CN104728192A - Overall process homeostatic control method for multi-stage cylinder erecting system - Google Patents
Overall process homeostatic control method for multi-stage cylinder erecting system Download PDFInfo
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- CN104728192A CN104728192A CN201510152094.9A CN201510152094A CN104728192A CN 104728192 A CN104728192 A CN 104728192A CN 201510152094 A CN201510152094 A CN 201510152094A CN 104728192 A CN104728192 A CN 104728192A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/75—Control of speed of the output member
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an overall process homeostatic control method for a multi-stage cylinder erecting system, and belongs to the field of multi-stage cylinder erecting system process control. The overall process homeostatic control method for the multi-stage cylinder erecting system comprises the steps that firstly, the multi-stage cylinder erecting system is erected slowly by controlling driving voltage, the erection speeds up when a head end speed up trigger angle value is reached, and initial motion control is achieved; the erection speed is reduced before the notching angle range by controlling the driving voltage, the speed is increased after stable notching, and notching control is conducted in this way; end control over the multi-stage cylinder erecting system is conducted according to preset end control angle value, and thereby the overall process stable control is achieved. The overall process homeostatic control method for the multi-stage cylinder erecting system solves the problems that the control ability in the overall process is bad and the pressure impact is large, thereby damage to an erecting mechanism and a projectile body is reduced, and prolonging the service life of a launching vehicle is facilitated.
Description
Technical field
The invention belongs to Multi-stage cylinder Erecting System process control field, more specifically, relate to a kind of Multi-stage cylinder Erecting System overall process stable state be applied on car launcher and control.
Background technique
For adapting to modern fast-changing battlefield surroundings, car launcher should possess higher guided missile and play perpendicular ability fast, and has higher safety reliability concurrently.Car launcher Erecting System adopts large-stroke multistage cylinder Erecting System usually, the electric liquid Dynamic Compensation Control Method of the many employings of its control procedure, by control algorithm, hydraulic pressure open system movement velocity is corrected, Dynamic controlling is carried out to realize precision improvement at a perpendicular end, but, because it is playing scarce capacity time perpendicular initial sum changes level adjustment, there is Whole Process Control ability, changing the shortcomings such as compression shock is larger in grade process at oil cylinder, injury can be brought to Erecting organ and body.
Be disclose a kind of Dynamic Compensation Control Method based on multi-stage oil cylinder Erecting System in the Chinese invention patent of CN102269191A in application publication number, it first builds multi-stage oil cylinder Erecting System, after multi-stage oil cylinder rises and erects 89 degree, Difference Calculation is carried out at the feedback angle of upper-position unit to dip sensor, and controlled perpendicular angle rates flexibly within the specific limits, thus the perpendicular time can be controlled and improved control accuracy.But, its proportional velocity regulating valve controls multi-stage oil cylinder Erecting System to end according to predetermined speed, just start to control playing vertical angle speed at end, all adopt a consistent vertical angle speed before a perpendicular beginning with end, do not consider " nodding " phenomenon time Multi-stage cylinder changes grade, in actual use, when phenomenon of " nodding " is serious, whole car launcher is all rocking, the working environment of heavy damage control system, also made perpendicular process steady not, reduce stability and the reliability of emission system, to mechanical mechanism, there is larger damage, reduce the working life of whole car launcher.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides a kind of Multi-stage cylinder Erecting System overall process stable state controlling method, by arranging first motion control, middle Tap changing control and end-of-pipe control, make the smooth working of Multi-stage cylinder Erecting System, object is that solving Multi-stage cylinder Erecting System changes at Whole Process Control ability, oil cylinder the problem that in grade process, compression shock is larger, corresponding minimizing compression shock greatly to the injury that Erecting organ and body bring, and can improve the working life of car launcher.
For achieving the above object, the invention provides a kind of Multi-stage cylinder Erecting System overall process stable state controlling method, having made perpendicular process steady for controlling the Erecting System of missile truck, it is characterized in that, comprise the steps:
S1: what obtain each rank changes a grade angular range, changes the forward and backward of grade angular range in each rank and arranges deceleration Triggering Angle value and speedup Triggering Angle value respectively;
S2: start Multi-stage cylinder Erecting System;
S3: detected vertical angle degree in real time, controlling driving voltage size makes Multi-stage cylinder at the uniform velocity rise perpendicular with a certain speed in the velocity range of 0.1 °/s ~ 0.2 °/s, until play vertical angle degree to arrive predetermined head end speedup Triggering Angle value, then increase driving voltage to have improved perpendicular speed, complete first motion and control;
S4: when playing vertical angle degree and arriving the deceleration trigger angle of each rank successively, reduce driving voltage, made vertical angle degree every one-level change first 1 ° of grade angular range time corresponding rise within perpendicular speed is down to 0.1 °/s, then driving voltage is regulated to make perpendicular speed maintain within the scope of 0.05 °/s ~ 0.25 °/s, control oil cylinder change in grade angular range perform change level, change level complete after rise vertical angle degree arrive this grade change level after speedup trigger angle time, increase driving voltage to have improved perpendicular speed, complete middle Tap changing control in this way;
S5: carry out end-of-pipe control to Multi-stage cylinder Erecting System according to predetermined end-of-pipe control angle value, so far completes overall process stable state and controls.
Further, described step S5 is specially: before predetermined end-of-pipe control angle value, arrange angle at the end deceleration trigger value, when playing vertical angle degree and arriving angle at the end deceleration trigger value, reduce driving voltage, correspondingly when having made vertical angle degree arrive end-of-pipe control angle value rise within perpendicular speed is down to 0.1 °/s, then driving voltage is regulated further, perpendicular speed has been made to maintain between 0.05 °/s ~ 0.25 °/s, when playing vertical angle degree and reaching 89.9 °, close down driving voltage, Multi-stage cylinder Erecting System relies on inertia automatic in-position.
Further, head end speedup Triggering Angle value is greater than the initial angle angle value 2 ° of Multi-stage cylinder Erecting System; At different levels change grade angular range before deceleration Triggering Angle value be less than this level and change minimum value 6 ° in grade angular range, and at different levels change grade angular range after speedup Triggering Angle value be greater than this level and change maximum value 2 ° in grade angular range; Angle at the end deceleration trigger value is less than end-of-pipe control angle value 6 °.
Further, in step S4, increase driving voltage or reduce driving voltage according to the variable quantity of setting, the described variable quantity set is the variable quantity of driving voltage during perpendicular velocity variations 0.05 °/s.
Further, in step S5, described end-of-pipe control angle value is 88 °.
Further, reduce driving voltage according to the variable quantity of setting, the described variable quantity set is the variable quantity of driving voltage during perpendicular velocity variations 0.05 °/s.
In the present invention, speedup Triggering Angle value has referred to that carrying out speedup after vertical angle degree arrives this value controls with the angle value having improved perpendicular speed; Change angle value scope when grade angular range refers to that Multi-stage cylinder changes grade, general Erecting System has secondary Erecting System or three grades of Erecting Systems, grade angle of changing of secondary Erecting System may be 45 ° ± 1 °, three grades of Erecting Systems change that grade angle may be in the angular range of 30 ° ± 1 °, in the angular range of 60 ° ± 1 °; Deceleration Triggering Angle value has referred to and has carried out slowing down control with the angle value having reduced perpendicular speed after vertical angle degree arrives this value; Head end speedup Triggering Angle value refers to the angle value carrying out speedup after playing perpendicular beginning for the first time; Angle at the end deceleration trigger value has referred to that close of vertical angle degree carries out the angle value controlled that slows down before having erected, and this angle value is generally less than end-of-pipe control angle value 6 °; End-of-pipe control angle value has referred to the angle value carrying out end-of-pipe control after vertical angle degree arrives this value, and after end-of-pipe control, just completed perpendicular, this angle is generally 88 °.
In the present invention, play perpendicular process to be specially: when playing perpendicular beginning, make Multi-stage cylinder at the uniform velocity rise to erect to a certain angle increased perpendicular speed again with the perpendicular speed that rises of 0.1 °/s ~ 0.2 °/s, this a certain angle is head end speedup Triggering Angle value, has increased perpendicular speed when namely arriving head end speedup Triggering Angle value.Multi-stage cylinder is risen fast perpendicular, when the vertical angle degree that rises of Multi-stage cylinder reaches a certain angle value and starts to have reduced perpendicular speed, for the level of changing of Multi-stage cylinder is prepared, deceleration Triggering Angle value before this certain angle value is and changes grade angular range first, has reduced perpendicular speed when namely arriving the deceleration Triggering Angle value before changing grade angular range first.Playing perpendicular speed is slowly down to when changing grade angular range, regulates driving voltage further, and perpendicular speed is maintained within the scope of 0.05 °/s ~ 0.25 °/s, and completes within the scope of this and change level.Change after level completes, play a vertical angle degree when reaching the speedup Triggering Angle value after changing level, increase driving voltage, has improved perpendicular speed, accelerated to erect.Play vertical angle degree to increase gradually.When changing the deceleration Triggering Angle value before grade angular range to next stage or arrive angle at the end deceleration trigger value, then reduce driving voltage, reduced perpendicular speed, prepare for next stage changes level or prepare for end-of-pipe control.Concrete, if Multi-stage cylinder only has secondary, then only once need change level; If Multi-stage cylinder is greater than secondary, then needs to carry out at least twice and change level.Play vertical angle degree to increase further, in time playing vertical joint and draw to an end, play vertical angle degree when first can arrive angle at the end deceleration trigger value, this time reduces driving voltage, has reduced perpendicular speed, it is corresponding when having made perpendicular speed arrive end-of-pipe control angle value that to play perpendicular speed be within 0.1 °/s, then regulate driving voltage further, made perpendicular speed maintain between 0.05 °/s ~ 0.25 °/s, when playing a vertical angle degree and reaching 89.9 °, close down driving voltage, Multi-stage cylinder Erecting System relies on inertia automatic in-position.So far, complete overall process stable state to control.
In the present invention, changing grade angular range is a value range, change the deceleration Triggering Angle value before grade angular range be than this grade to change minimum value in grade angular range little 6 °, changing the speedup Triggering Angle value after grade angular range is change large 2 ° of maximum value in grade angular range than this grade.
In general, the above technological scheme conceived by the present invention can obtain following beneficial effect:
1, in the present invention, there is Tap changing control, before changing level at every turn, first reduce perpendicular speed, guarantee is changed level playing perpendicular speed more slowly and is completed, and has especially made perpendicular speed maintain within the scope of 0.05 °/s ~ 0.25 °/s to complete and change level, can reduce the compression shock reducing Multi-stage cylinder and bring when to change grade; Further, time initial, Multi-stage cylinder is made at the uniform velocity to rise erect to speedup Triggering Angle value with the perpendicular speed that rises of 0.1 °/s ~ 0.2 °/s, and make Multi-stage cylinder increase to end-of-pipe control angle value to play perpendicular speed slowly, after arriving this end-of-pipe control angle value, vertical angle speed has been made to maintain between 0.05 °/s to 0.25 °/s further, and when playing vertical angle degree and reaching 89.9 °, stop perpendicular control, rely on inertia to make system automatically arrive specified angle, above control mode can reduce the compression shock that Multi-stage cylinder brings when initial sum stops further.By initial control, Tap changing control and end-of-pipe control, the injury that significantly can reduce the compression shock in perpendicular overall process and bring Erecting organ and body, finally can increase substantially the working life of car launcher.
2, the mode of regulation voltage level is adopted to carry out controlling and then realize the adjustment to playing perpendicular speed, in actual use, it is more accurate that voltage control mode compares current control mode, and it plays perpendicular in-placing precision error and is less than 0.1 °, error is less, can improve precision and the reliability of Multi-stage cylinder Erecting System.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of overall process stable state controlling method in the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technological scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each mode of execution of the present invention involved technical characteristics do not form conflict each other and just can mutually combine.
A kind of concrete steps of Multi-stage cylinder Erecting System overall process stable state controlling method are:
S1: what obtain each rank changes a grade angular range, changes the forward and backward of grade angular range in each rank and arranges deceleration Triggering Angle value and speedup Triggering Angle value respectively.
Speedup Triggering Angle value has referred to that carrying out speedup after vertical angle degree arrives this value controls with the angle value having improved perpendicular speed; Change angle value scope when grade angular range refers to that Multi-stage cylinder changes grade, general Erecting System has secondary Erecting System or three grades of Erecting Systems.For example, a grade angle of changing for secondary Erecting System can be 45 ° ± 1 °, in the changing in angular range that grade angle can be 30 ° ± 1 ° of three grades of Erecting Systems, the angular range of 60 ° ± 1 °.In the present embodiment, be three grades of Erecting Systems, it changes a grade angular range is 29 ° ~ 31 °, 59 ° ~ 61 °.Deceleration Triggering Angle value has referred to and has carried out slowing down control with the angle value having reduced perpendicular speed after vertical angle degree arrives this value; Head end speedup Triggering Angle value refers to the angle value carrying out speedup after playing perpendicular beginning for the first time; Angle at the end deceleration trigger value has referred to that close of vertical angle degree carries out the angle value controlled that slows down before having erected, and in the present embodiment, this angle value is less than end-of-pipe control angle value 6 °, is 82 °; End-of-pipe control angle value has referred to the angle value carrying out end-of-pipe control after vertical angle degree arrives this value, and in the present embodiment, this angle is generally 88 °.But the present invention exchanges a grade angular range, end-of-pipe control angle value and angle at the end deceleration trigger value and does not specifically limit, and does not also therefore specifically limit speedup Triggering Angle value and deceleration Triggering Angle value.
As the present invention's preferred embodiment, setting initial vertical angle degree is 0 °, and three grades of Erecting Systems need to carry out the first order to be played perpendicular, the second level and play the perpendicular and third level and rise perpendicular, and overall process needs to carry out changing level twice.Head end speedup Triggering Angle value is greater than initial angle angle value 2 °, then head end speedup Triggering Angle value is 2 °.Deceleration Triggering Angle value before changing level is for the first time less than the minimum value 6 ° that the first order changes grade angular range, and being 29 ° and deducting 6 °, is then 23 °.First time change level after speedup Triggering Angle value be greater than first time change maximum value 2 ° in grade angular range, being 31 ° and adding 2 °, is then 33 °.In like manner, the deceleration Triggering Angle value before second time changes level is less than the minimum value 6 ° that grade angular range is changed in this time, is 53 °.Speedup Triggering Angle value after second time changes level is greater than this time and changes maximum value 2 ° in grade angular range, is 63 °.
S2: start Multi-stage cylinder Erecting System.Described Multi-stage cylinder Erecting System is by a perpendicular speed of Control of Voltage Multi-stage cylinder.Described Multi-stage cylinder Erecting System comprises upper-position unit, proportional amplifier, hydraulic power, Multi-stage cylinder, proportional velocity regulating valve, selector valve, relief valve and dip sensor, hydraulic power, selector valve, proportional velocity regulating valve, Multi-stage cylinder and relief valve are connected successively with cable, upper-position unit, proportional amplifier and proportional velocity regulating valve are in series with cable, and this system has also comprised vertical arm.
S3: detected vertical angle degree in real time with dip sensor, control ratio amplifier voltage swing makes Multi-stage cylinder at the uniform velocity rise perpendicular with a certain speed in the velocity range of 0.1 °/s ~ 0.2 °/s, until play vertical angle degree to arrive predetermined head end speedup Triggering Angle value, so far complete first motion and control.Then the voltage of scaling up amplifier is to have improved perpendicular speed.In the present invention, Multi-stage cylinder is made at the uniform velocity to rise to erect can ensure to have started stability when erecting to head end speedup Triggering Angle value with the perpendicular speed that rises of 0.1 °/s ~ 0.2 °/s.In reality, the value being different from this velocity range can also be adopted to have carried out perpendicular, but be repeatedly repeatedly description of test, other a perpendicular speed can not ensure stability when having started perpendicular, although or can ensure to have started perpendicular stability, expend time in long.
S4: when playing vertical angle degree and arriving the deceleration trigger angle of each rank successively, reduce voltage, made vertical angle degree each rank change first 1 ° of grade angular range time corresponding rise within perpendicular speed is down to 0.1 °/s, then the voltage of proportional amplifier is regulated, perpendicular speed is maintained within the scope of 0.05 °/s ~ 0.25 °/s, and it is ready to change level.What perform appropriate level changes level.Change after level completes, rise vertical angle degree arrive this time change level after speedup trigger angle time, increase voltage to have improved perpendicular speed, so far complete middle Tap changing control.Concrete, for three grades of Erecting Systems, when to play a vertical angle degree be 28 °, 58 °, within having made perpendicular decelerates to 0.1 °/s, in this perpendicular velocity range, contribute to the stability of follow-up further control.
First level change after level completes, play vertical angle degree when arriving the speedup Triggering Angle value changed after grade angular range changing level first, by the variable quantity scaling up amplifier input voltage set to have improved perpendicular speed, until play vertical angle degree to reach the deceleration Triggering Angle value before changing level next time, the input voltage of proportional amplifier is reduced by the variable quantity of setting, within being down to 0.1 °/s with the perpendicular speed making this time change first 1 ° of grade angular range, then proportional amplifier input voltage is regulated to maintain within the scope of 0.05 °/s ~ 0.25 °/s to have made perpendicular speed further, within the scope of this, complete this time change level, then rise vertical angle degree arrive this time change level after speedup Triggering Angle value time increased perpendicular speed, in this way, until Multi-stage cylinder completes and allly changes a grade process.Repetitious test proves, compression shock time such control mode can further reduce to change grade.
In this step, the variable quantity of proportional amplifier input voltage when the variable quantity of described setting has referred to perpendicular velocity variations 0.05 °/s, concrete, the variable quantity playing proportional amplifier input voltage during perpendicular velocity variations 0.05 °/s is 0.2V, but the present invention does not carry out concrete restriction to the variable quantity of proportional amplifier input voltage when playing perpendicular velocity variations 0.05 °/s, different according to the hardware configuration of concrete system, this voltage variety is different.
S5: after playing vertical angle degree arrival angle at the end deceleration trigger value, proportional amplifier input voltage is gradually reduced to have reduced perpendicular speed by the variable quantity of setting, and rise within perpendicular speed is down to 0.1 °/s after having made vertical angle degree reach end-of-pipe control angle value 88 °, then proportional amplifier input voltage is regulated further, perpendicular speed has been made to maintain between 0.05 °/s to 0.25 °/s, and when playing vertical angle degree and reaching 89.9 °, stop perpendicular control, rely on inertia to make system automatically arrive specified angle 90 °, complete overall process stable state and control.
The variable quantity of proportional amplifier input voltage when the described variable quantity set is as playing perpendicular velocity variations 0.05 °/s, concrete, this variable quantity is 0.2V.But the present invention does not carry out concrete restriction to the variable quantity of proportional amplifier input voltage when playing perpendicular velocity variations 0.05 °/s, and different according to the hardware configuration of concrete system, this voltage variety is different.
For secondary Erecting System, change after level completes first, just complete and allly change a grade process.
In the present invention, the mode of regulation voltage level is adopted to control and then realize the adjustment to playing perpendicular speed to described proportional amplifier, carry out making when first motion controls Multi-stage cylinder rising in perpendicular velocity range at the uniform velocity to rise with a certain speed and erect to head end speedup Triggering Angle value at 0.1 °/s ~ 0.2 °/s, within making a perpendicular speed of changing first 1 ° of grade angular range be down to 0.1 °/s when carrying out Tap changing control, and make to change level and complete within the scope of 0.05 °/s ~ 0.25 °/s and change level, perpendicular speed has been made to be down to after 88 ° within 0.1 °/s when carrying out end-of-pipe control, then perpendicular speed has been made to maintain between 0.05 °/s to 0.25 °/s, and when playing vertical angle degree and reaching 89.9 °, stop perpendicular control, inertia is relied on to make system automatically arrive specified angle 90 °, the common comprehensive function of above condition, precision and the reliability of Multi-stage cylinder Erecting System can be improved by a relatively large margin, and significantly the few Multi-stage cylinder of reduction is initial, the compression shock brought when changing level and stop, and the working life of car launcher can be increased substantially.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. a Multi-stage cylinder Erecting System overall process stable state controlling method, is characterized in that, comprise the steps:
S1: what obtain each rank changes a grade angular range, changes the forward and backward of grade angular range in each rank and arranges deceleration Triggering Angle value and speedup Triggering Angle value respectively;
S2: start Multi-stage cylinder Erecting System;
S3: detected vertical angle degree in real time, controlling driving voltage size makes Multi-stage cylinder at the uniform velocity rise perpendicular with a certain speed in the velocity range of 0.1 °/s ~ 0.2 °/s, until play vertical angle degree to arrive predetermined head end speedup Triggering Angle value, then increase driving voltage to have improved perpendicular speed, complete first motion and control;
S4: when playing vertical angle degree and arriving the deceleration trigger angle of each rank successively, reduce driving voltage, made vertical angle degree every one-level change first 1 ° of grade angular range time corresponding rise within perpendicular speed is down to 0.1 °/s, then driving voltage is regulated to make perpendicular speed maintain within the scope of 0.05 °/s ~ 0.25 °/s, control oil cylinder change in grade angular range perform change level, change level complete after rise a vertical angle degree arrive the speedup trigger angle of this grade time, increase driving voltage to have improved perpendicular speed, complete middle Tap changing control in this way;
S5: carry out end-of-pipe control to Multi-stage cylinder Erecting System according to predetermined end-of-pipe control angle value, so far completes overall process stable state and controls.
2. a kind of Multi-stage cylinder Erecting System overall process stable state controlling method as claimed in claim 1, it is characterized in that, described step S5 is specially: before predetermined end-of-pipe control angle value, arrange angle at the end deceleration trigger value, when playing vertical angle degree and arriving angle at the end deceleration trigger value, reduce driving voltage, correspondingly when having made vertical angle degree arrive end-of-pipe control angle value rise within perpendicular speed is down to 0.1 °/s, then driving voltage is regulated further, perpendicular speed has been made to maintain between 0.05 °/s ~ 0.25 °/s, when playing vertical angle degree and reaching 89.9 °, close down driving voltage, Multi-stage cylinder Erecting System relies on inertia automatic in-position.
3. a kind of Multi-stage cylinder Erecting System overall process stable state controlling method as claimed in claim 2, it is characterized in that, head end speedup Triggering Angle value is greater than the initial angle angle value 2 ° of Multi-stage cylinder Erecting System; At different levels change grade angular range before deceleration Triggering Angle value be less than this level and change minimum value 6 ° in grade angular range, and at different levels change grade angular range after speedup Triggering Angle value be greater than this level and change maximum value 2 ° in grade angular range; Angle at the end deceleration trigger value is less than end-of-pipe control angle value 6 °.
4. a kind of Multi-stage cylinder Erecting System overall process stable state controlling method as claimed in claim 1, it is characterized in that, in step S4, increase driving voltage or reduce driving voltage according to the variable quantity of setting, the described variable quantity set is the variable quantity of driving voltage during perpendicular velocity variations 0.05 °/s.
5. a kind of Multi-stage cylinder Erecting System overall process stable state controlling method as claimed in claim 1, it is characterized in that, in step S5, described end-of-pipe control angle value is 88 °.
6. a kind of Multi-stage cylinder Erecting System overall process stable state controlling method as claimed in claim 2, is characterized in that, reduces driving voltage according to the variable quantity of setting, and the described variable quantity set is the variable quantity of driving voltage during perpendicular velocity variations 0.05 °/s.
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Cited By (7)
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| CN106089835A (en) * | 2016-08-23 | 2016-11-09 | 北京航天发射技术研究所 | Search Erecting organ control method |
| CN106123687A (en) * | 2016-06-29 | 2016-11-16 | 贵州航天天马机电科技有限公司 | A kind of carrier rocket plays perpendicular control system and method thereof |
| CN106837901A (en) * | 2017-04-12 | 2017-06-13 | 北京机械设备研究所 | A kind of Erecting System control method for reducing hydraulic starting impact |
| CN107816913A (en) * | 2017-09-22 | 2018-03-20 | 北京机械设备研究所 | One kind quickly plays perpendicular method |
| CN108138808A (en) * | 2015-09-18 | 2018-06-08 | 田口工业株式会社 | Cylinder speed increasing mechanism |
| CN109492305A (en) * | 2018-11-12 | 2019-03-19 | 北京特种机械研究所 | One kind playing perpendicular control method based on car launcher Multi-stage cylinder |
| CN113901605A (en) * | 2021-09-30 | 2022-01-07 | 湖北航天技术研究院总体设计所 | Method, device and equipment for controlling vertical time and readable storage medium |
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