CN104728192B - A kind of Multi-stage cylinder Erecting System overall process homeostatic control method - Google Patents
A kind of Multi-stage cylinder Erecting System overall process homeostatic control method Download PDFInfo
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- CN104728192B CN104728192B CN201510152094.9A CN201510152094A CN104728192B CN 104728192 B CN104728192 B CN 104728192B CN 201510152094 A CN201510152094 A CN 201510152094A CN 104728192 B CN104728192 B CN 104728192B
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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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- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses a kind of Multi-stage cylinder Erecting System overall process homeostatic control method, belong to Multi-stage cylinder Erecting System process control field.To make Multi-stage cylinder Erecting System slowly rise perpendicular particularly as follows: first pass through control driving voltage for the method, and after arriving head end speedup Trigger Angle angle value, speedup rises perpendicular, completes first motion control；Perpendicular speed has been made first to slow down before changing grade angular range by controlling driving voltage, speedup again after steadily changing level, carry out Tap changing control in this way；According to predetermined end-of-pipe control angle value, Multi-stage cylinder Erecting System carried out end-of-pipe control, thus complete overall process homeostatic control.The present invention solves the Multi-stage cylinder Erecting System problem that compression shock is big during Whole Process Control ability, oil cylinder change level, it is thus possible to reduce the injury bringing Erecting organ and body, is conducive to improving the service life of car launcher.
Description
Technical field
The invention belongs to Multi-stage cylinder Erecting System process control field, apply more particularly, to one
Multi-stage cylinder Erecting System overall process homeostatic control on car launcher.
Background technology
For adapting to modern fast-changing battlefield surroundings, car launcher should possess higher guided missile and quickly rise perpendicular
Ability, and have higher security reliability concurrently.Car launcher Erecting System generally uses large-stroke multistage cylinder
Erecting System, it controls the process electro-hydraulic Dynamic Compensation Control Method of many employings, by control algolithm to liquid
Press off loop systems movement velocity to correct, dynamically control to realize precision improvement playing perpendicular end,
But, due to its rise hold up begin and change level regulation time scarce capacity, there is Whole Process Control energy
The shortcoming such as power is poor, compression shock is bigger during oil cylinder changes level, can bring Erecting organ and body
Injury.
The Chinese invention patent that application publication number is CN102269191A disclose a kind of based on multistage
The Dynamic Compensation Control Method of oil cylinder Erecting System, it first builds multi-stage oil cylinder Erecting System, when multistage
Oil cylinder rises after erecting 89 degree, and host computer carries out Difference Calculation to the feedback angle of obliquity sensor, and flexibly
Control perpendicular angle rates within the specific limits, it is thus possible to controlled the perpendicular time and improved control accuracy.
But, its proportional velocity regulating valve, simply exists to end according to predetermined speed control multi-stage oil cylinder Erecting System
End starts to be controlled a vertical angle speed, is all to use consistent rising before playing perpendicular start and end
Vertical angle speed, does not accounts for " nodding " phenomenon time Multi-stage cylinder changes grade, actually used in, " point
Head " phenomenon serious time, whole car launcher is all rocking, the working environment of heavy damage control system,
Also made perpendicular process steady not, reduced stability and the reliability of emission system, to machinery machine
Structure has bigger damage, reduces the service life of whole car launcher.
Summary of the invention
For disadvantages described above or the Improvement requirement of prior art, the invention provides a kind of Multi-stage cylinder and rise perpendicular
System overall process homeostatic control method, by arranging first motion control, middle Tap changing control and end
End controls, and makes Multi-stage cylinder Erecting System smooth working, it is therefore intended that solve Multi-stage cylinder Erecting System entirely
Process control capabilities is poor, oil cylinder changes the problem that compression shock during level is bigger, corresponding reduces pressure punching
Hit the injury greatly Erecting organ and body brought, and the service life of car launcher can be improved.
For achieving the above object, the invention provides a kind of Multi-stage cylinder Erecting System overall process homeostatic control
Method, for the Erecting System of missile truck has been controlled such that perpendicular process is steady, its feature
It is, comprises the steps:
S1: obtain each rank changes a grade angular range, arranges before each rank changes grade angular range and subtracts
Speed Trigger Angle angle value, arranges speedup Trigger Angle angle value after each rank changes grade angular range；
S2: start Multi-stage cylinder Erecting System；
S3: detect in real time vertical angle degree, control driving voltage size makes Multi-stage cylinder 0.1 °/s～0.2 °
At the uniform velocity rise perpendicular with a certain speed in the velocity interval of/s, until playing vertical angle degree to arrive predetermined head end speedup
Trigger Angle angle value, then increase driving voltage is to have improved perpendicular speed, completes first motion control；
S4: when playing the deceleration trigger angle that vertical angle degree arrives each rank successively, reduces driving voltage,
Vertical angle degree has been made to be down to 0.1 ° in the perpendicular speed that rises corresponding when changing first 1 ° of grade angular range of every one-level
Within/s, in the range of then regulation driving voltage has made perpendicular speed maintain 0.05 °/s～0.25 °/s,
Control oil cylinder to perform to change level in changing grade angular range, change and arrive this level at a vertical angle degree after level completes and change
During speedup trigger angle after Ji, increase driving voltage to have improved perpendicular speed, in completing in this way
Between Tap changing control；
S5: according to predetermined end-of-pipe control angle value, Multi-stage cylinder Erecting System is carried out end-of-pipe control, extremely
This completes overall process homeostatic control.
Further, described step S5 is particularly as follows: arrange end before predetermined end-of-pipe control angle value
Angular deceleration trigger value, when playing vertical angle degree and arriving angle at the end deceleration trigger value, reduces driving voltage,
Within the perpendicular speed having made vertical angle degree corresponding when arriving end-of-pipe control angle value is down to 0.1 °/s, connect
And regulate driving voltage further, made perpendicular speed maintain between 0.05 °/s～0.25 °/s, rising
When vertical angle degree reaches 89.9 °, closing down driving voltage, Multi-stage cylinder Erecting System relies on inertia automatic in-position.
Further, head end speedup Trigger Angle angle value is more than the initial angle angle value 2 ° of Multi-stage cylinder Erecting System；
At different levels change grade angular range before deceleration Trigger Angle angle value change minima in grade angular range less than this level
6 °, and at different levels change grade angular range after speedup Trigger Angle angle value change in grade angular range more than this level
Big value 2 °；Angle at the end deceleration trigger value is less than end-of-pipe control angle value 6 °.
Further, in step S4, increase driving voltage according to the variable quantity set or reduce driving
Voltage, the variable quantity of driving voltage when the described variable quantity set is as playing perpendicular 0.05 °/s of velocity variations.
Further, in step S5, described end-of-pipe control angle value is 88 °.
Further, reducing driving voltage according to the variable quantity set, the described variable quantity set is as rising
The variable quantity of driving voltage during perpendicular 0.05 °/s of velocity variations.
In the present invention, speedup Trigger Angle angle value referred to vertical angle degree carry out after arriving this value speedup control with
Improve the angle value of perpendicular speed；Change grade angular range and refer to angle value scope when Multi-stage cylinder changes grade,
General Erecting System has two grades of Erecting Systems or three grades of Erecting Systems, two grades of Erecting Systems change a grade angle
Degree is probably 45 ° ± 1 °, and grade angle of changing of three grades of Erecting Systems is probably the angle model of 30 ° ± 1 °
Enclose in interior, the angular range of 60 ° ± 1 °；After deceleration Trigger Angle angle value has referred to that vertical angle degree arrives this value
Carry out slowing down and control with the angle value having reduced perpendicular speed；Head end speedup Trigger Angle angle value refer to rise perpendicular
The angle value of speedup is carried out for the first time after beginning；Angle at the end deceleration trigger value has referred to that vertical angle degree is close
Rising and carry out the angle value controlled that slows down before having erected, this angle value is generally less than end-of-pipe control angle value 6 °；
End-of-pipe control angle value has referred to that vertical angle degree carries out the angle value of end-of-pipe control, Jing Guomo after arriving this value
After end controls, just having completed perpendicular, this angle is usually 88 °.
In the present invention, play perpendicular process particularly as follows: make Multi-stage cylinder with 0.1 °/s～0.2 °/s when playing perpendicular beginning
The perpendicular speed that rises at the uniform velocity rise to erect to a certain angle and be further added by perpendicular speed, this certain angle is head end increasing
Speed Trigger Angle angle value, has increased perpendicular speed when i.e. arriving head end speedup Trigger Angle angle value.Make Multi-stage cylinder fast
Speed rises perpendicular, starts to have reduced perpendicular speed, for multistage when a vertical angle degree for Multi-stage cylinder reaches a certain angle value
The level of changing of cylinder is prepared, and this certain angle value is the deceleration trigger angle before changing grade angular range first
Value, has reduced perpendicular speed when i.e. arriving the deceleration Trigger Angle angle value before changing grade angular range first.Rise perpendicular
When speed is slowly down to change grade angular range, regulates driving voltage further, made perpendicular speed maintain
In the range of 0.05 °/s～0.25 °/s, and complete within the range to change level.Change after level completes, play vertical angle
When degree reaches the speedup Trigger Angle angle value after changing level, increase driving voltage, improved perpendicular speed, accelerate
Rise perpendicular.Play vertical angle degree to be gradually increased.Deceleration Trigger Angle angle value before changing grade angular range to next stage or
When person arrives angle at the end deceleration trigger value, then reduce driving voltage, reduced perpendicular speed, for next
Level is changed level and is prepared or prepare for end-of-pipe control.Concrete, if Multi-stage cylinder only has two grades, then
Only need to once change level；If Multi-stage cylinder is more than two grades, then need to change level at least twice.Rise perpendicular
Angle increases further, and in time playing vertical joint and draw to an end, a vertical angle degree can first arrive angle at the end and slow down tactile
When sending out value, this time reduces driving voltage, has reduced perpendicular speed, has made perpendicular speed arrive end control
Within a perpendicular speed corresponding during controlling angle value is 0.1 °/s, regulates driving voltage the most further, make
Play perpendicular speed and 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.So far, overall process stable state control is completed
System.
In the present invention, changing grade angular range is a value range, changes the deceleration before grade angular range and triggers
Angle value be than this grade to change minima in grade angular range little 6 °, change the speedup after grade angular range and touch
Sending out angle value is to change big 2 ° of maximum in grade angular range than this grade.
In general, following beneficial effect can be obtained by the above technical scheme that the present invention is contemplated:
1, in the present invention, there is Tap changing control, before changing level, first reduced perpendicular speed every time, it is ensured that
Change level and complete playing perpendicular speed more slowly, especially made perpendicular speed maintain 0.05 °/s～0.25 °
Complete in the range of/s to change level, can reduce and reduce the compression shock that Multi-stage cylinder is brought when changing grade；Enter one
Step, time initial, make Multi-stage cylinder at the uniform velocity rise to erect to speedup touch with the perpendicular speed that rises of 0.1 °/s～0.2 °/s
Send out angle value, and make Multi-stage cylinder increase to end-of-pipe control angle value to play perpendicular speed slowly, arrive
After 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 °, stopped perpendicular control, rely on inertia to make system automatically arrive and refer to
Determining angle, above control mode can reduce the pressure that Multi-stage cylinder is brought when initiateing and stop further
Impact.By initial control, Tap changing control and end-of-pipe control, perpendicular overall process can be greatly reduced
In compression shock and injury that Erecting organ and body are brought, finally can increase substantially and send out
Penetrate the service life of car.
2, the mode of regulation voltage level is used to be controlled and then realize the regulation playing perpendicular speed, actual
In using, it is the most accurate that voltage control mode compares current control mode, and it plays perpendicular in-placing precision error
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 homeostatic control method in the embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing
And embodiment, the present invention is further elaborated.Should be appreciated that described herein specifically
Embodiment only in order to explain the present invention, is not intended to limit the present invention.Additionally, it is disclosed below
Just may be used as long as technical characteristic involved in each embodiment of the present invention does not constitutes conflict each other
To be mutually combined.
Concretely comprising the following steps of a kind of Multi-stage cylinder Erecting System overall process homeostatic control method:
S1: obtain each rank changes a grade angular range, arranges before each rank changes grade angular range and subtracts
Speed Trigger Angle angle value, arranges speedup Trigger Angle angle value after each rank changes grade angular range；
Speedup Trigger Angle angle value has referred to that vertical angle degree carries out speedup and controls to have improved perpendicular speed after arriving this value
The angle value of degree；Change grade angular range and refer to angle value scope when Multi-stage cylinder changes grade, general play perpendicular system
System has two grades of Erecting Systems or three grades of Erecting Systems.Such as, two grades of Erecting Systems change a grade angle can
Be 45 ° ± 1 °, three grades of Erecting Systems change grade angle can be the angular range of 30 ° ± 1 ° in, 60 °
In the angular range of ± 1 °.In the present embodiment, being three grades of Erecting Systems, it changes a grade angular range and is
29 °～31 °, 59 °～61 °.Deceleration Trigger Angle angle value has referred to that vertical angle degree is carried out after arriving this value
Slow down and control with the angle value having reduced perpendicular speed；Head end speedup Trigger Angle angle value refers to playing perpendicular beginning
Rear first time carries out the angle value of speedup；Angle at the end deceleration trigger value has referred to that vertical angle degree is perpendicular close to rising
Carrying out the angle value controlled that slows down before completing, in the present embodiment, this angle value is less than end-of-pipe control angle value
6 °, be 82 °；End-of-pipe control angle value has referred to that vertical angle degree carries out the angle of end-of-pipe control after arriving this value
Angle value, in the present embodiment, this angle is usually 88 °.But, the present invention exchanges a grade angular range, end
End pilot angle angle value and angle at the end deceleration trigger value the most specifically limit, and the most therefore trigger speedup
Angle value and deceleration Trigger Angle angle value the most specifically limit.
As one preferred embodiment of the present invention, setting and initiateed vertical angle degree as 0 °, three grades are played perpendicular system
The first order that needs system to carry out plays perpendicular, the second level and plays the perpendicular and third level and rise perpendicular, and overall process needs to carry out two
Secondary change level.Head end speedup Trigger Angle angle value is more than initial angle angle value 2 °, then head end speedup Trigger Angle angle value
It it is 2 °.Deceleration Trigger Angle angle value before changing level for the first time changes the minima of grade angular range less than the first order
6 °, it is 29 ° and deducts 6 °, be then 23 °.Change for the first time the speedup Trigger Angle angle value after level more than the
Once change maximum 2 ° in grade angular range, be 31 ° and add 2 °, be then 33 °.In like manner,
Deceleration Trigger Angle angle value before secondary changes level changes the minima 6 ° of grade angular range less than this time, is 53 °.
Speedup Trigger Angle angle value after second time changes level changes maximum 2 ° in grade angular range more than this time, for
63°。
S2: start Multi-stage cylinder Erecting System.Described Multi-stage cylinder Erecting System passes through Control of Voltage Multi-stage cylinder
Rise perpendicular speed.Described Multi-stage cylinder Erecting System includes host computer, proportional amplifier, hydraulic power source, many
Level cylinder, proportional velocity regulating valve, reversal valve, overflow valve and obliquity sensor, hydraulic power source, reversal valve, ratio
Example flow speed control valve, Multi-stage cylinder and overflow valve are sequentially connected in series with cable, host computer, proportional amplifier and ratio
Flow speed control valve is in series with cable, and this system has also included vertical arm.
S3: detected vertical angle degree with obliquity sensor in real time, controls proportional amplifier voltage swing and makes
Multi-stage cylinder at the uniform velocity rises perpendicular with a certain speed in the velocity interval of 0.1 °/s～0.2 °/s, until rising
Vertical angle degree arrives predetermined head end speedup Trigger Angle angle value, so far completes first motion control.Then increase
The voltage of vast scale amplifier is to have improved perpendicular speed.In the present invention, make Multi-stage cylinder with 0.1 °/s～0.2 °
A perpendicular speed of/s at the uniform velocity rises to erect to head end speedup Trigger Angle angle value and can guarantee that stablizing when having started perpendicular
Property.In reality, it is also possible to use the value being different from this velocity interval to carry out perpendicular, but the most repeatedly
Description of test, other rise perpendicular speed it cannot be guaranteed that started erect time stability, although or
Can guarantee that and started perpendicular stability, but expend overlong time.
S4: when playing the deceleration trigger angle that vertical angle degree arrives each rank successively, reduces voltage, makes
Vertical angle degree must be played and be down to 0.1 ° in the perpendicular speed that rises corresponding when changing first 1 ° of grade angular range of each rank
Within/s, then regulate the voltage of proportional amplifier so that play perpendicular speed and maintain 0.05 °/s～0.25 °/s
In the range of, change level ready.Perform appropriate level changes level.Change after level completes, playing a vertical angle degree
When arriving the speedup trigger angle after level is changed in this time, increase voltage, to have improved perpendicular speed, so far completes
Middle Tap changing control.Concrete, for three grades of Erecting Systems, it is 28 °, 58 ° playing vertical angle degree
Time, within having made perpendicular speed be reduced to 0.1 °/s, contribute in this perpendicular velocity interval follow-up enter one
The stability that step controls.
First level change after level completes, rise vertical angle degree arrive change first level change grade angular range after
During speedup Trigger Angle angle value, perpendicular to have improved by the variable quantity scaling up amplifier input voltage set
Speed, until play vertical angle degree to reach the deceleration Trigger Angle angle value before changing level, by the change set next time
Amount reduces the input voltage of proportional amplifier, so that the perpendicular speed that rises that first 1 ° of grade angular range is changed in this time drops
To 0.1 °/s, regulation proportional amplifier input voltage is so that playing perpendicular speed and maintaining the most further
In the range of 0.05 °/s～0.25 °/s, complete this time within the range and change level, then arrive at a vertical angle degree
Perpendicular speed has been increased, in this way, until Multi-stage cylinder when reaching the speedup Trigger Angle angle value after level is changed in this time
Complete all to change a grade process.Repetitious test proves, such control mode can further subtract
Little compression shock when changing grade.
In this step, when the variable quantity of described setting has referred to perpendicular 0.05 °/s of velocity variations, ratio is put
The variable quantity of big device input voltage, concrete, when playing perpendicular 0.05 °/s of velocity variations, proportional amplifier is defeated
The variable quantity entering voltage is 0.2V, but the present invention to rise perpendicular 0.05 °/s of velocity variations time scaling
The variable quantity of device input voltage does not carry out concrete restriction, and the hardware configuration according to concrete system is different,
This voltage variety is different.
S5: after playing vertical angle degree arrival angle at the end deceleration trigger value, progressively subtract by the variable quantity set
Few proportional amplifier input voltage is to have reduced perpendicular speed, and has made vertical angle degree reach end-of-pipe control angle
Within a perpendicular speed after value 88 ° is down to 0.1 °/s, regulation proportional amplifier input electricity the most further
Pressure, has made perpendicular speed maintain between 0.05 °/s to 0.25 °/s, and reaches 89.9 ° playing vertical angle degree
Time, stop perpendicular control, relied on inertia to make system automatically arrive specified angle 90 °, complete overall process
Homeostatic control.
Proportional amplifier input voltage when the described variable quantity set is as playing perpendicular 0.05 °/s of velocity variations
Variable quantity, concrete, this variable quantity is 0.2V.But the present invention is to playing perpendicular velocity variations 0.05 °
During/s, the variable quantity of proportional amplifier input voltage does not carry out concrete restriction, hard according to concrete system
Part is differently configured, and this voltage variety is different.
For two grades of Erecting Systems, change after level completes first, just complete and all change a grade process.
In the present invention, use the mode of regulation voltage level that described proportional amplifier is controlled and then real
The now regulation to a perpendicular speed, carries out making Multi-stage cylinder at 0.1 °/s～0.2 °/s when first motion controls
Rise at the uniform velocity to rise with a certain speed in perpendicular velocity interval and erect to head end speedup Trigger Angle angle value, carry out changing level
Within making the perpendicular speed changing first 1 ° of grade angular range be down to 0.1 °/s during control, and make to change level at 0.05 °
Complete to change level in the range of/s～0.25 °/s, carry out during end-of-pipe control, having made perpendicular speed be down to 0.1 ° after 88 °
Within/s, then make perpendicular speed maintain between 0.05 °/s to 0.25 °/s, and reached playing vertical angle degree
During to 89.9 °, stop perpendicular control, rely on inertia to make system automatically arrive specified angle 90 °, with
The common comprehensive function of upper condition, can improve precision and the reliability of Multi-stage cylinder Erecting System by a relatively large margin,
And the compression shock that significantly the few Multi-stage cylinder of reduction is brought when initiateing, changing level and stop, and can be big
Amplitude improves the service life of car launcher.
As it will be easily appreciated by one skilled in the art that and the foregoing is only presently preferred embodiments of the present invention,
Not in order to limit the present invention, all made within the spirit and principles in the present invention any amendment, etc.
With replacement and improvement etc., should be included within the scope of the present invention.
Claims (6)
1. a Multi-stage cylinder Erecting System overall process homeostatic control method, it is characterised in that include as follows
Step:
S1: obtain each rank changes a grade angular range, arranges before each rank changes grade angular range and subtracts
Speed Trigger Angle angle value, arranges speedup Trigger Angle angle value after each rank changes grade angular range；
S2: start Multi-stage cylinder Erecting System；
S3: detect in real time vertical angle degree, control driving voltage size makes Multi-stage cylinder 0.1 °/s～0.2 °
At the uniform velocity rise perpendicular with a certain speed in the velocity interval of/s, until playing vertical angle degree to arrive predetermined head end speedup
Trigger Angle angle value, then increase driving voltage is to have improved perpendicular speed, completes first motion control；
S4: when playing the deceleration trigger angle that vertical angle degree arrives each rank successively, reduces driving voltage,
Vertical angle degree has been made to be down to 0.1 ° in the perpendicular speed that rises corresponding when changing first 1 ° of grade angular range of every one-level
Within/s, in the range of then regulation driving voltage has made perpendicular speed maintain 0.05 °/s～0.25 °/s,
Control oil cylinder to perform to change level in changing grade angular range, change and arrive this grade at a vertical angle degree after level completes
During speedup trigger angle, increase driving voltage, to have improved perpendicular speed, completes centre in this way and changes level
Control；
S5: according to predetermined end-of-pipe control angle value, Multi-stage cylinder Erecting System is carried out end-of-pipe control, extremely
This completes overall process homeostatic control.
2. a kind of Multi-stage cylinder Erecting System overall process homeostatic control method as claimed in claim 1, its
Being characterised by, described step S5 is particularly as follows: arrange angle at the end before predetermined end-of-pipe control angle value
Deceleration trigger value, when playing vertical angle degree and arriving angle at the end deceleration trigger value, reduces driving voltage, makes
Within a perpendicular speed corresponding when must play vertical angle degree arrival end-of-pipe control angle value is down to 0.1 °/s, then
Regulate driving voltage further, made perpendicular speed maintain between 0.05 °/s～0.25 °/s, perpendicular rising
When angle reaches 89.9 °, closing 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 homeostatic control method as claimed in claim 2, its
Being characterised by, head end speedup Trigger Angle angle value is more than the initial angle angle value 2 ° of Multi-stage cylinder Erecting System；Respectively
Deceleration Trigger Angle angle value before level changes grade angular range changes minima 6 ° in grade angular range less than this level,
And at different levels change grade angular range after speedup Trigger Angle angle value change maximum in grade angular range more than this level
2°；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 homeostatic control method as claimed in claim 1, its
It is characterised by, in step S4, increases driving voltage according to the variable quantity set or reduce driving voltage,
The variable quantity of driving voltage when the described variable quantity set is as playing perpendicular 0.05 °/s of velocity variations.
5. a kind of Multi-stage cylinder Erecting System overall process homeostatic control method as claimed in claim 1, its
Being characterised by, in step S5, described end-of-pipe control angle value is 88 °.
6. a kind of Multi-stage cylinder Erecting System overall process homeostatic control method as claimed in claim 2, its
Being characterised by, reduce driving voltage according to the variable quantity set, the described variable quantity set is as playing perpendicular speed
The variable quantity of driving voltage during degree 0.05 °/s of change.
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| JP6523895B2 (en) * | 2015-09-18 | 2019-06-05 | 株式会社タグチ工業 | Cylinder speed increasing mechanism |
| 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 |
| CN106089835B (en) * | 2016-08-23 | 2018-02-13 | 北京航天发射技术研究所 | Search for Erecting organ control method |
| CN106837901B (en) * | 2017-04-12 | 2018-04-20 | 北京机械设备研究所 | A kind of Erecting System control method for reducing hydraulic starting impact |
| CN107816913B (en) * | 2017-09-22 | 2019-11-08 | 北京机械设备研究所 | One kind quickly playing perpendicular method |
| CN109492305B (en) * | 2018-11-12 | 2022-11-04 | 北京特种机械研究所 | Multi-stage cylinder erecting control method based on launching vehicle |
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| JP2652023B2 (en) * | 1987-12-30 | 1997-09-10 | カヤバ工業株式会社 | Hydraulic flow control method for hydraulic device having single rod cylinder |
| CN1044634C (en) * | 1996-11-13 | 1999-08-11 | 中国人民解放军第二炮兵工程学院 | Hydraulic system for large erecting equipment |
| CN102778902B (en) * | 2011-05-11 | 2015-04-22 | 山东建筑大学 | Double-stability automatic water injection control mechanism |
| CN102269191A (en) * | 2011-07-08 | 2011-12-07 | 北京机械设备研究所 | Dynamic compensation control method based on multi-stage oil cylinder erecting system |
| CN203822726U (en) * | 2014-01-27 | 2014-09-10 | 大连万恒冶金装备有限公司 | Manual adjustment pressure jump preventing constant-speed control hydraulic system |
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