completes after supporting leg stretches flow process, single is reported to test information to main control unit, main control unit is receiving after this single tested information, the supporting leg that the target supporting leg adjusted as required stretches height threshold and storage stretches elevation information, and the supporting leg determining to export to test cell stretches effective duration of instruction.

In practical application, whether the embodiment of the present invention in testing, can also be carried out mathematical model functional verification in exception conditions by the mode injecting fault, is namely correctly tested the realization that supporting leg stretches steering logic by main control unit, after step 207, comprise further:

Send to test cell and disconnect proximity switch instruction, monitoring proximity switch state and supporting leg state, report proximity switch status information and supporting leg status information to main control unit.

In this step, carry out in emulation testing process stretching flow process to whole supporting leg, the proximity switch that main control unit obtains in this process, by manual type, can be carried out switching manipulation, thus confirm that whether the realization that main control unit stretches steering logic to supporting leg is correct by technician.

By after the instruction of transmission conducting proximity switch, by injecting the mode of fault, send to test cell and disconnect proximity switch instruction, and the executing state after monitoring and test unit reception instruction, such as, the proximity switch state controlled and supporting leg state, and report proximity switch status information and supporting leg status information to main control unit.For example, if after sending the instruction of disconnection proximity switch to test cell, proximity switch State Transferring is off, and ongoing supporting leg stretches Flow ends, then, after showing to inject fault, mathematical model can carry out correct process; If after sending the instruction of disconnection proximity switch to test cell, proximity switch state is not converted to disconnection, and/or, ongoing supporting leg is stretched flow process and is not stopped, after then showing to inject fault, mathematical model can not carry out correct process, thus can find more how potential technological deficiency in testing, improve in time, effectively shorten the development time, promote design efficiency.

Step 208, sends to test cell and disconnects proximity switch instruction, disconnects proximity switch to make test cell;

In this step, solenoid valve opening operation steering order is off proximity switch instruction.

When need the height of landing leg that is adjusted to do not exceed the supporting leg pre-set stretch height, if receive the instruction that puts in place that the sensor be arranged on supporting leg exports, or, main control unit judges to need the height of landing leg that is adjusted to exceed the supporting leg pre-set when stretching height threshold, do not receive the instruction that puts in place that the sensor be arranged on supporting leg exports, all need to disconnect proximity switch to ensure the safety of test.Simultaneously, also show that supporting leg corresponding to instruction sent is stretched height and the actual supporting leg reached and stretched between height and occur deviation, need to regulate the timestamp information of effective instruction according to deviate, thus make supporting leg corresponding to the instruction of transmission stretch height to stretch highly consistent with the actual supporting leg reached.

Disconnect proximity switch instruction to comprise: SQ3 open command, SQ4 open command, SQ5 open command and SQ6 open command.

Step 209, terminates support oil cylinder motion test flow process.

In this step, after test cell disconnects proximity switch, or end finger order built by pump of unblanking and supporting leg stretches instruction ignore, then terminate supporting leg and stretch emulation testing flow process.

Fig. 3 is that embodiment of the present invention launching tube plays perpendicular emulation testing schematic flow sheet.See Fig. 3, this flow process comprises:

Step 301, the test cell in car launcher mathematical model receives the solenoid control instruction that main control unit exports;

In this step, solenoid control instruction is that launching tube plays perpendicular solenoid control instruction, has been specially perpendicular hydraulic cylinder instruction, has comprised: YA12 instruction and YA14 instruction, and the starting stage sends YA12 instruction, and follow-up phase sends YA14 instruction.

Step 302, judges that whether the solenoid control instruction received is effective, if so, performs step 303, otherwise, perform step 311;

In this step, work to erect referring to work step car launcher cylinder being erected to emission angle by horizontality, judge that whether the perpendicular hydraulic cylinder instruction received is effective.That is, whether YA12 instruction and YA14 instruction are high level.

Step 303, has regulated perpendicular hydraulic cylinder current vertical angle degree according to the vertical angle degree dominated formulate that rises pre-set, has obtained the vertical angle degree needing to be adjusted to;

In this step, obtain high level lasting time information in YA12 instruction and YA14 instruction, current vertical angle angle value has been substituted into vertical angle degree dominated formulate and has calculated, obtain the vertical angle degree needing to be adjusted to.

In the embodiment of the present invention, playing vertical angle degree dominated formulate is:

U _i+1=U _i+φΔt

In formula,

U _ifor playing perpendicular hydraulic cylinder current vertical angle degree;

φ has been perpendicular coefficient of angularity;

Δ t is the timestamp of effective instruction.

In the embodiment of the present invention, test cell erects hydraulic cylinder current perpendicular angle information before being needed by a perpendicular hydraulic cylinder the perpendicular angle information be adjusted to replace storage together.

Step 304, feeds back to main control unit by the vertical angle degree that rises needing to be adjusted to;

Step 305, main control unit judges whether the vertical angle degree needing to be adjusted to exceedes the first pre-set and erect angle threshold, if not, performs step 306, if so, performs step 307;

In this step, it is 2 ° that the first erects angle threshold.

Step 306, sends the instruction of conducting first proximity switch to test cell, with the first proximity switch making test cell conducting corresponding, plays perpendicular hydraulic cylinder, performs step 308;

In this step, solenoid valve conduction operation steering order is the instruction of conducting first proximity switch, and test cell if current first proximity switch is in conducting state, then maintains current conducting state constant after receiving the instruction of conducting first proximity switch; If current first proximity switch is in off-state, then current first proximity switch of conducting.

Second proximity switch is in conducting state always.

Further, test cell is monitoring the first proximity switch corresponding to conducting, after having completed perpendicular hydraulic cylinder flow process, perpendicular hydraulic cylinder has been reported to test information to main control unit, main control unit is receiving after this perpendicular hydraulic cylinder tested information, the target adjusted as required plays a perpendicular hydraulic cylinder information of perpendicular hydraulic cylinder threshold value and storage, determines the effective duration of playing perpendicular hydraulic cylinder instruction high level exporting test cell to.

Step 307, sends the instruction of disconnection first proximity switch to test cell, performs step 308;

In this step, solenoid valve opening operation steering order is off the first proximity switch instruction.If current first proximity switch is in off-state, then maintain current conducting state constant; If current first proximity switch is in conducting state, then disconnect current first proximity switch.

Step 308, has judged whether vertical angle degree exceedes second the perpendicular angle threshold pre-set, and if not, performs step 309, if so, performs step 310;

In this step, second perpendicular angle threshold is 87 °.

Step 309, judges whether to receive the indication information that puts in place that the sensor be arranged on launching tube exports, and if not, sends the instruction of conducting second proximity switch to test cell, if so, performs step 310;

In this step, the second proximity switch is in conducting state always.The sensor be arranged on launching tube comprises: launching tube receives level sensor 1(SQ1a), launching tube receives level sensor 2(SQ1b) and 87 ° of signal transducer SQ2 that put in place.

Step 310, sends the instruction of disconnection second proximity switch to test cell, performs step 311;

Step 311, terminates launching tube and plays perpendicular emulation testing flow process.

In the embodiment of the present invention, also in step 306,307,309 and 310, mathematical model functional verification in exception conditions can be carried out by the mode injecting fault.

Fig. 4 is that the embodiment of the present invention returns flat launching tube emulation testing schematic flow sheet.See Fig. 4, this flow process comprises:

Step 401, the test cell in car launcher mathematical model receives the solenoid control instruction that main control unit exports;

In this step, Hui Ping refers to the work step of being transferred by launching tube and reverting to driving states, has been perpendicular inverse work step.Solenoid control instruction is that launching tube returns ordinary telegram magnet valve steering order, namely returns flat hydraulic cylinder instruction, is aforesaid YA13 instruction.

Step 402, judges that whether the solenoid control instruction received is effective, if so, performs step 403, otherwise, perform step 411;

In this step, namely judge that whether time flat hydraulic cylinder instruction received is effective.That is, judge whether YA13 instruction is high level.

Step 403, regulates back flat hydraulic cylinder current time straight angle degree according to the straight angle degree dominated formulate that returns pre-set, obtains time straight angle degree needing to be adjusted to;

In this step, YA13 instruction is effective, current time straight angle angle value is substituted into back straight angle degree dominated formulate and calculates, and obtains time straight angle degree needing to be adjusted to.

In the embodiment of the present invention, returning straight angle degree dominated formulate is:

U _i+1=U _i-φΔt

In formula,

U _i+1for returning the vertical angle degree that flat hydraulic cylinder needs to be adjusted to;

U _ifor returning flat hydraulic cylinder current vertical angle degree;

φ is back flat coefficient of angularity;

Δ t is timestamp.

In the embodiment of the present invention, test cell will return last time flat angle information of time flat angle information replacement storage that flat hydraulic cylinder needs to be adjusted to.

Step 404, feeds back to main control unit by the straight angle degree that returns needing to be adjusted to;

Step 405, main control unit judges whether time straight angle degree needing to be adjusted to exceedes the first time flat angle threshold pre-set, and if not, performs step 406, if so, performs step 407;

In this step, first time flat angle threshold is 2 °.

In the embodiment of the present invention, rise based on perpendicular last angle by launching tube and carry out back flat test, by this point as the initial point returning flat angular adjustment.

Step 406, sends the instruction of conducting first proximity switch to test cell;

In this step, solenoid valve conduction operation steering order is the instruction of conducting first proximity switch, the conducting always of the second proximity switch.Conducting first proximity switch, can make back flat speed accelerate.

In the embodiment of the present invention, test cell if current first proximity switch is in conducting state, then maintains current conducting state constant after receiving the instruction of conducting first proximity switch; If current first proximity switch is in off-state, then current first proximity switch of conducting.

Step 407, sends the instruction of disconnection first proximity switch to test cell, performs step 408;

In this step, solenoid valve opening operation steering order is off the first proximity switch instruction.After time straight angle degree is more than 2 °, the first proximity switch can be disconnected, make the second proximity switch enter duty, to slow down back flat speed.

Step 408, judges back whether straight angle degree exceedes the second time flat angle threshold pre-set, and if not, performs step 409, if so, performs step 410;

In this step, second time flat angle threshold is 87 °.

Step 409, judges whether to receive the indication information that puts in place that the sensor be arranged on launching tube exports, and if not, sends the instruction of conducting second proximity switch to test cell, if so, performs step 410;

In the embodiment of the present invention, the second proximity switch is in conducting state always.

Further, test cell is monitoring the second proximity switch corresponding to conducting, after completing back flat hydraulic cylinder flow process, flat hydraulic cylinder is reported back to test information to main control unit, main control unit is receiving after this time flat hydraulic cylinder tested information, the target adjusted as required returns time flat hydraulic cylinder information of flat hydraulic cylinder threshold value and storage, determines the effective duration of returning flat hydraulic cylinder instruction high level exporting test cell to.

Step 410, sends the instruction of disconnection second proximity switch to test cell, performs step 411;

Step 411, terminates back flat launching tube emulation testing flow process.

As previously mentioned, in the embodiment of the present invention, also in step 406,407,409 and 410, mathematical model functional verification in exception conditions can be carried out by the mode injecting fault.

Fig. 5 is that embodiment of the present invention car launcher supporting leg receives emulation testing schematic flow sheet.See Fig. 5, this flow process comprises:

Step 501, the test cell in car launcher mathematical model receives the solenoid control instruction that main control unit exports;

In this step, it is the inverse process that car launcher supporting leg stretches flow process that car launcher supporting leg receives flow process.

Solenoid control instruction is that car launcher supporting leg receives solenoid control instruction, comprising: end finger order built by pump of unblanking and supporting leg stretches instruction.As previously mentioned, end finger order built by pump of unblanking is one, and it can be one or more that supporting leg stretches instruction.

Step 502, judges that whether the solenoid control instruction received is effective, if so, performs step 503, otherwise, perform step 508;

In this step, namely judge that end finger order built by the pump of unblanking received and whether the instruction of supporting leg receipts is high level simultaneously.

Step 503, receives Altitude control formula according to the supporting leg pre-set and regulates current height of landing leg, obtain the height of landing leg needing to be adjusted to;

In this step, end finger order built by pump of unblanking and supporting leg receives instruction simultaneously effectively, current height of landing leg value substitution supporting leg is received Altitude control formula and calculates, obtain the height of landing leg needing to be adjusted to.

In the embodiment of the present invention, supporting leg is received Altitude control formula and is:

h _i+1=h _i-KΔt

In formula,

H _i+1for needing the height of landing leg be adjusted to;

H _ifor current height of landing leg;

K is for heightening control coefrficient;

Δ t is timestamp.

Step 504, feeds back to main control unit by needing the height of landing leg be adjusted to;

In this step, each supporting leg receives instruction to the height of landing leg that needs should be had to be adjusted to.

Step 505, the supporting leg that main control unit judges to need the height of landing leg be adjusted to whether to exceed and pre-sets receives height threshold, if not, performs step 506, if so, performs step 507;

In this step, it is 525mm that supporting leg receives height threshold.

Step 506, judges whether to receive the indication information that puts in place that the sensor be arranged on supporting leg exports, and if not, sends the instruction of conducting proximity switch to test cell, if so, performs step 507;

In this step, solenoid valve conduction operation steering order is the instruction of conducting proximity switch, comprising: SQ3 turn-on command, SQ4 turn-on command, SQ5 turn-on command and SQ6 turn-on command.

In follow-up flow process, after test cell receives actuating switch instruction, if current proximity switch is in conducting state, then maintain current conducting state constant; If current proximity switch is in off-state, then the current proximity switch of conducting.

Further, test cell is monitoring proximity switch corresponding to conducting, after driving completes supporting leg receipts flow process, supporting leg Acceptance Tests is reported to complete information to main control unit, main control unit is receiving after this supporting leg Acceptance Tests completes information, the supporting leg that the target supporting leg adjusted as required receives height threshold and storage receives elevation information, determines that next supporting leg exporting test cell to receives effective duration (timestamp) of instruction.

Step 507, sends to test cell and disconnects proximity switch instruction, disconnects proximity switch to make test cell;

In this step, solenoid valve opening operation steering order is off proximity switch instruction.Disconnect proximity switch instruction to comprise: SQ3 open command, SQ4 open command, SQ5 open command and SQ6 open command.

Step 508, terminates car launcher supporting leg and receives emulation testing flow process.

In this step, after test cell disconnects proximity switch, or end finger order built by pump of unblanking and supporting leg receives instruction ignore, then terminate supporting leg and receive emulation testing flow process.

In practical application, also can in step 506 and/or, in step 506, carry out mathematical model functional verification in exception conditions by the mode injecting fault.

In the embodiment of the present invention, it is as shown in table 1 that car Ore-controlling Role simulation testing software stretches/receive at supporting leg the controlled sensor arranged in emulation testing.

Table 1

Sequence number	Solenoid valve/sensor name	Code name	Unit
				1	Left front leg reaches level sensor	SQ3	ON/OFF
2	RAT reaches level sensor	SQ4	ON/OFF
				3	Left back leg reaches level sensor	SQ5	ON/OFF
4	Right rear leg reaches level sensor	SQ6	ON/OFF
				5	Left and right horizontal liquid pendulum	AN2	° (degree)
6	Flow sensor 1	BF1	L/min
				7	Flow sensor 2	BF2	L/min

The controlled sensor that car Ore-controlling Role simulation testing software is arranged in perpendicular/time flat emulation testing is as shown in table 2.

Table 2

Sequence number	Solenoid valve/sensor name	Code name	Unit
				1	Launching tube receives level sensor 1	SQ1a	ON/OFF
2	Launching tube receives level sensor 2	SQ1b	ON/OFF
				3	87 ° of signal SQ2 that put in place	SQ2	ON/OFF
4	Play vertical angle degree	U	° (degree)
				5	Play perpendicular angle variable quantity	ΔU	'/s(divides/second)
6	Flow sensor 1	BF1	L/min
				7	Flow sensor 2	BF2	L/min

Fig. 6 is embodiment of the present invention car Ore-controlling Role emulation test system structural representation.See Fig. 6, this system comprises: car launcher mathematical model construction unit, main control unit, test cell and performance element, wherein,

Preferably, main control unit is after generating run steering order, can also be further used for sending the operation steering order contrary with operation steering order to test cell, performance element in monitoring car launcher mathematical model performs the state after contrary operation steering order, receives the performance element status information that performance element is reported by test cell.

Preferably, after generating run steering order, can also be further used for storing the operational ton information received, according to the operational ton information stored and the operational ton threshold value pre-set, determine the timestamp of next solenoid control instruction to be sent;

Wherein,

Main control unit comprises: car launcher supporting leg stretches control subelement, launching tube plays perpendicular control subelement, launching tube returns flat control subelement and car launcher supporting leg receipts control subelement (not shown), wherein,

Car launcher supporting leg stretches control subelement, for judging whether height of landing leg that the needs that test cell returns are adjusted to exceedes the supporting leg pre-set and stretch height threshold,

If not, judge whether to receive the indication information that puts in place that the sensor be arranged on supporting leg exports, if not, the conducting proximity switch instruction that the height of landing leg that generation needs are adjusted to is corresponding, with the proximity switch making test cell conducting corresponding, drives supporting leg to stretch; If so, the instruction of disconnection proximity switch is generated;

If so, generate and disconnect proximity switch instruction, disconnect proximity switch to make test cell;

Launching tube rises and perpendicular controls subelement, plays a vertical angle degree and whether exceedes the first pre-set for what judge that needs that test cell returns are adjusted to and erect angle threshold,

If not, send the instruction of conducting first proximity switch to test cell, with the first proximity switch making test cell conducting corresponding, play perpendicular hydraulic cylinder;

If so, the instruction of disconnection first proximity switch is sent to test cell;

Judge whether vertical angle degree exceedes second the perpendicular angle threshold pre-set,

If not, judge whether to receive the indication information that puts in place that the sensor be arranged on launching tube exports, if not, generate the instruction of conducting second proximity switch, generate the instruction of disconnection second proximity switch;

If so, the instruction of disconnection second proximity switch is generated;

Launching tube returns flat control subelement, for judging whether time straight angle degree that the needs that test cell returns are adjusted to exceedes the first time flat angle threshold pre-set,

If not, send the instruction of conducting first proximity switch to test cell, with the first proximity switch making test cell conducting corresponding, return flat hydraulic cylinder;

Judge back whether straight angle degree exceedes the second time flat angle threshold pre-set,

If not, judge whether to receive the indication information that puts in place that the sensor be arranged on launching tube exports, if not, generate the instruction of conducting second proximity switch;

If so, the instruction of disconnection second proximity switch is generated.

Wherein, described the simulation results comprises: the operational ton information that at the end of emulation testing, test cell reports and with or without receiving the indication information that puts in place.

From above-mentioned, by the emulation testing of software simulating to the function of relevant device in car launcher, performance and interface, can break away from and must rely on hardware device and just to hit the target the limitation of checking work, effectively reduce testing cost, shorten test required time, and make to carry out car launcher research and development according to test result or improve more timely; Further, on the basis of carrying out the functional verification in car launcher under each unit normal condition, the functional verification in exception conditions of each unit of mathematical model can also be carried out by the mode injecting fault, thus can comprehensively and objectively analyze and confirm the indices of car launcher; Meanwhile, because the development process of car Ore-controlling Role simulation testing software synchronously or early than the development process of car launcher, thus, in guarantee goal systems verification quality and progress, all can have more advantage than all-real object emulation and hardware-in-the-loop simulation; And owing to carrying out emulation testing by software, that greatly can shorten emulation test system builds the time, and make emulation test system can carry out test to target machine and the work of problem investigation in any place.

Table 3 is the resultant effect comparison sheet between embodiment of the present invention emulation testing and half material object/all-real object emulation testing.

Table 3

Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if belong within the scope of the claims in the present invention and equivalent technologies thereof to these amendments of the present invention and modification, then the present invention also comprises these change and modification.

Claims

1. a car Ore-controlling Role emulation test method, the method comprises:

Test cell, according to the operation steering order received, controls performance element and carries out test operation;

2. method according to claim 1, wherein, after control performance element carries out test operation, described method comprises further:

3. method according to claim 1, wherein, described solenoid control instruction comprises: car launcher supporting leg stretches solenoid control instruction, launching tube plays perpendicular solenoid control instruction, launching tube returns ordinary telegram magnet valve steering order and car launcher supporting leg receives solenoid control instruction.

4. method according to claim 3, wherein, described solenoid control instruction is that car launcher supporting leg stretches solenoid control instruction, describedly determines that solenoid control instruction is effective, and the operational ton calculating solenoid control instruction corresponding comprises:

5. method according to claim 4, wherein, described supporting leg is stretched Altitude control formula and is:

h _i+1＝h _i+KΔt

In formula,

H _i+1for needing the height of landing leg be adjusted to;

H _ifor current height of landing leg;

K is for heightening control coefrficient;

Δ t is the timestamp that supporting leg stretches instruction.

6. method according to claim 5, wherein, described main control unit is according to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving sensing unit output, and generating run steering order comprises:

7. method according to claim 3, wherein, described solenoid control instruction is that launching tube plays perpendicular solenoid control instruction, describedly determines that solenoid control instruction is effective, and the operational ton calculating solenoid control instruction corresponding comprises:

8. method according to claim 7, wherein, described vertical angle degree dominated formulate is:

U _i+1＝U _i+φΔt

In formula,

U _ifor playing perpendicular hydraulic cylinder current vertical angle degree;

φ has been perpendicular coefficient of angularity;

Δ t is the timestamp of effective instruction.

9. method according to claim 8, wherein, described main control unit is according to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving sensing unit output, and generating run steering order comprises:

B16, generates the instruction of disconnection second proximity switch.

10. method according to claim 3, wherein, described solenoid control instruction is that launching tube returns ordinary telegram magnet valve steering order, described main control unit is according to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving sensing unit output, and generating run steering order comprises:

C16, generates the instruction of disconnection second proximity switch.

11. methods according to claim 3, wherein, described solenoid control instruction is that car launcher supporting leg receives solenoid control instruction, described main control unit is according to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving sensing unit output, and generating run steering order comprises:

12. methods according to any one of claim 1 to 11, wherein, described method comprises further:

13. 1 kinds of car Ore-controlling Role emulation test systems, it is characterized in that, this system comprises: car launcher mathematical model construction unit, main control unit, test cell and performance element, wherein,

Main control unit, for when carrying out emulation testing, sends solenoid control instruction to test cell; According to the operational ton information received, the operational ton threshold value pre-set and the indication information that puts in place whether receiving the sensing unit output in car launcher mathematical model, generating run steering order, exports test cell to; Confirm that emulation testing terminates, obtain the simulation results;

Performance element, operates for controlling car launcher mathematical model according to the operation steering order received;

Wherein, described main control unit is after generating run steering order, be further used for sending the operation steering order contrary with operation steering order to test cell, performance element in monitoring car launcher mathematical model performs the state after contrary operation steering order, receives the performance element status information that performance element is reported by test cell.

14. systems according to claim 13, it is characterized in that, described main control unit is after generating run steering order, be further used for storing the operational ton information received, according to the operational ton information stored and the operational ton threshold value pre-set, determine the timestamp of next solenoid control instruction to be sent;