CN104006707B - Flat pad large-scale Double Tops lid mechanism monolateral high-speed switch control system - Google Patents
Flat pad large-scale Double Tops lid mechanism monolateral high-speed switch control system Download PDFInfo
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- CN104006707B CN104006707B CN201410207076.1A CN201410207076A CN104006707B CN 104006707 B CN104006707 B CN 104006707B CN 201410207076 A CN201410207076 A CN 201410207076A CN 104006707 B CN104006707 B CN 104006707B
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Abstract
A kind of flat pad large-scale Double Tops lid mechanism monolateral high-speed switch control system, including before and after's top cover and drive the forward and backward top cover hydraulic jack that forward and backward top cover moves, being provided with proportional flow control valve, proportional pressure control valve and solenoid directional control valve valve member microprocessor controller on the conduit under fluid pressure being connected with forward and backward top cover hydraulic jack to be connected with proportional flow control valve, proportional pressure control valve and solenoid directional control valve, master controller is connected with valve member microprocessor controller and photoelectric encoder by CAN；Photoelectric encoder is arranged on before and after's capping mechanism.Before and after the present invention, top cover double loop individually controls, and controls pretectum loop and back header loop flow respectively by adoption rate flow valve；Front and back top cover speed of action keeps consistent, and front and back capping mechanism is not interfered mutually, prevents the damage of before and after's capping mechanism, uses the mode of Double Tops lid linkage to realize the high-speed switch of top cover, shorten launch preparation time when flat pad performs capping mechanism action.
Description
Technical field
The present invention relates to a kind of kinetic control system, specifically, relate to a kind of flat pad large-scale
Double Tops lid mechanism monolateral high-speed switch control system.
Background technology
Along with the development of information technology, the launch preparation time of flat pad is required increasingly
Height, launch preparation time is short, adaptive capacity to environment is strong, intelligence degree is high has become as flat pad
Following important development direction.
The Double Tops lid of flat pad is Large Scale Mechanical Structure, and quality is big, and inertia is big, at canopy switch extremely
The most violent rocking occurs during cut-off angles, affects the normal work to flat pad.
Existing flat pad performs capping mechanism action and uses open loop approach to realize opening of top cover
Closing, front and back top cover speed of action is inconsistent, causes before and after's capping mechanism to interfere, causes and front and back push up
The damage of lid mechanism, the switching speed of top cover is slow, extends launch preparation time.
Summary of the invention
For above-mentioned deficiency of the prior art, the present invention provides a kind of flat pad large-scale Double Tops lid
Mechanism's monolateral high-speed switch control method.
The technical solution used in the present invention is:
A kind of flat pad large-scale Double Tops lid mechanism monolateral high-speed switch control system, including pretectum and
Back header and driving pretectum, the pretectum hydraulic jack of back header motion and back header hydraulic oil
Cylinder, pretectum hydraulic jack is connected with hydraulic power unit by conduit under fluid pressure respectively with back header hydraulic jack
Connect, arrange on the conduit under fluid pressure being connected with pretectum hydraulic jack and back header hydraulic jack respectively
Proportional flow valve, proportional pressure control valve and solenoid directional control valve；Valve member microprocessor controller and proportional flow
Valve, proportional pressure control valve are connected with solenoid directional control valve, and master controller is by CAN and the micro-place of valve member
Reason controller is connected with photoelectric encoder；It is respectively arranged with photoelectric encoder in top cover rotating shaft front and back.
Before and after's canopy switch angle measured respectively by described photoelectric encoder, measures signal and passes through CAN
Send to master controller；Master controller obtains the switch angle of before and after's top cover by angle after being filtered；Logical
Cross Difference Calculation and obtain the switching angle speed of before and after's top cover；Master controller calculates according to Closed-loop Control Strategy
Closed loop output, master controller sends control signals to valve member controller by CAN communication；
Valve member controller uses PWM ripple to control proportional flow control valve output.
Described proportional flow control valve includes: pretectum proportional flow control valve and back header proportional flow control valve, sinciput
Lid proportional flow control valve and back header proportional flow control valve control pretectum hydraulic jack loop and back header respectively
Hydraulic jack loop flow；Proportional overflow valve control system pressure；The break-make of solenoid directional control valve controls top
The switch of lid.
The beneficial effect of hinge structure of the present invention:
Flat pad of the present invention large-scale Double Tops lid mechanism monolateral high-speed switch control system,
Front and back top cover double loop individually controls, and controls pretectum loop respectively by adoption rate flow valve
With back header loop flow；Front and back top cover speed of action keeps consistent, and front and back capping mechanism is not done mutually
Relating to, prevent the damage of before and after's capping mechanism, flat pad performs to use Double Tops lid during capping mechanism action
The mode of linkage realizes the high-speed switch of top cover, shortens launch preparation time；Front and back canopy switch all sets
Putting angle of slowing down accordingly, top cover is when arriving deceleration angle, and control system reduces the output of proportioning valve
Reduce the speed of top cover, it is achieved the steady switch of top cover；Achieve before and after's top cover gang switch composite moving
Work controls, it is ensured that before and after in switching process, top cover is constant relative to position.Front and back top cover is opened into from 0 °
112 ° or from 112 ° close to 0 °, whole control flow time≤22 second.
Accompanying drawing explanation
Fig. 1 is the control system block diagram of the present invention；
Fig. 2 is the top cover gang switch control block diagram of the present invention；
Fig. 3 is that schematic flow sheet is opened in the top cover linkage of the present invention；
Fig. 4 is the top cover linkage closing flow path schematic diagram of the present invention；
Fig. 5 is that the hydraulic circuit of the present invention controls schematic diagram.
Detailed description of the invention
Referring to the drawings and embodiment the present invention will be described in detail:
Pretectum is called for short protecgulum by accompanying drawing；Back header is called for short bonnet.
Accompanying drawing 1-5 understands, and a kind of flat pad large-scale Double Tops monolateral high-speed switch of lid mechanism controls system
System, including pretectum and back header and the pretectum hydraulic jack driving the motion of pretectum, back header
Conduit under fluid pressure is passed through respectively with back header hydraulic jack, pretectum hydraulic jack and back header hydraulic jack
It is connected with hydraulic power unit, is being connected with pretectum hydraulic jack and back header hydraulic jack respectively
Proportional flow control valve, proportional pressure control valve and solenoid directional control valve it is provided with on conduit under fluid pressure；Valve member is micro-processes control
Device processed is connected with proportional flow control valve, proportional pressure control valve and solenoid directional control valve, and master controller passes through CAN
Bus is connected with valve member microprocessor controller and photoelectric encoder；It is respectively provided with in top cover rotating shaft front and back
There is photoelectric encoder.
Preferably, before and after's canopy switch angle measured respectively by described photoelectric encoder, measures signal and passes through
CAN sends to master controller；Master controller obtains the switch of before and after's top cover by angle after being filtered
Angle；The switching angle speed of before and after's top cover is obtained by Difference Calculation；Master controller is according to closed loop control
Policy calculation closed loop output, master controller sends control signals to valve member by CAN communication
Controller；Valve member controller uses PWM ripple to control proportional flow control valve output.
Preferably, described proportional flow control valve includes: pretectum proportional flow control valve and back header proportional flow
Valve, pretectum proportional flow control valve and back header proportional flow control valve control pretectum hydraulic jack loop respectively
With back header hydraulic jack loop flow；Proportional overflow valve control system pressure；Leading to of solenoid directional control valve
The disconnected switch controlling top cover.
As shown in Fig. 1 system control block figure, top cover gang switch control system by two stylobates in Infineon
The embedded controller of XC2287M-104F microprocessor, two photoelectric encoder (models
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 valve (models
4WE10R31B/CG24N9K4) composition.Control system uses Dual-encoder to measure before and after's top cover respectively and opens
Close angle, sent to master controller by CAN；Before master controller is obtained after being filtered by angle
The switch angle of back header, then the switching angle speed of before and after's top cover, and foundation is obtained by Difference Calculation
Closed-loop Control Strategy calculates closed loop output, is sent to valve member controller by CAN communication；Valve
Part controller controls top cover action by controlling relevant valve member.
Top cover action front and back uses hydraulic jack to drive, and control system uses the regulation of PWM ripple control mode
Proportioning valve exports, and controls pretectum loop and back header loop respectively by 2 road proportional flow control valves and flows
Amount, 1 road proportional overflow valve control system pressure, control opening of top cover by the break-make of solenoid directional control valve
Close.
Closed loop control amount u in top cover linkage PI Closed-loop Control Strategyt(t) be:
Wherein:
up(t)=(Δ θd(t)-K*Δω(t))×kp
Δθd(t)=Δ θdt(t)-Δθdm(t)
Δθdt(t)=θh(t)-θq(t)
Top cover linkage is closed:
Δ ω (t)=ωh(t)-ωq(t)
Top cover linkage is opened:
Δ ω (t)=ωq(t)-ωh(t)
After discretization:
ut(n)=ut(n-1)+K0×[up(n)+ui(n)] × T, ut(0)=u0
up(n)=(Δ θd(n)-K*Δω(n))×kp, up(0)=0
ui(n)=ui(n-1)+(Δθd(t)-K*Δω(t))×ki× T, ui(0)=0
Δθd(n)=Δ θdt(n)-Δθdm(n), Δ θd(0)=0
Δθdt(n)=θh(n)-θq(n)
Top cover linkage is closed:
Δ ω (n)=ωh(n)-ωq(n), Δ ω (0)=0
Top cover linkage is opened:
Δ ω (n)=ωq(n)-ωh(n), Δ ω (0)=0
In above formula:
up: proportional；
ui: integral term；
ωh: back header angular velocity；
ωq: pretectum angular velocity；
Δ ω: top cover angular velocity difference front and back；
θh: back header angle；
θq: pretectum angle；
Δθdt: front and rear angles is poor；
Δθdm: front and rear angles difference desired value；
Δθd: the difference between front and rear angles difference and desired value；
K0、K、kp、ki: constant.
In Fig. 3 and Fig. 4, Fig. 5, BLA3 represents: middle pump proportional pressure control valve；BLA2 represents:
Pretectum proportional flow control valve；BYA3 represents: back header proportional flow control valve.
Flat pad of the present invention large-scale Double Tops lid mechanism monolateral high-speed switch control system, top cover linkage is dynamic
Make process as follows:
As the linkage of Fig. 3 top cover is opened shown in schematic flow sheet, flat pad performs top cover linkage and opens dynamic
Make as follows:
Flat pad back header is first opened, and pretectum follows back header action.Back header is according to constant flow rate
Opening, during back header opening angle >=10 °, pretectum proportional flow control valve is defeated according to Closed-loop Control Strategy
Go out.Back header is after opening to 98 °, and back header proportional flow control valve reduces flow, is opening to 112
After °, back header action reversal valve cuts out.After back header action reversal valve cuts out, pretectum ratio stream
Amount valve exports according to constant flow rate.Pretectum is after opening to 95 °, and pretectum proportional flow control valve reduces
Flow, after pretectum arrives 105 °, pretectum action reversal valve cuts out, and flow process terminates.
As schematic flow sheet is opened in the linkage of Fig. 3 top cover.
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%.
In step s303, unlatching, pump, back header leave reversal valve and open.
In step s304, back header proportional flow control valve increases flow 1% at interval of 200ms, until flow
Reach 38%.
In step s305, if the back header angle of detection is not up to more than or equal to 10 degree, continue inspection
Survey；Back header angle performs step s306 more than or equal to 10 degree.
In step s306, pretectum is driven reversal valve and is opened.
In step s307, pretectum proportional flow control valve increases flow 1% at interval of 270ms, until flow
Reach 38%.
In step s308, closed loop calculates correlated variables and resets.
In step s309, preserve current time, start 500ms intervalometer.
In step s310, calculate pretectum angle and pretectum angular velocity.
In step s311, calculate back header angle and back header angular velocity.
Top cover differential seat angle before and after step s312, calculating, top cover angular velocity difference before and after calculating.
In step s313, calculate the difference between angle on target difference and actual angle difference.
In step s314, calculate the difference between angle on target difference and actual angle difference and front and back top cover angle
The difference of speed difference, calculating ratio, integral term obtain closed loop control amount.
In step s315, pretectum proportional flow control valve exports according to closed loop control amount.
In step s316, if the back header angle of detection is more than or equal to 98 degree, perform step
s317.If the back header angle of detection is not up to more than or equal to 98 degree, perform step s318.
In step s317, back header proportional flow control valve reduces flow 1% at interval of 100ms, until flow
Reach 22%.
In step s318, if the back header angle of detection is not up to more than or equal to 112 degree, return step
Rapid s310, recalculates pretectum angle and pretectum angular velocity.If the back header angle of detection is big
In equal to 112 degree, perform step s319.
In step s319, back header proportional flow control valve reduces flow 1% at interval of 30ms, until flow
Reach 10%.
In step s320, back header is driven reversal valve and is closed.
In step s321, pretectum proportional flow control valve output flow 38%.
In step s322, if the pretectum angle of detection is not up to more than or equal to 95 degree, continue inspection
Survey.If the pretectum angle of detection is more than or equal to 95 degree, perform step s323.
In step s323, pretectum proportional flow control valve reduces flow 1% at interval of 100ms, until flow
Reach 22%.
In step s324, if the pretectum angle of detection is not up to more than or equal to 105 degree, continue inspection
Survey.If the pretectum angle of detection is more than or equal to 105 degree, perform step s325.
In step s325, pretectum proportional flow control valve reduces flow 1% at interval of 30ms, until flow
Reach 10%.
In step s326, pretectum is driven reversal valve and is closed.
Flow process ends at step s327.
As shown in Fig. 4 top cover linkage closing flow path schematic diagram, flat pad performs top cover linkage and closes dynamic
Make as follows:
Flat pad pretectum is first closed, and back header follows pretectum action.Pretectum is according to steady flow
Amount is closed, and during pretectum angle=100 °, back header proportional flow control valve is defeated according to Closed-loop Control Strategy
Go out.After pretectum angle=18 °, pretectum proportional flow control valve reduces flow, is closing to 0.5 °
After, time delay 500ms pretectum action reversal valve cuts out.After pretectum action reversal valve cuts out, push up afterwards
Lid proportional flow control valve exports according to constant flow rate.After back header angle=18 °, back header proportional flow
Valve reduces flow, and after back header arrives 0.5 °, time delay 500ms back header action reversal valve cuts out,
Flow process terminates.
Such as Fig. 4 top cover linkage 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%.
In step s403, unlatching, pump, pretectum close reversal valve unlatching.
In step s404, pretectum proportional flow control valve increases flow 1% at interval of 200ms, until flow
Reach 37%.
In step s405, if the pretectum angle of detection is not up to less than or equal to 100 degree, continue inspection
Survey；Pretectum angle not up to performs step s406 less than or equal to 100 degree.
In step s406, back header closes reversal valve to be opened.
In step s407, back header proportional flow control valve increases flow 1% at interval of 210ms, until flow
Reach 39%.
In step s408, closed loop calculates correlated variables and resets.
In step s409, preserve current time, start 500ms intervalometer.
In step s410, calculate pretectum angle and pretectum angular velocity.
In step s411, calculate back header angle and back header angular velocity.
Top cover differential seat angle before and after step s412, calculating, top cover angular velocity difference before and after calculating.
In step s413, calculate the difference between angle on target difference and actual angle difference.
In step s414, calculate the difference between angle on target difference and actual angle difference and front and back top cover angle
The difference of speed difference, calculating ratio, integral term obtain closed loop control amount.
In step s415, back header proportional flow control valve exports according to closed loop control amount.
In step s416, if the pretectum angle of detection is less than or equal to 18 degree, perform step
s417；If the pretectum angle of detection is not up to less than or equal to 18 degree, perform step s418.
In step s417, pretectum proportional flow control valve reduces flow 1% at interval of 100ms, until flow
Reach 18%.
In step s418, if the back header angle of detection is not up to less than or equal to 0.5 degree, return meter
Calculate pretectum angle and pretectum angular velocity；If the back header angle of detection is less than or equal to 0.5 degree,
Perform step s419.
In step s419, time delay 500ms.
In step s420, pretectum proportional flow control valve reduces flow 1% at interval of 30ms, until flow
Reach 10%.
In step s421, pretectum closes reversal valve closes.
In step s422, back header proportional flow control valve output flow 39%.
In step s423, if the back header angle of detection is not up to less than or equal to 18 degree, continue inspection
Survey；If the back header angle of detection is less than or equal to 18 degree, perform step s424.
In step s424, back header proportional flow control valve reduces flow 1% at interval of 100ms, until flow
Reach 23%.
In step s425, if the pretectum angle of detection is not up to less than or equal to 0 degree, continue inspection
Survey；If the pretectum angle of detection is less than or equal to 0 degree, perform step s426.
In step s426, time delay 500ms.
In step s427, back header proportional flow control valve reduces flow 1% at interval of 30ms, until flow
Reach 10%.
In step s428, back header closes reversal valve closes.
Flow process ends at step s429.
Flat pad of the present invention large-scale Double Tops lid mechanism monolateral high-speed switch control system,
Front and back top cover double loop individually controls, and controls pretectum loop respectively by adoption rate flow valve
With back header loop flow；Front and back top cover speed of action keeps consistent, and front and back capping mechanism is not done mutually
Relating to, prevent the damage of before and after's capping mechanism, flat pad performs to use Double Tops lid during capping mechanism action
The mode of linkage realizes the high-speed switch of top cover, shortens launch preparation time；Front and back canopy switch all sets
Putting angle of slowing down accordingly, top cover is when arriving deceleration angle, and control system reduces the output of proportioning valve
Reduce the speed of top cover, it is achieved the steady switch of top cover；Achieve before and after's top cover gang switch composite moving
Work controls, it is ensured that before and after in switching process, top cover is constant relative to position.Front and back top cover is opened into from 0 °
112 ° or from 112 ° close to 0 °, whole control flow time≤22 second.
Flat pad of the present invention large-scale Double Tops lid mechanism monolateral high-speed switch control system, for Double Tops lid
For Large Scale Mechanical Structure, quality is big, and the feature that inertia is big, for avoiding at canopy switch to cut-off angles
Time occur the most violent rocking, front and back's canopy switch is all arranged angle of slowing down accordingly, top cover exists
When arriving deceleration angle, control system reduces the speed of the output reduction top cover of proportioning valve, it is achieved top cover
Steady switch.
Claims (2)
1. a flat pad large-scale Double Tops lid mechanism monolateral high-speed switch control system, including sinciput
Lid and back header and driving pretectum, the pretectum hydraulic jack of back header motion and back header hydraulic pressure
Oil cylinder, pretectum hydraulic jack and back header hydraulic jack are respectively by conduit under fluid pressure and hydraulic power unit phase
Connect, it is characterised in that: it is being connected with pretectum hydraulic jack and back header hydraulic jack respectively
Proportional flow control valve, proportional pressure control valve and solenoid directional control valve it is provided with on conduit under fluid pressure；Valve member is micro-processes control
Device processed is connected with proportional flow control valve, proportional pressure control valve and solenoid directional control valve, and master controller passes through CAN
Bus is connected with valve member microprocessor controller and photoelectric encoder；It is respectively provided with in top cover rotating shaft front and back
There is photoelectric encoder；Before and after's canopy switch angle measured respectively by described photoelectric encoder, measures signal and leads to
Cross CAN to send to master controller；Master controller obtains opening of before and after's top cover by angle after being filtered
Close angle；The switching angle speed of before and after's top cover is obtained by Difference Calculation；Master controller is according to closed loop control
Policy calculation closed loop output processed, master controller sends control signals to valve by CAN communication
Part controller；Valve member controller uses PWM ripple to control proportional flow control valve output.
The most according to claim 1, the monolateral high-speed switch of flat pad large-scale Double Tops lid mechanism controls
System, it is characterised in that: described proportional flow control valve includes: pretectum proportional flow control valve and back header ratio
Example flow valve, pretectum proportional flow control valve and back header proportional flow control valve control pretectum hydraulic oil respectively
Cylinder loop and back header hydraulic jack loop flow；Proportional overflow valve control system pressure；Electromagnetic switch
The break-make of valve controls the switch of top cover.
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 CN104006707A (en) | 2014-08-27 |
| CN104006707B true CN104006707B (en) | 2016-08-17 |
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ID=51367487
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| Application Number | Title | Priority Date | Filing Date |
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| 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 |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
Citations (6)
| 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 |
| 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 |
-
2014
- 2014-05-16 CN CN201410207076.1A patent/CN104006707B/en active Active
Patent Citations (6)
| 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 |
| 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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| CN104006707A (en) | 2014-08-27 |
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