CN107620744B - Self-adaptive control system and control method for lifting force of lifting mechanism of hanging bullet vehicle - Google Patents
Self-adaptive control system and control method for lifting force of lifting mechanism of hanging bullet vehicle Download PDFInfo
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Abstract
The invention provides a self-adaptive control system and a control method for lifting force of a lifting mechanism of a missile hanging vehicle, wherein a pressure sensor is arranged in a hydraulic transmission system, and the weight of a hung missile is indirectly measured by collecting the pressure of a hydraulic oil cylinder; the proportional overflow valve is arranged in the hydraulic transmission system, and the maximum working pressure of the hydraulic system is controlled by adjusting the power obtained by the proportional electromagnet in the proportional overflow valve; the invention is provided with a controller, the controller collects dynamic signals of the pressure sensor and the power-on condition of the electromagnetic reversing valve, and the power-on magnitude of the proportional electromagnet of the proportional overflow valve is dynamically adjusted according to a certain control rate to realize the self-adaptive setting of the maximum working pressure of the hydraulic system.
Description
Technical Field
The invention relates to the technical field of hanging bullet vehicle lifting mechanisms, in particular to a self-adaptive control system and a control method for lifting force of a hanging bullet vehicle lifting mechanism.
Background
When the missile hanging vehicle lifting mechanism hangs a missile into the launching frame, the missile hanging vehicle lifting mechanism is required to overcome the spring force of the hook of the launching frame besides the weight of the missile and the weight of the clamp. The self-adaptive control of the lifting force of the lifting mechanism of the missile hanging vehicle is the control of the maximum contact force between the missile and the launching frame, so that the damage to the launching frame or the airplane caused by the excessive lifting force is avoided. The key technical difficulty is that the system needs to automatically identify the weights of different missiles and dynamically control the maximum lifting force of the lifting mechanism;
at present, the existing missile hanging vehicle can only limit the maximum value of lifting force due to different weight of the hung missiles, and the maximum value of lifting force of a lifting mechanism of the missile hanging vehicle is limited by arranging a safety valve in a hydraulic system, in fact, the lifting force of the lifting mechanism of the missile hanging vehicle consists of the weight of the missiles, the weight of a clamp and the spring force of a hook of a transmitting frame.
Disclosure of Invention
The invention aims to solve the technical problems that: the invention can automatically detect and identify the weight of different missiles, and dynamically adjust the lifting force of the lifting mechanism of the missile hanging vehicle according to the requirement of the missile hanging, so as to realize the self-adaptive adjustment of the lifting force of the lifting mechanism and achieve the aim of safe missile hanging.
In order to solve the technical problems, the invention adopts the following technical scheme:
the lifting force self-adaptive control system of the lifting mechanism of the hanging bullet vehicle comprises a hydraulic transmission system and an electric control circuit, wherein the hydraulic transmission system comprises a hydraulic cylinder and an electromagnetic reversing valve, oil cavities at two sides of the hydraulic cylinder are respectively communicated with two working oil ports of the electromagnetic reversing valve through hydraulic connecting pipelines, the oil cavities at two sides of the hydraulic cylinder are connected with a balance valve in parallel through the hydraulic connecting pipelines, a speed regulating valve is arranged on the hydraulic connecting pipeline between a rodless cavity at one side of the hydraulic cylinder and the working oil ports of the electromagnetic reversing valve, a rod cavity at the other side of the hydraulic cylinder is directly communicated with the other working oil port of the electromagnetic reversing valve through the hydraulic connecting pipeline, an oil inlet of the electromagnetic reversing valve is connected to an oil tank through the hydraulic connecting pipeline and an electric control hydraulic pump, a driving side of the electric control hydraulic pump is connected with a motor, an oil return port of the electromagnetic reversing valve is directly communicated with the oil tank through the hydraulic connecting pipeline, the hydraulic connecting pipelines at two ends of the electric control hydraulic connecting pipelines are connected with a proportional overflow valve in parallel, and a control end of the proportional overflow valve is electrically connected with the electric control circuit; the electric control circuit comprises a controller electrically connected with the control ends of the proportional overflow valve, and the controller is electrically connected with the two control ends of the electromagnetic reversing valve and a pressure sensor for monitoring the pressure in the rodless cavity of the hydraulic oil cylinder respectively;
the input end of the controller is electrically connected with the two control ends of the electromagnetic reversing valve and the pressure sensor respectively, and the output end of the controller is electrically connected with the control end of the proportional overflow valve;
the pressure sensor is arranged in a rodless cavity of the hydraulic oil cylinder.
A control method of a self-adaptive control system for lifting force of a lifting mechanism of a hanging bullet vehicle comprises the following steps:
s1, powering up a self-adaptive control system of lifting force of a lifting mechanism of a bullet hanging vehicle;
s2, the pressure sensor monitors the pressure P of the rodless cavity of the hydraulic cylinder in real time, and transmits the collected pressure signal P to the controller in real time;
s3, after the controller receives the pressure signal, identifying whether the lifting mechanism is in lifting operation or descending operation by judging whether the electromagnetic directional valve is in left power supply or right power supply, and if the lifting mechanism is in lifting operation, jumping to the step S4; if the lifting mechanism is in descending operation, setting the pressure of the proportional overflow valve to P0+ [ delta ] P, and maintaining the pressure set value of the proportional overflow valve;
s4, the controller compares the pressure signal P acquired by the pressure sensor with a preset pressure value P0 in the controller, if P is more than P0, the pressure of the proportional overflow valve is set to be P+DeltaP, and the step S5 is skipped; if P is less than P0, setting the pressure of the proportional overflow valve to P0+DeltaP, and jumping to the step S5;
s5, the controller monitors whether the lifting mechanism has a lifting signal in real time, if the lifting mechanism has the lifting signal, namely, when the lifting mechanism is in lifting operation, the controller keeps the pressure set value of the comparison overflow valve in the step S4; if the lifting mechanism has no lifting signal, namely the lifting mechanism stops lifting operation, jumping to the step S2;
the controller monitors the working state of the lifting mechanism in real time, immediately sets the pressure of the proportional overflow valve to P0+ [ delta ] P and keeps the pressure set value of the proportional overflow valve once the lifting mechanism is detected to be in descending operation;
in the step S3, the lifting mechanism has a static holding state except for two working states of lifting operation and lowering operation, at this time, the left position and the right position of the electromagnetic directional valve are not powered, and the lifting mechanism will hold the state before the electromagnetic directional valve is powered next time;
and P0 in the step S3 is the preset pressure of the controller, deltaP is a preset fixed value in the controller, and DeltaP is used for overcoming the spring force of the launching frame when the missile contacts the launching frame.
Compared with the prior art, the invention has the beneficial effects that: the invention sets up the pressure sensor in the hydraulic transmission system, through gathering the pressure of the hydraulic cylinder to measure the weight of the missile hung indirectly; the proportional overflow valve is arranged in the hydraulic transmission system, and the maximum working pressure of the hydraulic system is controlled by adjusting the power obtained by the proportional electromagnet in the proportional overflow valve; the invention is provided with a controller, the controller collects dynamic signals of the pressure sensor and the power-on condition of the electromagnetic reversing valve, and the power-on magnitude of the proportional electromagnet of the proportional overflow valve is dynamically adjusted according to a certain control rate to realize the self-adaptive setting of the maximum working pressure of the hydraulic system.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a configuration of a self-adaptive control system for lift force of a lift mechanism of a bullet hanging vehicle;
FIG. 2 is a schematic block diagram of a hanging bullet vehicle lifting force adaptive control system;
FIG. 3 is a flow chart of a control method of the hanging bullet vehicle lifting force self-adaptive control system;
the marks in the figure: 1. the hydraulic oil cylinder, 2, an electromagnetic reversing valve, 3, a speed regulating valve, 4, an electric control hydraulic pump, 5, an oil tank, 6, a proportional overflow valve, 7, a controller, 8, a pressure sensor, 9 and a balance valve.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As shown in fig. 1 to 2, the self-adaptive control system of lifting force of the lifting mechanism of the hanging bullet vehicle comprises a hydraulic transmission system and an electric control circuit, wherein the hydraulic transmission system comprises a hydraulic cylinder 1 and an electromagnetic reversing valve 2, oil cavities at two sides of the hydraulic cylinder 1 are respectively communicated with two working oil ports of the electromagnetic reversing valve 2 through hydraulic connecting pipelines, the oil cavities at two sides of the hydraulic cylinder 1 are connected with a balance valve 9 in parallel through the hydraulic connecting pipelines, a speed regulating valve 3 is arranged on the hydraulic connecting pipeline between a rodless cavity at one side of the hydraulic cylinder 1 and the working oil ports of the electromagnetic reversing valve 2, the rod cavity at the other side of the hydraulic cylinder is directly communicated with the other working oil port of the electromagnetic reversing valve through the hydraulic connecting pipeline, an oil inlet of the electromagnetic reversing valve 2 is connected to an oil tank 5 through the hydraulic connecting pipeline and an electric control hydraulic pump 4, an oil return port of the electromagnetic reversing valve 2 is directly communicated with the oil tank 5 through the hydraulic connecting pipeline, the hydraulic connecting pipelines at two ends of the electric control hydraulic connecting pipelines are connected with a proportional overflow valve 6 in parallel, and the control end of the proportional overflow valve 6 is electrically connected with the electric control circuit; the electric control circuit comprises a controller 7 electrically connected with the control ends of the proportional overflow valve, and the controller is respectively electrically connected with the two control ends of the electromagnetic directional valve and a pressure sensor 8 for monitoring the pressure in the rodless cavity of the hydraulic oil cylinder;
the input end of the controller 7 is electrically connected with the two control ends of the electromagnetic directional valve 2 and the pressure sensor respectively, and the output end of the controller 7 is electrically connected with the control end of the proportional overflow valve 6;
the pressure sensor is arranged in a rodless cavity of the hydraulic cylinder 1, a piston rod in the hydraulic cylinder extends out and rises corresponding to the lifting mechanism of the bullet hanging vehicle, the proportional overflow valve is positioned at the outlet of the hydraulic pump, and the controller acquires a signal of the pressure sensor and outputs a PWM signal to the proportional overflow valve;
the invention relates to a working principle of a self-adaptive control system for lifting force of a lifting mechanism of a bullet hanging vehicle: the motor drives the electric control hydraulic pump to rotate at a fixed rotating speed, the electric control hydraulic pump outputs a fixed flow, and when the electromagnetic directional valve is not electrified, the output flow of the electric control hydraulic pump flows in from the oil inlet of the electromagnetic directional valve through the valve middle position, flows out from the oil return port of the electromagnetic directional valve, and returns to the oil tank. When the electromagnetic reversing valve left electromagnet is electrified, the reversing valve works left, oil output by the electric control hydraulic pump enters the speed regulating valve through one of working oil ports of the electromagnetic reversing valve and then enters the rodless cavity of the hydraulic oil cylinder through the balance valve, the hydraulic oil cylinder slowly stretches out under the action of the pressure oil liquid, and the corresponding hanging bullet car lifting mechanism rises; when the electromagnet at the right position of the electromagnetic directional valve is electrified, the electromagnetic directional valve works at the right position, hydraulic oil enters a rod cavity of the hydraulic oil cylinder, the hydraulic oil cylinder retracts, the lifting mechanism descends, the speed regulating valve is used for controlling the extending speed of the hydraulic oil cylinder, the proportional overflow valve is used for setting the working pressure of a hydraulic transmission system, and the pressure sensor collects the pressure in the rodless cavity of the hydraulic oil cylinder in real time.
As shown in fig. 3, the control method of the self-adaptive control system for the lifting force of the lifting mechanism of the hanging bullet vehicle comprises the following steps:
s1, powering up a self-adaptive control system of lifting force of a lifting mechanism of a bullet hanging vehicle;
s2, the pressure sensor monitors the pressure P of the rodless cavity of the hydraulic cylinder in real time, and transmits the collected pressure signal P to the controller in real time;
s3, after the controller receives the pressure signal P, the force born by the hydraulic oil cylinder can be obtained through a formula F=P×A, namely, the weight of the missile mounted at the moment, A is the cross section area of a rodless cavity of the hydraulic oil cylinder, then whether the lifting mechanism is in ascending operation or descending operation is identified by judging whether the electromagnetic reversing valve is powered on at the left or on the right, and if the lifting mechanism is in ascending operation, the step S4 is skipped; if the lifting mechanism is in descending operation, setting the pressure of the proportional overflow valve to P0+ [ delta ] P, and maintaining the pressure set value of the proportional overflow valve;
s4, the controller compares the pressure signal P acquired by the pressure sensor with a preset pressure value P0 in the controller, if P is more than P0, the pressure of the proportional overflow valve is set to be P+DeltaP, and the step S5 is skipped; if P is less than P0, setting the pressure of the proportional overflow valve to P0+DeltaP, and jumping to the step S5; the pressure setting of the proportional overflow valve is realized by adjusting the PWM output signal of the controller, and the pressure setting of the proportional overflow valve is directly proportional to the power obtained by the proportional electromagnet of the proportional overflow valve, so that the controller can realize the pressure setting of the proportional overflow valve by adjusting the size of the PWM output signal.
S5, in order to dynamically identify the weight of the mounted missile and dynamically adjust the pressure of the system, the controller monitors whether the lifting mechanism has a lifting signal in real time, and if the lifting mechanism has the lifting signal, namely, when the lifting mechanism is in lifting operation, the controller keeps the pressure set value of the comparison overflow valve in the step S4; if the lifting mechanism has no lifting signal, namely the lifting mechanism stops lifting operation, jumping to the step S2;
the controller monitors the working state of the lifting mechanism in real time, and once the lifting mechanism is detected to be in descending operation, the self-adaptive control system of the lifting force of the lifting mechanism of the hanging bullet vehicle is disabled, the controller sets the pressure of the proportional overflow valve to P0+ [ delta ] P, and the pressure set value of the proportional overflow valve is maintained;
in the step S3, the lifting mechanism has a static holding state except for two working states of lifting operation and lowering operation, at this time, the left position and the right position of the electromagnetic directional valve are not powered, and the lifting mechanism will hold the state before the electromagnetic directional valve is powered next time;
p0 in the step S3 is the preset pressure of the controller, deltaP is a preset fixed value in the controller, deltaP is used for overcoming the spring force of the launching frame when the missile contacts the launching frame, and both P0 and DeltaP are required to be measured by a person skilled in the art according to experiments and input into the controller.
The control step of the controller can realize the purpose that the constant value of the contact force between the missile and the launching frame is unchanged when different missiles are mounted on the missile hanging vehicle, for example, the weight G1 of the missile corresponds to the pressure P1 of a hydraulic system, the weight G2 of the missile corresponds to the pressure P2 of the hydraulic system, the hydraulic system sets the pressure to P1+ [ delta ] P, P1=G1/A when the missile hanging vehicle hangs the missile with the weight G1 according to the analysis, and when a lifting mechanism continuously ascends, the missile needs to overcome the spring force of the launching frame hook to enter a groove for locking, and the maximum lifting force overcoming the spring force of the launching frame is (P1+ [ delta ] A-G1 [ delta ] A; when a G2 weight missile is hung, the hydraulic system is set to have the pressure of P2+ [ delta ] P, P2=G2/A, and the maximum lifting force of the lifting mechanism against the spring force of the launching frame is (P2+ [ delta ] P), wherein A-G2= [ delta ] P, the maximum lifting force against the spring force of the launching frame is the same no matter how much weight missile is hung on the missile hanging vehicle, and the safety of the missile and the carrier can be effectively protected in the missile hanging process as long as the size of DeltaP is controlled.
Claims (6)
1. Hanging bullet car lifting mechanism lifting force self-adaptation control system, including hydraulic transmission system and electrical control circuit, its characterized in that: the hydraulic transmission system comprises a hydraulic oil cylinder (1) and an electromagnetic directional valve (2), oil cavities on two sides of the hydraulic oil cylinder (1) are respectively communicated with two working oil ports of the electromagnetic directional valve (2) through hydraulic connecting pipelines, the oil cavities on two sides of the hydraulic oil cylinder (1) are connected with a balance valve (9) in parallel through the hydraulic connecting pipelines, a speed regulating valve (3) is arranged on the hydraulic connecting pipeline between a rodless cavity on one side of the hydraulic oil cylinder (1) and the working oil ports of the electromagnetic directional valve (2), a rod cavity on the other side of the hydraulic oil cylinder is directly communicated with the other working oil port of the electromagnetic directional valve through the hydraulic connecting pipeline, an oil inlet of the electromagnetic directional valve (2) is connected to an oil tank (5) through the hydraulic connecting pipeline and an electric control hydraulic pump (4), an oil return port of the electromagnetic directional valve (2) is directly communicated with the oil tank (5) through the hydraulic connecting pipeline, a proportional overflow valve (6) is connected on the hydraulic connecting pipeline on two ends of the electric control hydraulic pump in parallel, and a control end of the proportional overflow valve (6) is electrically connected with an electric control circuit; the electric control circuit comprises a controller (7) electrically connected with the control end of the proportional overflow valve, and the controller is electrically connected with the two control ends of the electromagnetic directional valve and a pressure sensor (8) for monitoring the pressure in the rodless cavity of the hydraulic oil cylinder respectively;
the control method of the self-adaptive control system for the lifting force of the lifting mechanism of the bullet hanging vehicle comprises the following steps:
s1, powering up a self-adaptive control system of lifting force of a lifting mechanism of a bullet hanging vehicle;
s2, the pressure sensor monitors the pressure P of the rodless cavity of the hydraulic cylinder in real time, and transmits the collected pressure signal P to the controller in real time;
s3, after the controller receives the pressure signal, identifying whether the lifting mechanism is in lifting operation or descending operation by judging whether the electromagnetic directional valve is in left power supply or right power supply, and if the lifting mechanism is in lifting operation, jumping to the step S4; if the lifting mechanism is in descending operation, setting the pressure of the proportional overflow valve to P0+ [ delta ] P, and maintaining the pressure set value of the proportional overflow valve;
s4, the controller compares the pressure signal P acquired by the pressure sensor with a preset pressure value P0 in the controller, if P is more than P0, the pressure of the proportional overflow valve is set to be P+DeltaP, and the step S5 is skipped; if P is less than P0, setting the pressure of the proportional overflow valve to P0+DeltaP, and jumping to the step S5;
s5, the controller monitors whether the lifting mechanism has a lifting signal in real time, if the lifting mechanism has the lifting signal, namely, when the lifting mechanism is in lifting operation, the controller keeps the pressure set value of the comparison overflow valve in the step S4; if the lifting mechanism has no lifting signal, namely the lifting mechanism stops lifting operation, the step S2 is skipped.
2. The trolley lift mechanism lift force adaptive control system of claim 1 wherein: the input end of the controller (7) is respectively and electrically connected with the two control ends of the electromagnetic directional valve (2) and the pressure sensor, and the output end of the controller (7) is electrically connected with the control end of the proportional overflow valve (6).
3. The trolley lift mechanism lift force adaptive control system of claim 1 wherein: the pressure sensor is arranged in a rodless cavity of the hydraulic oil cylinder (1).
4. The trolley lift mechanism lift force adaptive control system of claim 1 wherein: the controller monitors the working state of the lifting mechanism in real time, immediately sets the pressure of the proportional overflow valve to P0+ [ delta ] P once the lifting mechanism is detected to be in descending operation, and maintains the pressure set value of the proportional overflow valve.
5. The trolley lift mechanism lift force adaptive control system of claim 1 wherein: in the step S3, the lifting mechanism has a static holding state in addition to the two working states of the lifting operation and the lowering operation, at this time, the left position and the right position of the electromagnetic directional valve are not powered, and the lifting mechanism will hold the state before the electromagnetic directional valve is powered next time.
6. The trolley lift mechanism lift force adaptive control system of claim 1 wherein: and P0 in the step S3 is the preset pressure of the controller, deltaP is a preset fixed value in the controller, and DeltaP is used for overcoming the spring force of the launching frame when the missile contacts the launching frame.
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| CN109297373A (en) * | 2018-11-14 | 2019-02-01 | 中国空空导弹研究院 | A kind of air-to-air missile individual soldier hanging device |
| CN110658824A (en) * | 2019-10-15 | 2020-01-07 | 北京旷视机器人技术有限公司 | Motion control method and device of transport vehicle, controller and transport vehicle |
| CN114013749A (en) * | 2021-11-10 | 2022-02-08 | 深圳市迈睿迈特环境科技有限公司 | Self-running compression control device and system |
| CN115355223B (en) * | 2022-08-12 | 2024-10-29 | 江苏徐工工程机械研究院有限公司 | Electronic control load sensitive bypass throttle control method, system and engineering machinery |
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| GB1055421A (en) * | 1963-02-28 | 1967-01-18 | Alexander Edward Townsend | Load-handling device |
| JP4234893B2 (en) * | 2000-09-12 | 2009-03-04 | 株式会社小松製作所 | Cylinder operation control device |
| CN102650304A (en) * | 2012-05-29 | 2012-08-29 | 中南大学 | Hydraulic synchronous driving system for adjusting unbalanced load based on proportional valve controlled energy accumulator |
| CN103569882B (en) * | 2013-11-19 | 2015-03-11 | 南京工业大学 | Hydraulic jacking system of attached tower crane |
| CN204873719U (en) * | 2015-07-31 | 2015-12-16 | 皖西学院 | Quick -witted hydraulic control system lifts |
| CN206478051U (en) * | 2017-01-19 | 2017-09-08 | 大连浦州航空科技有限公司 | Bomb truck with load stepping device |
| CN107061377B (en) * | 2017-03-30 | 2018-07-17 | 徐州工业职业技术学院 | A kind of heavy duty lifting electrohydraulic control system |
| CN207377884U (en) * | 2017-09-22 | 2018-05-18 | 凯迈（洛阳）测控有限公司 | Bomb truck lifting mechanism lifting force adaptive control system |
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