CN104006038A - Single-side fast opening and closing control method of large double-top-cover mechanism of launching platform - Google Patents
Single-side fast opening and closing control method of large double-top-cover mechanism of launching platform Download PDFInfo
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Abstract
A single-side fast opening and closing control method of a large double-top-cover mechanism of a launching platform includes the top cover opening step and the top cover closing step. The single-side fast opening and closing control method is characterized in that the top cover opening step and the top cover closing step are the top cover linkage opening step and the top cover linkage closing step in which PI closed-loop control is adopted. According to the single-side fast opening and closing control method of the large double-top-cover mechanism of the launching platform, based on the characteristics that double top covers are large mechanical structures and large in mass and inertia, corresponding speed reduction angles are set for a front top cover switch and a rear top cover switch in order to avoid that the top covers shake severely when being opened or closed to the stop angles, when the top covers reach the speed reduction angles, the output of a proportional valve is reduced by a control system so that the top covers can be slowed down, and thus the top covers can be opened and closed smoothly and stably.
Description
Technical field
The present invention relates to a kind of motion control method, specifically, relate to the monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of a kind of flat pad.
Background technique
Along with the development of information technology, more and more higher to the launch preparation time requirement of flat pad, launch preparation time is short, adaptive capacity to environment is strong, intelligent degree height has become the flat pad important development direction in future.
Flat pad is according to its particularity, if top cover adopts single cap structure design will cause structural rigidity to decline, top cover easily damages in rapid movement process, and single top cover quality is excessive, and control difficulty is large, control accuracy is difficult to guarantee; If adopt the mode of bilateral switch to control, although reduced top cover quality, improved structural rigidity, be difficult to meet the requirement of flat pad thermal insulation property.And adopt the mode that Double Tops cover monolateral switch to overcome the above problems.
The Double Tops lid of flat pad is Large Scale Mechanical Structure, and quality is large, and inertia is large, occurs comparatively violent rocking, the normal work of impact to flat pad at canopy switch during to cut-off angles.
Existing flat pad is carried out capping mechanism action and is adopted open loop approach to realize the switch of top cover, front and back top cover movement speed is inconsistent, and before and after causing, capping mechanism is interfered mutually, the damage of capping mechanism before and after causing, the switching speed of top cover is slow, has extended launch preparation time.
The feature of closed loop control system (closed-loop control system) is that the output that affects controller can be instead sent back in the output (controlled variable) of system controlled device, forms one or more closed loops.Closed loop control system has positive feedback and reverse feedback, if feedback signal is contrary with system setting value signal, is called reverse feedback (Negative Feedback), if polarity is identical, be called positive feedback, general closed loop control system all adopts negative anti-PID regulator feedback, claims again negative feed back control system.
(1) ratio (P) is controlled, and proportional control is the simplest a kind of control mode.The proportional relation of the output of its controller and input error signal.There is steady-state error (Steady-state error) in system output when proportional control only.
(2) integration (I) is controlled, in integral control, the output of controller and input error signal be integrated into proportional relation.To an automatic control system, if there is steady-state error after entering stable state, claim this control system be have a steady-state error or be called for short and have poor system (System with Steady-state Error).In order to eliminate steady-state error, in controller, must introduce " integration item ".Integration item depends on the integration of time to error, along with the increase of time, integration item can increase.Like this, even if error is very little, integration item also can strengthen along with the increase of time, and the output increase that it promotes controller further reduces steady-state error, until equal zero.Therefore, proportional+integral (PI) controller, can make system after entering stable state without steady-state error.
Summary of the invention
For above-mentioned deficiency of the prior art, the invention provides the monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of a kind of flat pad.
The technical solution used in the present invention is:
The monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of a kind of flat pad, comprise that top cover opening steps and top cover close step, described top cover opening steps and top cover are closed step and are adopted the top cover interlock opening steps of PI closed loop control and top cover interlock to close step.
Top cover interlock opening steps is:
Pump proportional pressure control valve in unlatching; Middle pump proportional pressure control valve is output as 24%;
In unlatching, pump, back header leave selector valve unlatching;
Back header proportional flow control valve increases flow 1% at interval of 200ms, until flow reaches 38%;
If the back header angle detecting reaches, be not more than or equal to 10 degree, continue to detect;
Back header angle is more than or equal to 10 degree;
Pretectum is driven selector valve and is opened;
Pretectum proportional flow control valve increases flow 1% at interval of 270ms, until flow reaches 38%;
Closed loop is calculated correlated variables zero clearing;
Preserve current time, start 500ms timer;
Calculate pretectum angle and pretectum angular velocity;
Calculate back header angle and back header angular velocity;
Top cover differential seat angle before and after calculating, top cover angular velocity difference before and after calculating;
Calculate the difference of the poor and actual angle of angle on target between poor;
Calculate the difference of the poor and actual angle of angle on target between poor and the difference of front and back top cover angular velocity difference, calculating ratio, integration item obtain closed loop control amount;
Pretectum proportional flow control valve is exported according to closed loop control amount;
If the back header angle detecting is more than or equal to 98 degree; Back header proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 22%;
If the back header angle detecting reaches, be not more than or equal to 112 degree, return and calculate pretectum angle and pretectum angular velocity;
If the back header angle detecting is more than or equal to 112 degree; Back header proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%;
Back header is driven selector valve and is closed;
Pretectum proportional flow control valve output flow 38%;
If the pretectum angle detecting reaches, be not more than or equal to 95 degree, continue to detect;
If the pretectum angle detecting is more than or equal to 95 degree; Pretectum proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 22%;
If the pretectum angle detecting reaches, be not more than or equal to 105 degree, continue to detect;
If the pretectum angle detecting is more than or equal to 105 degree; Pretectum proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%;
Pretectum is driven selector valve and is closed.
Top cover interlock is closed step and is:
Pump proportional pressure control valve in unlatching; Middle pump proportional pressure control valve is output as 24%;
In unlatching, pump, pretectum close selector valve unlatching;
Pretectum proportional flow control valve increases flow 1% at interval of 200ms, until flow reaches 37%;
If the pretectum angle detecting is less than, do not equal 100 degree, continue to detect;
Pretectum angle is more than or equal to 100 degree; Back header closes selector valve to be opened;
Back header proportional flow control valve increases flow 1% at interval of 210ms, until flow reaches 39%;
Closed loop is calculated correlated variables zero clearing;
Preserve current time, start 500ms timer;
Calculate pretectum angle and pretectum angular velocity;
Calculate back header angle and back header angular velocity;
Top cover differential seat angle before and after calculating, top cover angular velocity difference before and after calculating;
Calculate the difference of the poor and actual angle of angle on target between poor;
Calculate the difference of the poor and actual angle of angle on target between poor and the difference of front and back top cover angular velocity difference, calculating ratio, integration item obtain closed loop control amount;
Back header proportional flow control valve is exported according to closed loop control amount;
If the pretectum angle detecting is less than or equal to 18 degree; Pretectum proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 18%;
If the back header angle detecting is less than, do not equal 0.5 degree, return and calculate pretectum angle and pretectum angular velocity;
If the back header angle detecting is less than or equal to 0.5 degree; Time delay 500ms, pretectum proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%;
Pretectum closes selector valve closes;
Back header proportional flow control valve output flow 39%;
If the back header angle detecting is less than, do not equal 18 degree, continue to detect;
If the back header angle detecting is less than or equal to 18 degree; Back header proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 23%;
If the pretectum angle detecting is less than, do not equal 0 degree, continue to detect;
If the pretectum angle detecting is less than or equal to 0 degree; Time delay 500ms, back header proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%;
Back header closes selector valve closes.
The beneficial effect of the relative prior art of the present invention:
The monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of flat pad of the present invention,
Top cover double loop, front and back is controlled separately, by adoption rate Flow valve, controls respectively pretectum loop and back header loop flow; Front and back top cover movement speed is consistent, and capping mechanism phase in front and back is not interfered, the damage of capping mechanism before and after preventing, and flat pad adopts Double Tops to cover the snap switch that the mode linking realizes top cover while carrying out capping mechanism action, shortens launch preparation time; Front and back canopy switch all arranges corresponding deceleration angle, and top cover is when arriving deceleration angle, and control system reduces the speed of the output reduction top cover of Proportional valve, realizes the steady switch of top cover; Before and after having realized, top cover gang switch composite move is controlled, guarantee in switching process before and after top cover relative position constant, front and back top cover is opened into 112 ° or close to 0 °, whole control flow time≤22 second from 112 ° from 0 °.
Accompanying drawing explanation
Fig. 1 is control system block diagram of the present invention;
Fig. 2 is top cover gang switch control block diagram of the present invention;
Fig. 3 is that schematic flow sheet is opened in top cover interlock of the present invention;
Fig. 4 is top cover interlock closing flow path schematic diagram of the present invention;
Fig. 5 is that hydraulic circuit of the present invention is controlled schematic diagram.
Embodiment
Referring to drawings and Examples, the present invention will be described in detail:
In accompanying drawing, pretectum is called for short to protecgulum; Back header is called for short bonnet.
As shown in Fig. 1 system control block diagram, by two stylobates, embedded controller, two photoelectric encoders (model 8.5858.3222.2112), 2 proportional flow control valves (model 2FRE16-4X100LBK4M), 1 proportional pressure control valve (model DBEM20-5X/315YG24K4M), 4 solenoid directional control valves (model 4WE10R31B/CG24N9K4) in the XC2287M-104F of Infineon microprocessor form top cover gang switch control system.Control system adopts Dual-encoder to measure respectively front and back canopy switch angle, by CAN bus, is sent to master controller; The switch angle of top cover before and after master controller obtains after by angle filtering, then the switching angle speed of top cover before and after obtaining by Difference Calculation, and calculate closed loop output quantity according to Closed-loop Control Strategy, by CAN bus communication, be sent to valve member controller; Valve member controller moves by controlling relevant valve member control top cover.
Front and back top cover action adopts hydraulic jack to drive, control system adopts PWM ripple control mode to regulate Proportional valve output, by 2 road proportional flow control valves, control respectively pretectum loop and back header loop flow, 1 road proportional overflow valve control system pressure, the break-make by solenoid directional control valve is controlled the switch of top cover.
Closed loop control amount u in top cover interlock PI Closed-loop Control Strategy
t(t) be:
Wherein:
u
p(t)＝(Δθ
d(t)-K*Δω(t))×k
p
Δθ
d(t)＝Δθ
dt(t)-Δθ
dm(t)
Δθ
dt(t)＝θ
h(t)-θ
q(t)
Top cover interlock is closed:
Δω(t)＝ω
h(t)-ω
q(t)
Top cover interlock is opened:
Δω(t)＝ω
q(t)-ω
h(t)
After discretization:
u
t(n)＝u
t(n-1)+K
0×[u
p(n)+u
i(n)]×T，u
t(0)＝u
0
u
p(n)＝(Δθ
d(n)-K*Δω(n))×k
p，u
p(0)＝0
u
i(n)＝u
i(n-1)+(Δθ
d(t)-K*Δω(t))×k
i×T，u
i(0)＝0
Δθ
d(n)＝Δθ
dt(n)-Δθ
dm(n)，Δθ
d(0)＝0
Δθ
dt(n)＝θ
h(n)-θ
q(n)
Top cover interlock is closed:
Δω(n)＝ω
h(n)-ω
q(n)，Δω(0)＝0
Top cover interlock is opened:
Δω(n)＝ω
q(n)-ω
h(n)，Δω(0)＝0
In above formula:
U
p: proportional;
U
i: integration item;
ω
h: back header angular velocity;
ω
q: pretectum angular velocity;
Δ ω: front and back top cover angular velocity difference;
θ
h: back header angle;
θ
q: pretectum angle;
Δ θ
dt: front and rear angles is poor;
Δ θ
dm: the poor desired value of front and rear angles;
Δ θ
d: the difference between the poor and desired value of front and rear angles;
K
0, K, k
p, k
i: constant.
In Fig. 3 and Fig. 4, BLA3 representative: middle pump proportional pressure control valve; BLA2 representative: pretectum proportional flow control valve; BYA3 representative: back header proportional flow control valve.
The monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of flat pad of the present invention, comprise that top cover opening steps and top cover close step, described top cover opening steps and top cover are closed step and are adopted the top cover interlock opening steps of PI closed loop control and top cover interlock to close step.
The monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of flat pad of the present invention, top cover linkage action process is as follows:
As Fig. 3 top cover, interlock is opened as shown in schematic flow sheet, and it is as follows that flat pad is carried out top cover interlock opening action:
Flat pad back header is first opened, and pretectum is followed back header action.Back header is opened according to constant flow rate, and during back header opening angle >=10 °, pretectum proportional flow control valve is exported according to Closed-loop Control Strategy.Back header is after being opened to 98 °, and back header proportional flow control valve reduces flow, and after being opened to 112 °, back header action selector valve cuts out.After back header action selector valve cuts out, pretectum proportional flow control valve is exported according to constant flow rate.Pretectum is after being opened to 95 °, and pretectum proportional flow control valve reduces flow, and after pretectum arrives 105 °, pretectum action selector valve cuts out, and flow process finishes.
As Fig. 3 top cover, schematic flow sheet is opened in interlock.
This flow process starts from step s301.
Then step s302, pump proportional pressure control valve in unlatching; Middle pump proportional pressure control valve is output as 24%.
At step s303, in unlatching, pump, back header leave selector valve unlatching.
At step s304, back header proportional flow control valve increases flow 1% at interval of 200ms, until flow reaches 38%.
At step s305, if reaching, the back header angle detecting is not more than or equal to 10 degree, continue to detect; Back header angle is more than or equal to 10 degree execution step s306.
At step s306, pretectum is driven selector valve and is opened.
At step s307, pretectum proportional flow control valve increases flow 1% at interval of 270ms, until flow reaches 38%.
At step s308, closed loop is calculated correlated variables zero clearing.
At step s309, preserve current time, start 500ms timer.
At step s310, calculate pretectum angle and pretectum angular velocity.
At step s311, calculate back header angle and back header angular velocity.
At step s312, top cover differential seat angle before and after calculating, top cover angular velocity difference before and after calculating.
At step s313, calculate the difference of the poor and actual angle of angle on target between poor.
At step s314, calculate the difference of the poor and actual angle of angle on target between poor and the difference of front and back top cover angular velocity difference, calculating ratio, integration item obtain closed loop control amount.
At step s315, pretectum proportional flow control valve is exported according to closed loop control amount.
At step s316, if the back header angle detecting is more than or equal to 98 degree, execution step s317.If reaching, the back header angle detecting is not more than or equal to 98 degree, execution step s318.
At step s317, back header proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 22%.
At step s318, if reaching, the back header angle detecting is not more than or equal to 112 degree, return to step s310, recalculate pretectum angle and pretectum angular velocity.If the back header angle detecting is more than or equal to 112 degree, execution step s319.
At step s319, back header proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%.
At step s320, back header is driven selector valve and is closed.
At step s321, pretectum proportional flow control valve output flow 38%.
At step s322, if reaching, the pretectum angle detecting is not more than or equal to 95 degree, continue to detect.If the pretectum angle detecting is more than or equal to 95 degree, execution step s323.
At step s323, pretectum proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 22%.
At step s324, if reaching, the pretectum angle detecting is not more than or equal to 105 degree, continue to detect.If the pretectum angle detecting is more than or equal to 105 degree, execution step s325.
At step s325, pretectum proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%.
At step s326, pretectum is driven selector valve and is closed.
Flow process ends at step s327.
As shown in Fig. 4 top cover interlock closing flow path schematic diagram, it is as follows that flat pad is carried out top cover interlock closing motion:
Flat pad pretectum is first closed, and back header is followed pretectum action.Pretectum is closed according to constant flow rate, and during pretectum angle≤100 °, back header proportional flow control valve is exported according to Closed-loop Control Strategy.Behind pretectum angle≤18 °, pretectum proportional flow control valve reduces flow, and after being closed to 0.5 °, time delay 500ms pretectum action selector valve cuts out.After pretectum action selector valve cuts out, back header proportional flow control valve is exported according to constant flow rate.Behind back header angle≤18 °, back header proportional flow control valve reduces flow, and after back header arrives 0.5 °, time delay 500ms back header action selector valve cuts out, and flow process finishes.
As Fig. 4 top cover interlock closing flow path schematic diagram.
This flow process starts from step s401.
Then step s402, pump proportional pressure control valve in unlatching; Middle pump proportional pressure control valve is output as 24%.
At step s403, in unlatching, pump, pretectum close selector valve unlatching.
At step s404, pretectum proportional flow control valve increases flow 1% at interval of 200ms, until flow reaches 37%.
At step s405, if being less than, the pretectum angle detecting do not equal 100 degree, continue to detect; Pretectum angle is not less than and equals 100 degree execution step s406.
At step s406, back header closes selector valve to be opened.
At step s407, back header proportional flow control valve increases flow 1% at interval of 210ms, until flow reaches 39%.
At step s408, closed loop is calculated correlated variables zero clearing.
At step s409, preserve current time, start 500ms timer.
At step s410, calculate pretectum angle and pretectum angular velocity.
At step s411, calculate back header angle and back header angular velocity.
At step s412, top cover differential seat angle before and after calculating, top cover angular velocity difference before and after calculating.
At step s413, calculate the difference of the poor and actual angle of angle on target between poor.
At step s414, calculate the difference of the poor and actual angle of angle on target between poor and the difference of front and back top cover angular velocity difference, calculating ratio, integration item obtain closed loop control amount.
At step s415, back header proportional flow control valve is exported according to closed loop control amount.
At step s416, if the pretectum angle detecting is less than or equal to 18 degree, execution step s417; If being less than, the pretectum angle detecting do not equal 18 degree, execution step s418.
At step s417, pretectum proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 18%.
At step s418, if being less than, the back header angle detecting do not equal 0.5 degree, return and calculate pretectum angle and pretectum angular velocity; If the back header angle detecting is less than or equal to 0.5 degree, execution step s419.
At step s419, time delay 500ms.
At step s420, pretectum proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%.
At step s421, pretectum closes selector valve closes.
At step s422, back header proportional flow control valve output flow 39%.
At step s423, if being less than, the back header angle detecting do not equal 18 degree, continue to detect; If the back header angle detecting is less than or equal to 18 degree, execution step s424.
At step s424, back header proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 23%.
At step s425, if being less than, the pretectum angle detecting do not equal 0 degree, continue to detect; If the pretectum angle detecting is less than or equal to 0 degree, execution step s426.
At step s426, time delay 500ms.
At step s427, back header proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%.
At step s428, back header closes selector valve closes.
Flow process ends at step s429.
The monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of flat pad of the present invention,
Top cover double loop, front and back is controlled separately, by adoption rate Flow valve, controls respectively pretectum loop and back header loop flow; Front and back top cover movement speed is consistent, and capping mechanism phase in front and back is not interfered, the damage of capping mechanism before and after preventing, and flat pad adopts Double Tops to cover the snap switch that the mode linking realizes top cover while carrying out capping mechanism action, shortens launch preparation time; Front and back canopy switch all arranges corresponding deceleration angle, and top cover is when arriving deceleration angle, and control system reduces the speed of the output reduction top cover of Proportional valve, realizes the steady switch of top cover; Before and after having realized, top cover gang switch composite move is controlled, and guarantees that in switching process, front and back top cover relative position is constant.Before and after top cover from 0 °, be opened into 112 ° or close to 0 °, whole control flow time≤22 second from 112 °.
The monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of flat pad of the present invention, for Double Tops lid, it is Large Scale Mechanical Structure, quality is large, the feature that inertia is large, for avoiding occurring comparatively violent rocking during to cut-off angles at canopy switch, front and back canopy switch is all arranged to corresponding deceleration angle, top cover is when arriving deceleration angle, control system reduces the speed of the output reduction top cover of Proportional valve, realizes the steady switch of top cover.
Claims (3)
1. the monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of flat pad, comprise that top cover opening steps and top cover close step, it is characterized in that: described top cover opening steps and top cover are closed step and adopted the top cover interlock opening steps of PI closed loop control and top cover interlock to close step.
2. the monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of flat pad according to claim 1, is characterized in that, described top cover interlock opening steps is:
Pump proportional pressure control valve in unlatching; Middle pump proportional pressure control valve is output as 24%;
In unlatching, pump, back header leave selector valve unlatching;
Back header proportional flow control valve increases flow 1% at interval of 200ms, until flow reaches 38%;
If the back header angle detecting reaches, be not more than or equal to 10 degree, continue to detect;
Back header angle is more than or equal to 10 degree;
Pretectum is driven selector valve and is opened;
Pretectum proportional flow control valve increases flow 1% at interval of 270ms, until flow reaches 38%;
Closed loop is calculated correlated variables zero clearing;
Preserve current time, start 500ms timer;
Calculate pretectum angle and pretectum angular velocity;
Calculate back header angle and back header angular velocity;
Top cover differential seat angle before and after calculating, top cover angular velocity difference before and after calculating;
Calculate the difference of the poor and actual angle of angle on target between poor;
Calculate the difference of the poor and actual angle of angle on target between poor and the difference of front and back top cover angular velocity difference, calculating ratio, integration item obtain closed loop control amount;
Pretectum proportional flow control valve is exported according to closed loop control amount;
If the back header angle detecting is more than or equal to 98 degree; Back header proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 22%;
If the back header angle detecting reaches, be not more than or equal to 112 degree, return and calculate pretectum angle and pretectum angular velocity;
If the back header angle detecting is more than or equal to 112 degree; Back header proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%;
Back header is driven selector valve and is closed;
Pretectum proportional flow control valve output flow 38%;
If the pretectum angle detecting reaches, be not more than or equal to 95 degree, continue to detect;
If the pretectum angle detecting is more than or equal to 95 degree; Pretectum proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 22%;
If the pretectum angle detecting reaches, be not more than or equal to 105 degree, continue to detect;
If the pretectum angle detecting is more than or equal to 105 degree; Pretectum proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%;
Pretectum is driven selector valve and is closed.
3. the monolateral snap switch controlling method of the large-scale Double Tops lid mechanism of flat pad according to claim 1, is characterized in that, described top cover interlock is closed step and is:
Pump proportional pressure control valve in unlatching; Middle pump proportional pressure control valve is output as 24%;
In unlatching, pump, pretectum close selector valve unlatching;
Pretectum proportional flow control valve increases flow 1% at interval of 200ms, until flow reaches 37%;
If the pretectum angle detecting is less than, do not equal 100 degree, continue to detect;
Pretectum angle is more than or equal to 100 degree; Back header closes selector valve to be opened;
Back header proportional flow control valve increases flow 1% at interval of 210ms, until flow reaches 39%;
Closed loop is calculated correlated variables zero clearing;
Preserve current time, start 500ms timer;
Calculate pretectum angle and pretectum angular velocity;
Calculate back header angle and back header angular velocity;
Top cover differential seat angle before and after calculating, top cover angular velocity difference before and after calculating;
Calculate the difference of the poor and actual angle of angle on target between poor;
Calculate the difference of the poor and actual angle of angle on target between poor and the difference of front and back top cover angular velocity difference, calculating ratio, integration item obtain closed loop control amount;
Back header proportional flow control valve is exported according to closed loop control amount;
If the pretectum angle detecting is less than or equal to 18 degree; Pretectum proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 18%;
If the back header angle detecting is less than, do not equal 0.5 degree, return and calculate pretectum angle and pretectum angular velocity;
If the back header angle detecting is less than or equal to 0.5 degree; Time delay 500ms, pretectum proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%;
Pretectum closes selector valve closes;
Back header proportional flow control valve output flow 39%;
If the back header angle detecting is less than, do not equal 18 degree, continue to detect;
If the back header angle detecting is less than or equal to 18 degree; Back header proportional flow control valve reduces flow 1% at interval of 100ms, until flow reaches 23%;
If the pretectum angle detecting is less than, do not equal 0 degree, continue to detect;
If the pretectum angle detecting is less than or equal to 0 degree; Time delay 500ms, back header proportional flow control valve reduces flow 1% at interval of 30ms, until flow reaches 10%;
Back header closes selector valve closes.
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| CN201410207067.2A CN104006038B (en) | 2014-05-16 | 2014-05-16 | Single-side fast opening and closing control method of large double-top-cover mechanism of launching platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106502227A (en) * | 2016-11-16 | 2017-03-15 | 北京航天发射技术研究所 | A kind of leveling of distributed AC servo system high accuracy plays perpendicular control system and method |
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| US3818637A (en) * | 1971-12-07 | 1974-06-25 | Etat Fr Delegation Ministeriel | Apparatus for quickly opening, damping, holding open, and closing a hinged closure member |
| US5956901A (en) * | 1997-06-24 | 1999-09-28 | Northrop Grumman Corporation | Gas driven hatch cover assembly |
| US7854189B1 (en) * | 2007-10-16 | 2010-12-21 | The United States Of America As Represented By The Secretary Of The Navy | Modular missile launching assembly |
| CN103092120A (en) * | 2011-10-27 | 2013-05-08 | 北京航天发射技术研究所 | Highly-reliable control system and highly-reliable control method of oscillating bar |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106502227A (en) * | 2016-11-16 | 2017-03-15 | 北京航天发射技术研究所 | A kind of leveling of distributed AC servo system high accuracy plays perpendicular control system and method |
| CN106502227B (en) * | 2016-11-16 | 2019-04-05 | 北京航天发射技术研究所 | A kind of distributed AC servo system high-precision has leveled perpendicular control system and method |
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| Publication number | Publication date |
|---|---|
| CN104006038B (en) | 2017-01-25 |
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