CN106094881A - The deviation coupling synchronisation control means of Vertical Launch platform stance leveling - Google Patents

Abstract

The invention discloses the deviation coupling synchronisation control means of a kind of Vertical Launch platform stance leveling, step is as follows: initially set up the mathematical model of Vertical Launch platform stance leveling system；Again by active synchronization attitude leveling control method adjusting position based on deviation coupling；Finally carry out the associative simulation of Vertical Launch platform stance leveling system.The present invention is directed to the characteristics such as the big unbalance loading, close coupling, strong nonlinearity and the parameter time varying that generally exist in multi-cylinder system, propose a kind of coupling synchronisation control means deviation coupling to control, this method uses error compensator that multi-cylinder synchronous error is carried out Front feedback control, consider self and the kinestate of other each passages, effectively process each interchannel coupled relation, thus reduce the synchronous error of each subchannel, reach the purpose being synchronized with the movement.Contrast simulation result verification introduces the effectiveness of this synchronisation control means.

Description

The deviation coupling synchronisation control means of Vertical Launch platform stance leveling

Technical field

The invention belongs to electro-hydraulic servo control technical field, the deviation coupling of a kind of Vertical Launch platform stance leveling Close synchronisation control means.

Background technology

As the core force of terrestrial weapon, truck-mounted missile possesses field and launches, avoids the advantage that enemy radar is scouted, energy Enough farthest strike enemies and preservation oneself, therefore for guided missile launcher, high maneuverability energy and fast reaction Performance is then to strive for the key factor of operational time for us.Tradition guided missile is multiplex to be tilted to launch, and there is transmitting blind area, and vertical Transmitting have simple in construction, launch without dead angle, be swift in response, the advantage such as far firing range, be widely used.But owing to being fought Directly affecting of environment and equipment performance, launching tower is from emplacing, and leveling receives a series of switching motion to removing, its Required time gap is relatively big, and this is also the important step of restriction armament systems fight capability.Research shows, launches before MISSILE LAUNCHING The leveling time of platform accounts for 1/3rd of whole conversion time.Therefore, research and development high efficiency, high accuracy and quick leveling technology To reducing the time before missile armament is launched, improve the quick-reaction capability of armament systems, precision strike capability and existence Ability has important theory significance and real value.

Along with the development of industrial technology, motion large-scale, heave-load device is depended merely on traditional single actuator type of drive and is shown So cannot meet the requirement of modern project, and hydraulic synchronization has driven because its power density is big, simple in construction and be prone to real The advantages such as existing automatization are progressively extensively applied by industrial circle, the most in recent years in heavy duty platform, large type drill, robot control System and the field such as mobile radar, antiaircraft weapon flat pad, it is the most of common occurrence, in work that many hydraulic actuating mechanisms synchronize driving Having the biggest development space in Cheng Shiji, Research Significance is great.Classical hydraulic synchronization control method mainly by Robert.D.Lorenz and Y.Koren proposes and grows up, and is broadly divided into following 3 classes: equal way, master-slave mode and friendship Fork coupling controls.Along with Aero-Space, military radar and the heavy duty lifting field raising to high-precise synchronization movement needs, warp Allusion quotation synchronisation control means is encountered by a series of problem, as having external disturbance, close coupling, parameter time varying and strong non-thread Property system, classical synchronisation control means oneself cannot realize the requirement of high-precise synchronization.Along with computer and control theory Development, deviation coupling synchronisation control means arises at the historic moment.

The principle of deviation coupling Synchronization Control is certain controlled device in system to be respectively compared with other control objects, then Carry out gained deviation signal being added the compensation signal as this control object.This control algolithm is topmost is improved by profit By the damped coefficient relation between each system, relative signal is added in feedback signal.Deviation coupling control structure comes from Traditional cross-couplings Synchronization Control, simply has made some improvements so that it is can overcome cross-coupling control on its basis Some shortcomings, can retain again the characteristics such as cross-coupling control high accuracy.For have external disturbance, close coupling, parameter time varying with And the system of strong nonlinearity, it is possible to realize the requirement of high-precise synchronization.

At present, deviation coupling Synchronization Control is mainly used in multi-motor synchronous control field, and synchronizes control at multi-hydraulic-cylinder The research in field processed is also in a starting stage.Therefore, design and develop a hydraulic synchronous system the most effective, and use for reference The coupling synchronisation control means achievement in research in multi-motor synchronous control field, more auxiliary in suitable control algolithm to many hydraulic pressure Cylinder synchronous control system is studied, and sets about improving multi-hydraulic-cylinder and synchronize in terms of hydraulic system and control algolithm the two thereof The net synchronization capability of control system has the biggest development potentiality, is a brand-new academic problem.

Summary of the invention

It is an object of the invention to provide the deviation coupling synchronisation control means of a kind of Vertical Launch platform stance leveling, it is intended to Solve each axle dynamic characteristic mismatch problem caused due to external interference factor in multiaxial motion system, explore a kind of effective Multi-hydraulic-cylinder synchronous control technique, makes each interchannel parameter consistent, weakens the impact of model uncertainty, thus improve synchronization Precision.

The technical solution realizing the object of the invention is: the deviation coupling of a kind of Vertical Launch platform stance leveling synchronizes Control method, comprises the following steps:

Step 1, sets up the mathematical model of Vertical Launch platform stance leveling system:

Specific as follows:

Theoretical according to coordinate transform between coordinate system, the coordinate system of any one non-standard state is by a horizontal coordinates Turn over certain angle for rotary shaft obtain with X-axis, Y-axis, Z axis successively, and between the coordinate system ultimately generated and former horizontal coordinates Transformation matrix of coordinatesThere is a following relational expression:

$R_1^0=R_{\mathrm{\γ}}{R}_{\mathrm{\α}}{R}_{\mathrm{\β}}---\left(1\right)$

$R_1^0=\left(\begin{array}{ccc}\cos \mathrm{\γ}\cos \mathrm{\α}& \cos \mathrm{\γ}\sin \mathrm{\α}\sin \mathrm{\β}-\sin \mathrm{\γ}\cos \mathrm{\β}& \cos \mathrm{\γ}\sin \mathrm{\α}\cos \mathrm{\β}+\sin \mathrm{\γ}\sin \mathrm{\β}\\ \sin \mathrm{\γ}\cos \mathrm{\α}& \sin \mathrm{\γ}\sin \mathrm{\α}\sin \mathrm{\β}+\cos \mathrm{\γ}\cos \mathrm{\β}& \sin \mathrm{\γ}\sin \mathrm{\α}\cos \mathrm{\β}-\cos \mathrm{\γ}\sin \mathrm{\β}\\ -\sin \mathrm{\α}& \cos \mathrm{\α}\sin \mathrm{\β}& \cos \mathrm{\α}\cos \mathrm{\β}\end{array}\right)---\left(5\right)$

Wherein, α, β and γ are respectively the inclination angle of flat pad X-axis, Y-axis, Z-direction, R_αFor coordinate system OX₁Z₁To coordinate It is OX₀Z₀Two-dimensional coordinate transformation matrix, R_βFor coordinate system OY₁Z₁To coordinate system OY₀Z₀Two-dimensional coordinate transformation matrix, R_γFor sitting Mark system OX₁Y₁To coordinate system OX₀Y₀Two-dimensional coordinate transformation matrix；

If each supporting leg is at platform coordinate system OX₁Y₁Z₁In coordinate be¹P_i=(¹P_ix,¹P_iy,¹P_iz)^T, at horizontal coordinates OX₀Y₀Z₀In coordinate be⁰P_i=(⁰P_ix,⁰P_iy,⁰P_iz)^T, center of gravity G of flat pad is at OX₁Y₁Z₁Coordinate in coordinate system is¹G =(¹G_x,¹G_y,¹G_z)^T, at OX₀Y₀Z₀Coordinate in coordinate system is⁰G=(⁰G_x,⁰G_y,⁰G_z)^T；

In conjunction with the practical situation of flat pad leveling, formula (5) is reduced to

$R_1^0=\left(\begin{array}{ccc}cos\mathrm{\α}& sin\mathrm{\α}sin\mathrm{\β}& sin\mathrm{\α}cos\mathrm{\β}\\ 0& \cos \mathrm{\β}& -sin\mathrm{\β}\\ -sin\mathrm{\α}& cos\mathrm{\α}\sin \mathrm{\β}& \cos \mathrm{\α}cos\mathrm{\β}\end{array}\right)---\left(6\right)$

Known¹G=(G_x,G_y,0)^T, four supporting legs of flat pad coordinate in platform coordinate system is respectively¹P₁=(0,0, 0)^T,¹P₂=(L, 0,0)^T,¹P₃=(L, H, 0)^T,¹P₄=(0, H, 0)^T, wherein L is the length of flat pad, and H is flat pad Wide；

ByObtain each point coordinates under horizontal coordinates:

⁰P₁=(0,0,0)^T (7)

⁰P₂=(L cos α, 0 ,-L sin α)^T (8)

⁰P₃=(L cos α+H sin α sin β, H cos β ,-L sin α+H cos α sin β)^T (9)

⁰P₄=(H sin α sin β, H cos β, H cos α sin β)^T (10)

⁰G=(G_x cosα+G_y sinαsinβ,G_y cosβ,-G_x sinα+G_y cosαsinβ)^T (11)

The i.e. mathematical model of Vertical Launch platform stance leveling system.

Step 2, the active synchronization attitude leveling control method adjusting position by coupling based on deviation:

Specific as follows:

The all corresponding asymmetric servo cylinder of every supporting leg of described Vertical Launch platform；

Step 2-1, it is judged that the highest supporting leg

When flat pad is in non-standard state, supporting leg 1 is the positive and negative by right-handed helix of coordinate origin, inclination alpha and β Rule judges, wherein α with β distinguishes roll angle and the angle of pitch of corresponding platform；

Step 2-2, computed altitude is poor

Owing to platform inclination angle is low-angle, calculate for convenience, approximate and have cos α=cos β=1, sin α=α, sin β= β；ThenIt is simplified to

$R_1^0=\left(\begin{array}{ccc}1& \mathrm{\α}\mathrm{\β}& \mathrm{\α}\\ 0& 1& -\mathrm{\β}\\ -\mathrm{\α}& \mathrm{\β}& 1\end{array}\right)---\left(12\right)$

By

${({P_0}_{ix},{P_0}_{iy},{P_0}_{iz})}^T=\left(\begin{array}{ccc}1& \mathrm{\α}\mathrm{\β}& \mathrm{\α}\\ 0& 1& -\mathrm{\β}\\ -\mathrm{\α}& \mathrm{\β}& 1\end{array}\right)\·{({P_1}_{ix},{P_1}_{iy},0)}^T---\left(13\right)$

Obtaining each strong point coordinate in horizontal coordinates in Z-direction is⁰P_iz

⁰P_iz=-α¹P_ix+β¹P_iy (14)

Owing to before platform erection being pre-bearing state, initial tilt is α₀,β₀；Substitution formula (14) obtains a support the highest Point, if peak i=h,⁰P_iz≤⁰P_hz；Thus obtain site error e of any time each strong point_iFor:

e_i=⁰P_hz-⁰P_iz=-α₀(¹P_hx-¹P_ix)+β₀(¹P_hy-¹P_iy) (15)

1) α is worked as₀<0,β₀> 0 time, obtain original state supporting leg 3 the highest, supporting leg 1 is minimum, by each strong point coordinate substitute into formula (15):

e₁=-α₀L+β₀H,e₂=β₀H,e₃=0, e₄=-α₀L (16)

Therefore, the total kilometres D that supporting leg rises is:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2(-{\mathrm{\&alpha;}}_{0}L+{\mathrm{\&beta;}}_{0}H)---\left(17\right)$

The leveling time is by site error e of minimum supporting leg 1₁Size determines:

T=e₁/ v=(-α₀L+β₀H)/v (18)

Wherein T is the leveling time, and v is the rate of climb of hydraulic cylinder；

2) α is worked as₀>0,β₀> 0 time, obtain original state supporting leg 4 the highest, supporting leg 2 is minimum, by each strong point coordinate substitute into formula (15):

e₁=β₀H,e₂=α₀L+β₀H,e₃=α₀L,e₄=0

Therefore, the total kilometres that supporting leg rises are:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2({\mathrm{\&alpha;}}_{0}L+{\mathrm{\&beta;}}_{0}H)$

The leveling time is by site error e of minimum supporting leg 2₂Size determines:

T=e₂/ v=(α₀L+β₀H)/v

3) α is worked as₀>0,β₀< when 0, obtaining original state supporting leg 1 the highest, supporting leg 3 is minimum, and each strong point coordinate is substituted into formula (15):

e₁=0, e₂=α₀L,e₃=α₀L-β₀H,e₄=-β₀H

Therefore, the total kilometres that supporting leg rises are:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2({\mathrm{\&alpha;}}_{0}L-{\mathrm{\&beta;}}_{0}H)$

The leveling time is by site error e of minimum supporting leg 3₃Size determines:

T=e₃/ v=(α₀L-β₀H)/v

4) α is worked as₀<0,β₀< when 0, obtaining original state supporting leg 2 the highest, supporting leg 4 is minimum, and each strong point coordinate is substituted into formula (15):

e₁=-α₀L,e₂=0, e₃=-β₀H,e₄=-α₀L-β₀H

Therefore, the total kilometres that supporting leg rises are:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2(-{\mathrm{\&alpha;}}_{0}L-{\mathrm{\&beta;}}_{0}H)$

The leveling time is by site error e of minimum supporting leg 4₄Size determines:

T=e₄/ v=(-α₀L-β₀H)/v；

Step 2-3, couples synchronization control algorithm by deviation, it is thus achieved that preferably Synchronization Control performance:

Article four, supporting leg is divided into four parallel legs, error compensator that every branch road includes being sequentially connected with, adder, control Device and supporting leg, error compensator include first adder, the first gain compensator, second adder, the second gain compensator and 3rd adder, first adder and the series connection of the first gain compensator are the first branch road, second adder and the second gain compensation Device series connection is the second branch road, connects with the 3rd adder after the first branch road and the second branch circuit parallel connection, and each hydraulic cylinder is by carry-out bit Put the feedback signal input signal as error compensator, the output of the position of supporting leg n export with remaining Position of Hydraulic Cylinder respectively into Row compare, subsequently the difference of each passage is sent to correspondence gain compensator, finally using each offset be added after as The error compensating signal of supporting leg n carries out position control to supporting leg n, thus realizes the coordinate synchronization fortune between supporting leg n and other supporting legs Dynamic；Compensating gain K in each passage of error compensator_njEach interchannel parameter differences is compensated, thus eliminates control The impact on system synchronization performance of the interchannel parameter difference opposite sex；Wherein n, j are supporting leg sequence number, and j is not the highest supporting leg sequence number, And n, j=1～4, j ≠ n；

Error control variable z_iFor the linear combination of the position synchronous error between the site error of each supporting leg self and supporting leg, I.e.

Step 3, carries out the associative simulation of Vertical Launch platform stance leveling system:

Specific as follows:

First according to flat pad actual condition, relevant parameter is determined；Build in AMESim and Simulink afterwards Imitate true, specifically comprise the following steps that

Step 3-1, is modeled four-point supporting flat pad in AMESim, including platform structure and hydraulic leg Modeling；

Step 3-2, is modeled leveling method and control algolithm in Simulink, and contrast simulation is tested for convenience Card, control algolithm uses classical PID to control and PID based on deviation coupling controls to emulate；

Step 3-3, carries out AMESim and the Simulink associative simulation of flat pad attitude leveling system, obtains platform and adjusts Flat contrast simulation result.

Compared with prior art, its remarkable advantage is the present invention:

1) present invention is from Synchronous motion control angle, for interchannel coupling effect each in multi-hydraulic-cylinder motor process Should, used the classical synchronisation control means of master-slave synchronisation and parallel synchronous can not meet the requirement of high-precise synchronization in the past, therefore Attempt introducing wherein deviation coupling control method, weaken each interchannel coupled relation, to obtain the preferable stability of synchronization.

2) deviation coupling belongs to coupling synchronisation control means, is used in multi-motor synchronous control field at present in the majority, should Method be used in actual multi-hydraulic-cylinder synchronization system be also the present invention novelty in place of.

3) deviation coupling control method is incorporated and forms novel PID controller in PID control, to overcome tradition by the present invention PID controls processing the intrinsic coupling of multi-cylinder system, the deficiency of the characteristic such as non-linear.

Accompanying drawing explanation

Fig. 1 is that the coordinate system of the present invention rotates schematic diagram.

Fig. 2 be the present invention non-standard state under flat pad sketch.

Fig. 3 is the deviation coupling control principle drawing of the present invention.

Fig. 4 is the first error compensator internal structure of the supporting leg 1 of the present invention.

Fig. 5 is the platform change of pitch angle curve chart (under classical PID controls) of the present invention.

Fig. 6 is platform each supporting leg displacement changing curve figure (under classical PID controls) of the present invention.

Fig. 7 is the platform change of pitch angle curve chart (under PID based on deviation coupling controls) of the present invention.

Fig. 8 is platform each supporting leg displacement changing curve figure (under PID based on deviation coupling controls) of the present invention.

Fig. 9 is the method flow diagram of the present invention.

Figure 10 is the flat pad structure chart of the present invention.

Detailed description of the invention

Below in conjunction with the accompanying drawings the present invention is described in further detail.

In conjunction with Fig. 1 to Fig. 4 and Fig. 9 and Figure 10, the deviation coupling Synchronization Control of a kind of Vertical Launch platform stance leveling Method, comprises the following steps:

Step 1, sets up the mathematical model of Vertical Launch platform stance leveling system, specific as follows:

If OX₀Y₀Z₀For horizontal coordinates, keep transfixion, OX₁Y₁Z₁For non-horizontal coordinate system, by horizontal coordinates OX₀Y₀Z₀Obtaining through a series of rotations, its rotationally-varying schematic diagram is as shown in Figure 1.Regulation anglec of rotation direction meets the right hand herein Screw rule, i.e. thumb point to the positive direction of rotary shaft, and four clinodactyly directions are the positive direction of the anglec of rotation.

Theoretical according to coordinate transform between coordinate system, the coordinate system of any one non-standard state is by a horizontal coordinates Turn over certain angle for rotary shaft obtain with X-axis, Y-axis, Z axis successively, and between the coordinate system ultimately generated and former horizontal coordinates Transformation matrix of coordinatesThere is a following relational expression:

$R_1^0=R_{\mathrm{\&gamma;}}{R}_{\mathrm{\&alpha;}}{R}_{\mathrm{\&beta;}}---\left(1\right)$

Wherein, R_αFor coordinate system OX₁Z₁To coordinate system OX₀Z₀Two-dimensional coordinate transformation matrix, its value is

$R_{\mathrm{\&alpha;}}=\left(\begin{array}{ccc}cos\mathrm{\&alpha;}& 0& sin\mathrm{\&alpha;}\\ 0& 1& 0\\ -sin\mathrm{\&alpha;}& 0& \cos \mathrm{\&alpha;}\end{array}\right)---\left(2\right)$

With X₀Axle is rotary shaft transformation matrix of coordinates R when turning over β angle_βFor

$R_{\mathrm{\&beta;}}=\left(\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&beta;}& -sin\mathrm{\&beta;}\\ 0& \sin \mathrm{\&beta;}& \cos \mathrm{\&beta;}\end{array}\right)---\left(3\right)$

With Z₀R during γ angle is turned over for axle_γFor

$R_{\mathrm{\&gamma;}}=\left(\begin{array}{ccc}cos\mathrm{\&gamma;}& -\sin \mathrm{\&gamma;}& 0\\ sin\mathrm{\&gamma;}& \cos \mathrm{\&gamma;}& 0\\ 0& 0& 1\end{array}\right)---\left(4\right)$

Corresponding matrix value is substituted into, obtains

$R_1^0=\left(\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&alpha;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}-\sin \mathrm{\&gamma;}\cos \mathrm{\&beta;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&beta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&alpha;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}+\cos \mathrm{\&gamma;}\cos \mathrm{\&beta;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&beta;}\\ -\sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}\sin \mathrm{\&beta;}& \cos \mathrm{\&alpha;}\cos \mathrm{\&beta;}\end{array}\right)---\left(5\right)$

Assuming that now flat pad is in non-standard state, the simplified model of platform is as in figure 2 it is shown, platform X-direction is inclined Angle is α, and Y direction inclination angle is β, OX₀Y₀Z₀For horizontal coordinates, OX₁Y₁Z₁For platform coordinate system (connecting firmly with platform).If each Lower limb is at platform coordinate system OX₁Y₁Z₁In coordinate be¹P_i=(¹P_ix,¹P_iy,¹P_iz)^T, at horizontal coordinates OX₀Y₀Z₀In coordinate For⁰P_i=(⁰P_ix,⁰P_iy,⁰P_iz)^T, center of gravity G of flat pad is at OX₁Y₁Z₁Coordinate in coordinate system is¹G=(¹G_x,¹G_y,¹G_z)^T, At OX₀Y₀Z₀Coordinate in coordinate system is⁰G=(⁰G_x,⁰G_y,⁰G_z)^T。

From above learning, formula (5) is generally transformation matrix between non-horizontal coordinate system and horizontal coordinates, in conjunction with The practical situation of flat pad leveling, the roll angle of the corresponding platform respectively of α with β in matrix and the angle of pitch, and due to four Support leg one end is rigidly connected with platform, and the other end contacts with ground, and its translation in XOY plane is almost nil, therefore platform Anglec of rotation γ about the z axis is little to ignoring, i.e. sin γ=0, cos γ=1.Therefore, formula (5) is reduced to

$R_1^0=\left(\begin{array}{ccc}cos\mathrm{\&alpha;}& sin\mathrm{\&alpha;}sin\mathrm{\&beta;}& sin\mathrm{\&alpha;}cos\mathrm{\&beta;}\\ 0& \cos \mathrm{\&beta;}& -sin\mathrm{\&beta;}\\ -sin\mathrm{\&alpha;}& cos\mathrm{\&alpha;}\sin \mathrm{\&beta;}& \cos \mathrm{\&alpha;}cos\mathrm{\&beta;}\end{array}\right)---\left(6\right)$

Known¹G=(G_x,G_y,0)^T, four supporting legs of flat pad coordinate in platform coordinate system is respectively¹P₁=(0,0, 0)^T,¹P₂=(L, 0,0)^T,¹P₃=(L, H, 0)^T,¹P₄=(0, H, 0)^T, wherein L is the length of flat pad, and H is flat pad Wide；

ByObtain each point coordinates under horizontal coordinates:

⁰P₁=(0,0,0)^T (7)

⁰P₂=(L cos α, 0 ,-L sin α)^T (8)

⁰P₃=(L cos α+H sin α sin β, H cos β ,-L sin α+H cos α sin β)^T (9)

⁰P₄=(H sin α sin β, H cos β, H cos α sin β)^T (10)

⁰G=(G_x cosα+G_y sinαsinβ,G_y cosβ,-G_x sinα+G_y cosαsinβ)^T (11)

The i.e. mathematical model of Vertical Launch platform stance leveling system.

Step 2, by the active synchronization attitude leveling control method adjusting position coupled based on deviation, specific as follows:

The attitude leveling of Vertical Launch platform uses " chasing peak " leveling method.Platform, after pre-supporting, is typically located In non-standard state, now must have a strong point the highest, during leveling keep peak motionless, remaining strong point move upward with Dress, final sum peak is concordant is i.e. in level.It is embodied as step as follows:

The all corresponding asymmetric servo cylinder of every supporting leg of described Vertical Launch platform；

Step 2-1, it is judged that the highest supporting leg

Flat pad shown in Fig. 2 is in non-standard state, and supporting leg 1 is the positive and negative by the right side of coordinate origin, inclination alpha and β Hands corkscrew rule judges, it is illustrated that for α<0, β>0, now supporting leg 3 is the highest, and supporting leg 1 is minimum；

Step 2-2, computed altitude is poor

Owing to platform inclination angle is low-angle, calculate for convenience, approximate and have cos α=cos β=1, sin α=α, sin β= β；ThenIt is simplified to

$R_1^0=\left(\begin{array}{ccc}1& \mathrm{\&alpha;}\mathrm{\&beta;}& \mathrm{\&alpha;}\\ 0& 1& -\mathrm{\&beta;}\\ -\mathrm{\&alpha;}& \mathrm{\&beta;}& 1\end{array}\right)---\left(12\right)$

By

${({P_0}_{ix},{P_0}_{iy},{P_0}_{iz})}^T=\left(\begin{array}{ccc}1& \mathrm{\&alpha;}\mathrm{\&beta;}& \mathrm{\&alpha;}\\ 0& 1& -\mathrm{\&beta;}\\ -\mathrm{\&alpha;}& \mathrm{\&beta;}& 1\end{array}\right)\&CenterDot;{({P_1}_{ix},{P_1}_{iy},0)}^T---\left(13\right)$

Obtaining each strong point coordinate in horizontal coordinates in Z-direction is

⁰P_iz=-α¹P_ix+β¹P_iy (14)

Owing to before platform erection being pre-bearing state, initial tilt is α₀,β₀；Substitution formula (14) obtains a support the highest Point, if peak i=h,⁰P_iz≤⁰P_hz；The site error thus obtaining any time each strong point is:

e_i=⁰P_hz-⁰P_iz=-α₀(¹P_hx-¹P_ix)+β₀(¹P_hy-¹P_iy) (15)

With α₀<0,β₀> as a example by 0, obtaining original state supporting leg 3 the highest, supporting leg 1 is minimum, and each strong point coordinate is substituted into above formula :

e₁=-α₀L+β₀H,e₂=β₀H,e₃=0, e₄=-α₀L (16)

Therefore, the total kilometres that supporting leg rises are:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2(-{\mathrm{\&alpha;}}_{0}L+{\mathrm{\&beta;}}_{0}H)---\left(17\right)$

The leveling time is determined by the site error size of minimum supporting leg 1:

T=e₁/ v=(-α₀L+β₀H)/v (18)

Wherein T is leveling time (s), and v is the rate of climb (m/s) of hydraulic cylinder.

Other three kinds of situations are as follows:

Work as α₀>0,β₀> 0 time, obtain original state supporting leg 4 the highest, supporting leg 2 is minimum, by each strong point coordinate substitute into formula (15) :

e₁=β₀H,e₂=α₀L+β₀H,e₃=α₀L,e₄=0

Therefore, the total kilometres that supporting leg rises are:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2({\mathrm{\&alpha;}}_{0}L+{\mathrm{\&beta;}}_{0}H)$

The leveling time is by site error e of minimum supporting leg 2₂Size determines:

T=e₂/ v=(α₀L+β₀H)/v

Work as α₀>0,β₀< when 0, obtaining original state supporting leg 1 the highest, supporting leg 3 is minimum, and each strong point coordinate is substituted into formula (15) :

e₁=0, e₂=α₀L,e₃=α₀L-β₀H,e₄=-β₀H

Therefore, the total kilometres that supporting leg rises are:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2({\mathrm{\&alpha;}}_{0}L-{\mathrm{\&beta;}}_{0}H)$

The leveling time is by site error e of minimum supporting leg 3₃Size determines:

T=e₃/ v=(α₀L-β₀H)/v

Work as α₀<0,β₀< when 0, obtaining original state supporting leg 2 the highest, supporting leg 4 is minimum, and each strong point coordinate is substituted into formula (15) :

e₁=-α₀L,e₂=0, e₃=-β₀H,e₄=-α₀L-β₀H

Therefore, the total kilometres that supporting leg rises are:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2(-{\mathrm{\&alpha;}}_{0}L-{\mathrm{\&beta;}}_{0}H)$

The leveling time is by site error e of minimum supporting leg 4₄Size determines:

T=e₄/ v=(-α₀L-β₀H)/v。

Step 2-3, couples synchronization control algorithm by deviation, it is thus achieved that preferably Synchronization Control performance:

For multi-hydraulic-cylinder synchronous control system, introduce deviation coupling synchronisation control means and be obtained in that preferably synchronization is steady Qualitative.The core concept of this method is, the output of the output of each subchannel with other passages is compared, gained inclined Difference is added the error compensating signal as this passage after being multiplied by corresponding gain coefficient again.Concrete control principle is as shown in Figure 3. Four-point supporting flat pad for will be discussed (assumes the highest i.e. x of supporting leg 3_d=x₃), the particularity of this control method is to adopt With error compensator, multi-cylinder synchronous error is carried out Front feedback control, by error compensator by each supporting leg and remaining supporting leg After the position output work difference of (except the highest supporting leg) linear combination, the synchronous error as this supporting leg compensates signal, adds each The site error of lower limb self, sends control signal to controller after linear process, so that synchronous error reduces until being 0, it is finally reached the purpose being synchronized with the movement.As a example by supporting leg 1, its error compensator internal structure is as shown in Figure 4.

Being found out by Fig. 4, error compensator comprehensively embodies the running status of all hydraulic cylinders to be regulated, the most each hydraulic cylinder Using outgoing position feedback signal as the input signal of error compensator, the position output of supporting leg 1 respectively with remaining fluid cylinder pressure position Put output to compare, subsequently the difference of each passage is sent to the gain compensator of correspondence, finally by each offset phase After adding, the error compensating signal as supporting leg 1 carries out position control to supporting leg 1, thus realizes the association between supporting leg 1 and other supporting legs Tune is synchronized with the movement.Compensating gain K in each passage of error compensator_1jEach interchannel parameter differences is compensated, thus Eliminate the impact controlling the interchannel parameter difference opposite sex to system synchronization performance；Wherein j is supporting leg sequence number, and j is not the highest supporting leg Sequence number, and j=2～4, j ≠ 3.

Error control variable z_iFor the linear combination of the position synchronous error between the site error of each supporting leg self and supporting leg, I.e.

Step 3, carries out the associative simulation of Vertical Launch platform stance leveling system, specific as follows:

According to flat pad actual condition, design parameter is provided that

Initial tilt α₀=-0.88 °, β₀=1.92 °；Flat pad a size of L × H=10605mm × 2800mm.

Being learnt by α<0, β>0, supporting leg 3 is the highest, and supporting leg 2 is second highest, and supporting leg 4 times is low, and supporting leg 1 is minimum.

By formula (15), the initial position error between each strong point i and peak h is respectively as follows: e₁=| α₀|L+β₀H= 254.28mm, e₂=β₀H=95.20mm, e₃=0, e₄=| α₀| L=159.08mm

Classical PID controls: choosing pid parameter is k_p=220, k_i=0, k_d=10, the simulation run time is 10s；Based on partially The PID of difference coupling controls: choosing pid parameter is k_p=220, k_i=0, k_d=0, the simulation run time is 5s.

Modeling and simulating process is carried out in AMESim and Simulink, specifically comprises the following steps that

Step 3-1, is modeled four-point supporting flat pad in AMESim, including platform structure and hydraulic leg Modeling；

Step 3-2, is modeled leveling method and control algolithm in Simulink, and contrast simulation is tested for convenience Card, control algolithm uses classical PID to control and PID based on deviation coupling controls to emulate；

Step 3-3, carries out AMESim and the Simulink associative simulation of flat pad attitude leveling system, obtains platform and adjusts Flat contrast simulation result.

Under in Figure of description, Fig. 5 and Fig. 6 is classical PID control, flat pad change of pitch angle curve chart and each supporting leg position Move change curve.Being learnt by figure, the leveling precision of flat pad is ± (0.7 × 10^-3) ° i.e. ± 2.52 ", the leveling time is 6.5s。

In Figure of description, Fig. 7 and Fig. 8 is under PID based on deviation coupling controls, flat pad change of pitch angle curve chart With each supporting leg displacement changing curve figure.Being learnt by figure, the leveling precision of flat pad is ± (0.3 × 10^-4) ° i.e. ± 0.108 ", The leveling time is 4.5s.

Thus it is clear to, deviation coupling control method is incorporated in PID controller, it is possible to realize the synchronization fortune of multi-hydraulic-cylinder Dynamic, improve leveling precision, reduce the leveling time.

Claims (4)

1. the deviation coupling synchronisation control means of a Vertical Launch platform stance leveling, it is characterised in that comprise the following steps:

Step 1, sets up the mathematical model of Vertical Launch platform stance leveling system；

Step 2, by the active synchronization attitude leveling control method adjusting position coupled based on deviation；

Step 3, carries out the associative simulation of Vertical Launch platform stance leveling system.

The deviation coupling synchronisation control means of Vertical Launch platform stance leveling the most according to claim 1, its feature exists In, set up the mathematical model of Vertical Launch platform stance leveling system described in step 1, specific as follows:

Theoretical according to coordinate transform between coordinate system, the coordinate system of any one non-standard state is by a horizontal coordinates successively Turn over certain angle for rotary shaft obtain with X-axis, Y-axis, Z axis, and the seat between the coordinate system ultimately generated and former horizontal coordinates Mark transformation matrixThere is a following relational expression:

$R_1^0=R_{\mathrm{\&gamma;}}{R}_{\mathrm{\&alpha;}}{R}_{\mathrm{\&beta;}}---\left(1\right)$

$R_1^0=\left(\begin{array}{ccc}\cos \mathrm{\&gamma;}\cos \mathrm{\&alpha;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}-\sin \mathrm{\&gamma;}\cos \mathrm{\&beta;}& \cos \mathrm{\&gamma;}\sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}+\sin \mathrm{\&gamma;}\sin \mathrm{\&beta;}\\ \sin \mathrm{\&gamma;}\cos \mathrm{\&alpha;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}+\cos \mathrm{\&gamma;}\cos \mathrm{\&beta;}& \sin \mathrm{\&gamma;}\sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}-\cos \mathrm{\&gamma;}\sin \mathrm{\&beta;}\\ -\sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}\sin \mathrm{\&beta;}& \cos \mathrm{\&alpha;}\cos \mathrm{\&beta;}\end{array}\right)---\left(5\right)$

Wherein, α, β and γ are respectively the inclination angle of flat pad X-axis, Y-axis, Z-direction, R_αFor coordinate system OX₁Z₁To coordinate system OX₀Z₀Two-dimensional coordinate transformation matrix, R_βFor coordinate system OY₁Z₁To coordinate system OY₀Z₀Two-dimensional coordinate transformation matrix, R_γFor coordinate It is OX₁Y₁To coordinate system OX₀Y₀Two-dimensional coordinate transformation matrix；

If each supporting leg is at platform coordinate system OX₁Y₁Z₁In coordinate be¹P_i=(¹P_ix,¹P_iy,¹P_iz)^T, at horizontal coordinates OX₀Y₀Z₀ In coordinate be⁰P_i=(⁰P_ix,⁰P_iy,⁰P_iz)^T, center of gravity G of flat pad is at OX₁Y₁Z₁Coordinate in coordinate system is¹G=(¹G_x,¹G_y,¹G_z)^T, at OX₀Y₀Z₀Coordinate in coordinate system is⁰G=(⁰G_x,⁰G_y,⁰G_z)^T；

In conjunction with the practical situation of flat pad leveling, formula (5) is reduced to

$R_1^0=\left(\begin{array}{ccc}\cos \mathrm{\&alpha;}& \sin \mathrm{\&alpha;}\sin \mathrm{\&beta;}& \sin \mathrm{\&alpha;}\cos \mathrm{\&beta;}\\ 0& \cos \mathrm{\&beta;}& -\sin \mathrm{\&beta;}\\ -\sin \mathrm{\&alpha;}& \cos \mathrm{\&alpha;}\sin \mathrm{\&beta;}& \cos \mathrm{\&alpha;}\cos \mathrm{\&beta;}\end{array}\right)---\left(6\right)$

Known¹G=(G_x,G_y,0)^T, four supporting legs of flat pad coordinate in platform coordinate system is respectively¹P₁=(0,0,0)^T,¹P₂=(L, 0,0)^T,¹P₃=(L, H, 0)^T,¹P₄=(0, H, 0)^T, wherein L is the length of flat pad, and H is the width of flat pad；

ByObtain each point coordinates under horizontal coordinates:

⁰P₁=(0,0,0)^T (7)

⁰P₂=(Lcos α, 0 ,-Lsin α)^T (8)

⁰P₃=(Lcos α+Hsin α sin β, Hcos β ,-Lsin α+Hcos α sin β)^T (9)

⁰P₄=(Hsin α sin β, Hcos β, Hcos α sin β)^T (10)

⁰G=(G_xcosα+G_ysinαsinβ,G_ycosβ,-G_xsinα+G_ycosαsinβ)^T (11)

The i.e. mathematical model of Vertical Launch platform stance leveling system.

The deviation coupling synchronisation control means of Vertical Launch platform stance leveling the most according to claim 1, its feature exists In, by active synchronization attitude leveling control method adjusting position based on deviation coupling described in step 2, specific as follows:

The all corresponding asymmetric servo cylinder of every supporting leg of described Vertical Launch platform；

Step 2-1, it is judged that the highest supporting leg

When flat pad is in non-standard state, supporting leg 1 is the positive and negative by right-hand rule of coordinate origin, inclination alpha and β Judging, wherein α with β distinguishes roll angle and the angle of pitch of corresponding platform；

Step 2-2, computed altitude is poor

Owing to platform inclination angle is low-angle, calculating for convenience, approximation has cos α=cos β=1, sin α=α, sin β=β；In It isIt is simplified to

$R_1^0=\left(\begin{array}{ccc}1& \mathrm{\&alpha;}\mathrm{\&beta;}& \mathrm{\&alpha;}\\ 0& 1& -\mathrm{\&beta;}\\ -\mathrm{\&alpha;}& \mathrm{\&beta;}& 1\end{array}\right)---\left(12\right)$

By

${({P_0}_{ix},{P_0}_{iy},{P_0}_{iz})}^T=\left(\begin{array}{ccc}1& \mathrm{\&alpha;}\mathrm{\&beta;}& \mathrm{\&alpha;}\\ 0& 1& -\mathrm{\&beta;}\\ -\mathrm{\&alpha;}& \mathrm{\&beta;}& 1\end{array}\right)\&CenterDot;{({P_1}_{ix},{P_1}_{iy},0)}^T---\left(13\right)$

Obtaining each strong point coordinate in horizontal coordinates in Z-direction is⁰P_iz

⁰P_iz=-α¹P_ix+β¹P_iy (14)

Owing to before platform erection being pre-bearing state, initial tilt is α₀,β₀；Substitution formula (14) obtains a strong point the highest, if Peak i=h,⁰P_iz≤⁰P_hz；Thus obtain site error e of any time each strong point_iFor:

e_i=⁰P_hz-⁰P_iz=-α₀(¹P_hx-¹P_ix)+β₀(¹P_hy-¹P_iy) (15)

1) α is worked as₀<0,β₀> 0 time, obtain original state supporting leg 3 the highest, supporting leg 1 is minimum, by each strong point coordinate substitute into formula (15) :

e₁=-α₀L+β₀H,e₂=β₀H,e₃=0, e₄=-α₀L (16)

Therefore, the total kilometres D that supporting leg rises is:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2(-{\mathrm{\&alpha;}}_{0}L+{\mathrm{\&beta;}}_{0}H)---\left(17\right)$

The leveling time is by site error e of minimum supporting leg 1₁Size determines:

T=e₁/ v=(-α₀L+β₀H)/v (18)

Wherein T is the leveling time, and v is the rate of climb of hydraulic cylinder；

2) α is worked as₀>0,β₀> 0 time, obtain original state supporting leg 4 the highest, supporting leg 2 is minimum, by each strong point coordinate substitute into formula (15) :

e₁=β₀H,e₂=α₀L+β₀H,e₃=α₀L,e₄=0

Therefore, the total kilometres that supporting leg rises are:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2({\mathrm{\&alpha;}}_{0}L+{\mathrm{\&beta;}}_{0}H)$

The leveling time is by site error e of minimum supporting leg 2₂Size determines:

T=e₂/ v=(α₀L+β₀H)/v

3) α is worked as₀>0,β₀< when 0, obtaining original state supporting leg 1 the highest, supporting leg 3 is minimum, and each strong point coordinate is substituted into formula (15) :

e₁=0, e₂=α₀L,e₃=α₀L-β₀H,e₄=-β₀H

Therefore, the total kilometres that supporting leg rises are:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2({\mathrm{\&alpha;}}_{0}L-{\mathrm{\&beta;}}_{0}H)$

The leveling time is by site error e of minimum supporting leg 3₃Size determines:

T=e₃/ v=(α₀L-β₀H)/v

4) α is worked as₀<0,β₀< when 0, obtaining original state supporting leg 2 the highest, supporting leg 4 is minimum, and each strong point coordinate is substituted into formula (15) :

e₁=-α₀L,e₂=0, e₃=-β₀H,e₄=-α₀L-β₀H

Therefore, the total kilometres that supporting leg rises are:

$D=\underset{i=1}{\overset{4}{\&Sigma;}}{e}_i=2(-{\mathrm{\&alpha;}}_{0}L-{\mathrm{\&beta;}}_{0}H)$

The leveling time is by site error e of minimum supporting leg 4₄Size determines:

T=e₄/ v=(-α₀L-β₀H)/v；

Step 2-3, couples synchronization control algorithm by deviation, it is thus achieved that preferably Synchronization Control performance:

Article four, supporting leg is divided into four parallel legs, error compensator that every branch road includes being sequentially connected with, adder, controller and Supporting leg, error compensator includes first adder, the first gain compensator, second adder, the second gain compensator and the 3rd Adder, first adder and the series connection of the first gain compensator are the first branch road, second adder and the second gain compensator string Connection is the second branch road, connects with the 3rd adder after the first branch road and the second branch circuit parallel connection, and each hydraulic cylinder is anti-by outgoing position Feedback signal compares with the output of remaining Position of Hydraulic Cylinder respectively as the input signal of error compensator, the position output of supporting leg n Relatively, subsequently the difference of each passage is sent to the gain compensator of correspondence, as supporting leg n after being finally added by each offset Error compensating signal supporting leg n is carried out position control, thus realize the coordinate synchronization motion between supporting leg n and other supporting legs；By mistake Compensating gain K in the difference each passage of compensator_njEach interchannel parameter differences is compensated, thus eliminates control interchannel The parameter difference opposite sex impact on system synchronization performance；Wherein n, j are supporting leg sequence number, and j is not the highest supporting leg sequence number, and n, j =1～4, j ≠ n；

Error control variable z_iFor the linear combination of the position synchronous error between the site error of each supporting leg self and supporting leg, i.e.

And i, j ≠ h, z_h=0 (19).

The deviation coupling synchronisation control means of Vertical Launch platform stance leveling the most according to claim 1, its feature exists In, carry out the associative simulation of Vertical Launch platform stance leveling system described in step 3, specific as follows:

First according to flat pad actual condition, relevant parameter is determined；It is modeled afterwards imitating in AMESim and Simulink Very, specifically comprise the following steps that

Step 3-1, is modeled four-point supporting flat pad in AMESim, including building of platform structure and hydraulic leg Mould；

Step 3-2, is modeled leveling method and control algolithm in Simulink, for convenience contrast simulation checking, control Algorithm processed uses classical PID to control and PID based on deviation coupling controls to emulate；

Step 3-3, carries out AMESim and the Simulink associative simulation of flat pad attitude leveling system, obtains platform erection pair Compare simulation result.