CN106125600A - The quickly fixed high leveling of a kind of transmitting station and empty lower limb automatic detection and control system - Google Patents
The quickly fixed high leveling of a kind of transmitting station and empty lower limb automatic detection and control system Download PDFInfo
- Publication number
- CN106125600A CN106125600A CN201610493150.XA CN201610493150A CN106125600A CN 106125600 A CN106125600 A CN 106125600A CN 201610493150 A CN201610493150 A CN 201610493150A CN 106125600 A CN106125600 A CN 106125600A
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- China
- Prior art keywords
- module
- leveling
- lower limb
- empty lower
- control
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
Abstract
A kind of transmitting station that the present invention provides quickly fixed high leveling and empty lower limb automatic detection and control system, including processor module, control module, communication module, sampling module, display module, power module, timer module, storage module；It is characterized in that: the present invention can make big load long platform realize automatic leveling；The present invention can make big load long platform height can bind (controlling to bind the height that expectation reaches in software) according to reality to be highly automatically adjusted；The present invention can make big load long platform automatically detect " empty lower limb " with leveling after completing during leveling；Big load long platform can be made to complete whole leveling and altitude location for the present invention and empty lower limb detects total time automatically less than 5 minutes.
Description
Technical field
The present invention relates to high accuracy levelling control system for vehicle-borne platform, be specifically related to the quickly fixed high leveling of a kind of transmitting station and
Empty lower limb automatic detection and control system.
Background technology
Along with the development of science and technology, the high speed development of various aerial reconnaissance technology, it is desirable to ground installation also should be able to have
The cross-country emissivities of fast reserve.Require that launch site site facility is simple under the new situation, the operation of emission system should be able to quickly,
Safe and reliable, the various fortuitous events of appearance can be successfully managed, ground launch control system just can be effectively ensured and effectively survive week
Phase.And the capital construction cycle length of fixed launching tower, maintenance cost shortcoming costly gradually reveal.For this
Problem, the most abroad occurs in that a kind of novel radiation pattern, i.e. " three flat one erect " (level assembling, horizontal checkout, level transhipment
Perpendicular launch scenario is played with vertical) mode.Being mainly characterized by of this launch scenario: (vertical assemble " three hang down one remote ", vertically survey
Examination, vertical transhipment and Distance Test launch scenario) eliminate the fixing pylon on launching site on launch scenario, and with activity
Formula plays vertical frame and replaces, before playing vertical frame and needing to be connected with a perpendicular device, it is necessary to assure vehicular platform (whole rocket transport vehicle) is in water
Mean place, and highly must keep consistent with a perpendicular device, simultaneously in order to ensure to push away process of assembling quickly with steady, so to vehicle-mounted
The leveling precision of platform and positioning height are had higher requirement.
The feature of based on carrier rocket under the new situation " three flat one erect " radiation pattern understands, and is transported to playing vertical frame band arrow
After launching site, before playing vertical frame and being connected with a perpendicular device, it is necessary to assure the horizontal accuracy of vehicular platform and height, reach to push away dress
Process is quickly with steadily, and this type of technology other transmitting apparatus field at home is the most blank, needs to carry out high-precision by vehicular platform
Degree leveling, and must assure that height, do not have the situation of " empty lower limb " with leveling after completing during completing whole leveling simultaneously.
Summary of the invention
For solving above-mentioned technical problem, the invention provides the quickly fixed high leveling of a kind of transmitting station and empty lower limb detects control automatically
System processed, the quickly fixed high leveling of this transmitting station and empty lower limb automatic detection and control system pass through
The present invention is achieved by the following technical programs.
A kind of transmitting station that the present invention provides quickly fixed high leveling and empty lower limb automatic detection and control system, including processor die
Block, control module, communication module, sampling module, display module, power module, timer module, storage module；Its feature exists
In:
Described control module, data storage, communication module, sampling module, storage module pass sequentially through bus and process
Device module connects；
The outfan of described control module connects proportional valve, and its input connects pressure transducer and displacement sensing
Device, control module is also associated with horizon sensor, guidance panel, relay, data storage；
Described storage module includes Flash electric board and FLASH | SDRAM, Flash electric board passes through bus and processor
Module connects, FLASH | and SDRAM is connected on the expansion interface of processor module；
Described power module is connected with other unit above-mentioned respectively, powers for controlling processor.
Described communication module is 1553B and CAN two kinds with the connected mode of processor module.
On the RS422 interface that described horizon sensor and data storage are connected in control module.
The beneficial effects of the present invention is: 1. the present invention can make big load long platform realize automatic leveling；
2. the present invention can make big load long platform height can bind according to reality (to control to reach expectation in software
To height bind) be highly automatically adjusted；
3. detection automatically after the present invention can make big load long platform complete with leveling during leveling " empty lower limb "；
4. the present invention can make big load long platform complete whole leveling and altitude location and empty lower limb detects total time automatically
Less than 5 minutes.
Accompanying drawing explanation
Fig. 1 is electric control theory figure of the present invention；
Fig. 2 is control system control principle drawing of the present invention；
Fig. 3 is present hydraulic system schematic diagram；
Detailed description of the invention
Technical scheme is described further below, but claimed scope is not limited to described.
The quickly fixed high leveling of a kind of transmitting station and empty lower limb automatic detection and control system, including processor module, control module,
Communication module, sampling module, display module, power module, timer module, storage module；It is characterized in that:
Described control module, data storage, communication module, sampling module, storage module pass sequentially through bus and process
Device module connects；
The outfan of described control module connects proportional valve, and its input connects pressure transducer and displacement sensing
Device, control module is also associated with horizon sensor, guidance panel, relay, data storage；
Described storage module includes Flash electric board and FLASH | SDRAM, Flash electric board passes through bus and processor
Module connects, FLASH | and SDRAM is connected on the expansion interface of processor module 1；
Described power module is connected with other unit above-mentioned respectively, powers for controlling processor.
Described communication module is 1553B and CAN two kinds with the connected mode of processor module.
On the RS422 interface that described horizon sensor and data storage are connected in control module.
The carrying out practically process of the present invention is, when whole rocket transport vehicle is carried out determining lofty tone at ordinary times by needs, first connects electrically
Control combination 220V power supply, then opens electrical control combination, and (i.e. whole rocket transport vehicle leveling completes the height that bookbinding needs adjust
The height of the carbody that rear needs reach), after having bound, press " leveling " button on electrical control combination operation panel, electrically
The software transfer leveling procedure that controls in control combination carries out the automatic leveling of whole rocket transport vehicle, by leveling procedure, receives water
The horizontal accuracy value of sensor carries out the automatic leveling of turner body；By calling altitude location program, gather displacement transducer
Data be computed confirm after, carry out height of the carbody adjustment；By empty lower limb autotest, gather the data of pressure transducer
After calculating and confirming, carry out empty lower limb automatic decision and elimination.In the process, the action of supporting leg relies on control software to send
Control signal, controls electric-hydraulic proportion valve events, the dynamic Control supporting leg provided according to hydraulic control panel flexible.
When control software determine leveling precision meet index (if left and right required precision is less than or equal to 3 ', anterior-posterior horizontal essence
Degree is less than or equal to 30 ', and requirement for height reaches 1700mm, and supporting leg ground pressure more than or equal to 2Mpa) require after, automatically exit from leveling
Control program, the combination of electrical control simultaneously upper display leveling is complete and leveling precision and height.
During leveling, the proportioning valve control signal magnitude of voltage that proportioning valve is mainly sent according to hydraulic control panel determines
Its opening flow, in this scheme, supporting leg Quick extension control signal voltage is 9V, and empty lower limb compensation dosage control signal voltage is
7.5V, X carry out linear change with Y-axis correction and micro-positioning regulators correction link control signal voltage according to the size of sensor values,
Transformation for mula is: (fabs (horizon sensor value-meet condition value) × proportionality coefficient+reference control signal 7.5V), proportioning valve
Middle position is 6V, and during leveling supporting legs reality lower limb, force value is 2MPa.
After whole rocket transport vehicle leveling carried out above and determining height, car body can be carried out other operation and control.
Claims (3)
1. transmitting station quickly fixed high leveling and an empty lower limb automatic detection and control system, including processor module, control module, lead to
Letter module, sampling module, display module, power module, timer module, storage module；It is characterized in that:
Described control module, data storage, communication module, sampling module, storage module pass sequentially through bus and processor die
Block connects；
The outfan of described control module connects proportional valve, and its input connects pressure transducer and displacement transducer, control
Horizon sensor, guidance panel, relay, data storage it is also associated with on molding block；
Described storage module includes Flash electric board and FLASH | SDRAM, Flash electric board passes through bus and processor module
Connecting, FLASH | SDRAM is connected on the expansion interface of processor module；
Described power module is connected with other unit above-mentioned respectively, powers for controlling processor.
2. transmitting station as claimed in claim 1 quickly fixed high leveling and empty lower limb automatic detection and control system, it is characterised in that: institute
The connected mode stating communication module and processor module is 1553B and CAN two kinds.
3. transmitting station as claimed in claim 1 quickly fixed high leveling and empty lower limb automatic detection and control system, it is characterised in that: institute
State horizon sensor and on RS422 interface that data storage is connected in control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610493150.XA CN106125600A (en) | 2016-06-29 | 2016-06-29 | The quickly fixed high leveling of a kind of transmitting station and empty lower limb automatic detection and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610493150.XA CN106125600A (en) | 2016-06-29 | 2016-06-29 | The quickly fixed high leveling of a kind of transmitting station and empty lower limb automatic detection and control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106125600A true CN106125600A (en) | 2016-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610493150.XA Pending CN106125600A (en) | 2016-06-29 | 2016-06-29 | The quickly fixed high leveling of a kind of transmitting station and empty lower limb automatic detection and control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN106125600A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109357136A (en) * | 2018-11-30 | 2019-02-19 | 中国人民解放军火箭军工程大学 | A kind of automatic leveling signal receiver tripod deployment system and implementation method |
| CN111103902A (en) * | 2020-01-02 | 2020-05-05 | 蓝箭航天空间科技股份有限公司 | Leveling control system and method for rocket launching platform |
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| CN101458528A (en) * | 2008-12-23 | 2009-06-17 | 华东理工大学 | On-line fault detection system based on CAN bus |
| CN201276156Y (en) * | 2008-09-27 | 2009-07-22 | 武汉浩迪科技有限公司 | Vehicle mounted automatic leveling system |
| CN101551673A (en) * | 2009-03-30 | 2009-10-07 | 零八一电子集团有限公司 | Automatic leveling system of multipoint electric support platform |
| CN102331791A (en) * | 2011-05-27 | 2012-01-25 | 陈海波 | Leveling device for work platform of launch vehicle |
| CN105223805A (en) * | 2015-09-29 | 2016-01-06 | 北京航天发射技术研究所 | The low load car launcher control system of high-precision high-reliability and control method |
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2016
- 2016-06-29 CN CN201610493150.XA patent/CN106125600A/en active Pending
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| CN201276156Y (en) * | 2008-09-27 | 2009-07-22 | 武汉浩迪科技有限公司 | Vehicle mounted automatic leveling system |
| CN101458528A (en) * | 2008-12-23 | 2009-06-17 | 华东理工大学 | On-line fault detection system based on CAN bus |
| CN101551673A (en) * | 2009-03-30 | 2009-10-07 | 零八一电子集团有限公司 | Automatic leveling system of multipoint electric support platform |
| CN102331791A (en) * | 2011-05-27 | 2012-01-25 | 陈海波 | Leveling device for work platform of launch vehicle |
| CN105223805A (en) * | 2015-09-29 | 2016-01-06 | 北京航天发射技术研究所 | The low load car launcher control system of high-precision high-reliability and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109357136A (en) * | 2018-11-30 | 2019-02-19 | 中国人民解放军火箭军工程大学 | A kind of automatic leveling signal receiver tripod deployment system and implementation method |
| CN111103902A (en) * | 2020-01-02 | 2020-05-05 | 蓝箭航天空间科技股份有限公司 | Leveling control system and method for rocket launching platform |
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Application publication date: 20161116 |
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