CN104006707A - Single-side fast opening and closing control system of large double-top-cover mechanism of launching platform - Google Patents
Single-side fast opening and closing control system of large double-top-cover mechanism of launching platform Download PDFInfo
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- CN104006707A CN104006707A CN201410207076.1A CN201410207076A CN104006707A CN 104006707 A CN104006707 A CN 104006707A CN 201410207076 A CN201410207076 A CN 201410207076A CN 104006707 A CN104006707 A CN 104006707A
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Abstract
A single-side fast opening and closing control system of a large double-top-cover mechanism of a launching platform comprises a front top cover, a rear top cover, a front top cover hydraulic oil cylinder for driving the front top cover to move, and a rear top cover hydraulic oil cylinder for driving the rear top cover to move. Hydraulic pipelines connected with the front top cover hydraulic oil cylinder and the rear top cover hydraulic oil cylinder are respectively provided with a proportional flow valve, a proportional overflow valve and an electromagnetic directional valve. A valve micro-processing controller is connected with the proportional flow valves, the proportional overflow valves and the electromagnetic directional valves. A main controller is connected with the valve micro-processing controller and photoelectric encoders through a CAN bus. The photoelectric encoders are arranged on a front top cover mechanism and a rear top cover mechanism respectively. Double-loop individual control is performed on the front top cover and the rear top cover, and the flow of a front top cover loop and the flow of a rear top cover loop are controlled through the proportional flow valves respectively; the movement speed of the front top cover and the movement speed of the rear top cover are kept consistent, the front top cover mechanism and the rear top cover mechanism do not interfere with each other, damage to the front top cover mechanism and the rear top cover mechanism is prevented, the top covers are fast opened and closed in a double top cover linkage mode when the launching platform carries out movements of the top cover mechanism, and the launching preparation time is shortened.
Description
Technical field
The present invention relates to a kind of kinetic control system, specifically, relate to the monolateral high-speed switch control system of the large-scale Double Tops lid mechanism of a kind of flat pad.
Background technology
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.
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 responsiveness 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.
Summary of the invention
For above-mentioned deficiency of the prior art, the invention provides the monolateral high-speed switch control 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 high-speed switch control system of a kind of large-scale Double Tops lid mechanism of flat pad, comprise pretectum and back header and drive pretectum hydraulic jack and the back header hydraulic jack of pretectum, back header motion, pretectum hydraulic jack is connected with hydraulic power unit by conduit under fluid pressure respectively with back header hydraulic jack, is provided with proportional flow control valve, proportional pressure control valve and solenoid directional control valve respectively on the conduit under fluid pressure being connected with back header hydraulic jack with pretectum hydraulic jack; Valve member microprocessor controller is connected with proportional flow control valve, proportional pressure control valve and solenoid directional control valve, and master controller is connected with photoelectric encoder with valve member microprocessor controller by CAN bus; In the top cover rotating shaft of front and back, be respectively arranged with photoelectric encoder.
Described photoelectric encoder is measured respectively front and back canopy switch angle, and measuring-signal is sent to master controller by CAN bus; The switch angle of top cover before and after master controller obtains after by angle filtering; The switching angle speed of top cover before and after obtaining by Difference Calculation; Master controller calculates closed loop output quantity according to Closed-loop Control Strategy, and master controller is sent to valve member controller by CAN bus communication by control signal; Valve member controller adopts the output of PWM ripple control ratio flow valve.
Described proportional flow control valve comprises: pretectum proportional flow control valve and back header proportional flow control valve, and pretectum proportional flow control valve and back header proportional flow control valve are controlled respectively pretectum hydraulic jack loop and back header hydraulic jack loop flow; Proportional overflow valve control system pressure; The switch of the break-make control top cover of solenoid directional control valve.
The beneficial effect of the relative prior art of the present invention:
The monolateral high-speed switch control system 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, controls respectively pretectum loop and back header loop flow by adoption rate flow valve; Front and back top cover responsiveness is consistent, and front and back capping mechanism is not interfered mutually, the damage of capping mechanism before and after preventing, and the mode that flat pad adopts Double Tops lid to link while carrying out capping mechanism action realizes the high-speed switch of top cover, shortens launch preparation time; Front and back canopy switch all arranges corresponding deceleration angle, and top cover is in the time arriving deceleration angle, and control system reduces the speed of the output reduction top cover of proportioning valve, realizes the steady switch of top cover; Top cover linked switch composite move control before and after having realized, guarantees that in switching process, front and back top cover relative position is constant.Before and after top cover be opened into 112 ° or close to 0 °, whole control flow time≤22 second from 112 ° from 0 °.
Brief description of the drawings
Fig. 1 is control system block diagram of the present invention;
Fig. 2 is top cover linked 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 hydraulic circuit control schematic diagram of the present invention.
Detailed description of the invention
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.
Accompanying drawing 1-5 is known, the monolateral high-speed switch control system of a kind of large-scale Double Tops lid mechanism of flat pad, comprise pretectum and back header and drive pretectum hydraulic jack and the back header hydraulic jack of pretectum, back header motion, pretectum hydraulic jack is connected with hydraulic power unit by conduit under fluid pressure respectively with back header hydraulic jack, is provided with proportional flow control valve, proportional pressure control valve and solenoid directional control valve respectively on the conduit under fluid pressure being connected with back header hydraulic jack with pretectum hydraulic jack; Valve member microprocessor controller is connected with proportional flow control valve, proportional pressure control valve and solenoid directional control valve, and master controller is connected with photoelectric encoder with valve member microprocessor controller by CAN bus; In the top cover rotating shaft of front and back, be respectively arranged with photoelectric encoder.
Preferably, described photoelectric encoder is measured respectively front and back canopy switch angle, and measuring-signal is sent to master controller by CAN bus; The switch angle of top cover before and after master controller obtains after by angle filtering; The switching angle speed of top cover before and after obtaining by Difference Calculation; Master controller calculates closed loop output quantity according to Closed-loop Control Strategy, and master controller is sent to valve member controller by CAN bus communication by control signal; Valve member controller adopts the output of PWM ripple control ratio flow valve.
Preferably, described proportional flow control valve comprises: pretectum proportional flow control valve and back header proportional flow control valve, and pretectum proportional flow control valve and back header proportional flow control valve are controlled respectively pretectum hydraulic jack loop and back header hydraulic jack loop flow; Proportional overflow valve control system pressure; The switch of the break-make control top cover of solenoid directional control valve.
As shown in Fig. 1 system control block diagram, top cover linked switch control system is made up of in 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) of the XC2287M-104F of Infineon microprocessor two stylobates.Control system adopts Dual-encoder to measure respectively front and back canopy switch angle, is sent to master controller by CAN bus; 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, be sent to valve member controller by CAN bus communication; Valve member controller is by be correlated with valve member control top cover action of control.
Front and back top cover action adopts hydraulic jack to drive, control system adopts PWM ripple control mode to regulate proportioning valve output, control respectively pretectum loop and back header loop flow by 2 road proportional flow control valves, 1 road proportional overflow valve control system pressure, the switch of the break-make control top cover by solenoid directional control valve.
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 speed;
ω
q: pretectum angular speed;
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, Fig. 5, 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 high-speed switch control system 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, pretectum proportional flow control valve is exported according to Closed-loop Control Strategy when the back header opening angle >=10 °.Back header is being opened to after 98 °, and back header proportional flow control valve reduces flow, is being opened to after 112 °, and back header action reversal valve cuts out.After back header action reversal valve cuts out, pretectum proportional flow control valve is exported according to constant flow rate.Pretectum is being opened to after 95 °, and pretectum proportional flow control valve reduces flow, and after pretectum arrives 105 °, pretectum action reversal 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 reversal 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 not reaching, the back header angle detecting is 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 reversal 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 speed.
At step s311, calculate back header angle and back header angular speed.
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 not reaching, the back header angle detecting is 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 not reaching, the back header angle detecting is more than or equal to 112 degree, return to step s310, recalculate pretectum angle and pretectum angular speed.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 reversal valve and is closed.
At step s321, pretectum proportional flow control valve output flow 38%.
At step s322, if not reaching, the pretectum angle detecting is 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 not reaching, the pretectum angle detecting is 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 reversal 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, back header proportional flow control valve is exported according to Closed-loop Control Strategy when the pretectum angle≤100 °.Behind pretectum angle≤18 °, pretectum proportional flow control valve reduces flow, is being closed to after 0.5 °, and time delay 500ms pretectum action reversal valve cuts out.After pretectum action reversal 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 reversal 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 reversal 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 not being less than, the pretectum angle detecting equals 100 degree, continue to detect; Pretectum angle is not less than and equals 100 degree execution step s406.
At step s406, back header closes reversal 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 speed.
At step s411, calculate back header angle and back header angular speed.
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 not being less than, the pretectum angle detecting equals 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 not being less than, the back header angle detecting equals 0.5 degree, return and calculate pretectum angle and pretectum angular speed; 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 reversal valve closes.
At step s422, back header proportional flow control valve output flow 39%.
At step s423, if not being less than, the back header angle detecting equals 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 not being less than, the pretectum angle detecting equals 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 reversal valve closes.
Flow process ends at step s429.
The monolateral high-speed switch control system 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, controls respectively pretectum loop and back header loop flow by adoption rate flow valve; Front and back top cover responsiveness is consistent, and front and back capping mechanism is not interfered mutually, the damage of capping mechanism before and after preventing, and the mode that flat pad adopts Double Tops lid to link while carrying out capping mechanism action realizes the high-speed switch of top cover, shortens launch preparation time; Front and back canopy switch all arranges corresponding deceleration angle, and top cover is in the time arriving deceleration angle, and control system reduces the speed of the output reduction top cover of proportioning valve, realizes the steady switch of top cover; Top cover linked switch composite move control before and after having realized, guarantees that in switching process, front and back top cover relative position is constant.Before and after top cover be opened into 112 ° or close to 0 °, whole control flow time≤22 second from 112 ° from 0 °.
The monolateral high-speed switch control system of the large-scale Double Tops lid mechanism of flat pad of the present invention, be Large Scale Mechanical Structure for Double Tops lid, 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 in the time arriving deceleration angle, control system reduces the speed of the output reduction top cover of proportioning valve, realizes the steady switch of top cover.
Claims (3)
1. the monolateral high-speed switch control system of the large-scale Double Tops lid mechanism of flat pad, comprise pretectum and back header and drive pretectum hydraulic jack and the back header hydraulic jack of pretectum, back header motion, pretectum hydraulic jack is connected with hydraulic power unit by conduit under fluid pressure respectively with back header hydraulic jack, it is characterized in that: on the conduit under fluid pressure being connected with back header hydraulic jack with pretectum hydraulic jack, be provided with proportional flow control valve, proportional pressure control valve and solenoid directional control valve respectively; Valve member microprocessor controller is connected with proportional flow control valve, proportional pressure control valve and solenoid directional control valve, and master controller is connected with photoelectric encoder with valve member microprocessor controller by CAN bus; In the top cover rotating shaft of front and back, be respectively arranged with photoelectric encoder.
2. the monolateral high-speed switch control system of the large-scale Double Tops lid mechanism of flat pad according to claim 1, is characterized in that: described photoelectric encoder measure respectively before and after canopy switch angle, measuring-signal is sent to master controller by CAN bus; The switch angle of top cover before and after master controller obtains after by angle filtering; The switching angle speed of top cover before and after obtaining by Difference Calculation; Master controller calculates closed loop output quantity according to Closed-loop Control Strategy, and master controller is sent to valve member controller by CAN bus communication by control signal; Valve member controller adopts the output of PWM ripple control ratio flow valve.
3. the monolateral high-speed switch control system of the large-scale Double Tops lid mechanism of flat pad according to claim 1, it is characterized in that: described proportional flow control valve comprises: pretectum proportional flow control valve and back header proportional flow control valve, pretectum proportional flow control valve and back header proportional flow control valve are controlled respectively pretectum hydraulic jack loop and back header hydraulic jack loop flow; Proportional overflow valve control system pressure; The switch of the break-make control top cover of solenoid directional control valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410207076.1A CN104006707B (en) | 2014-05-16 | 2014-05-16 | Flat pad large-scale Double Tops lid mechanism monolateral high-speed switch control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410207076.1A CN104006707B (en) | 2014-05-16 | 2014-05-16 | Flat pad large-scale Double Tops lid mechanism monolateral high-speed switch control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104006707A true CN104006707A (en) | 2014-08-27 |
| CN104006707B CN104006707B (en) | 2016-08-17 |
Family
ID=51367487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410207076.1A Active CN104006707B (en) | 2014-05-16 | 2014-05-16 | Flat pad large-scale Double Tops lid mechanism monolateral high-speed switch control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN104006707B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341783A (en) * | 2021-04-25 | 2021-09-03 | 北京航天发射技术研究所 | Closed-loop control system and control strategy for vehicle hatch cover |
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| 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 |
| FR2930817B1 (en) * | 2008-04-30 | 2011-07-01 | Dcns | SYSTEM FOR CLOSING A GAS EXHAUST DUCT FROM A MISSILES LAUNCHER |
| 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 |
|---|---|---|---|---|
| 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 |
| US5417139A (en) * | 1993-10-01 | 1995-05-23 | Unisys Corporation | Delivery system and method for flexible array |
| 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 |
| FR2930817B1 (en) * | 2008-04-30 | 2011-07-01 | Dcns | SYSTEM FOR CLOSING A GAS EXHAUST DUCT FROM A MISSILES LAUNCHER |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341783A (en) * | 2021-04-25 | 2021-09-03 | 北京航天发射技术研究所 | Closed-loop control system and control strategy for vehicle hatch cover |
| CN113341783B (en) * | 2021-04-25 | 2022-12-02 | 北京航天发射技术研究所 | Closed-loop control strategy for vehicle hatch cover |
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| Publication number | Publication date |
|---|---|
| CN104006707B (en) | 2016-08-17 |
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