CN107703739A - A kind of special vehicle launching tube plays the fault tolerant control method during perpendicular straightening - Google Patents
A kind of special vehicle launching tube plays the fault tolerant control method during perpendicular straightening Download PDFInfo
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- CN107703739A CN107703739A CN201710753394.1A CN201710753394A CN107703739A CN 107703739 A CN107703739 A CN 107703739A CN 201710753394 A CN201710753394 A CN 201710753394A CN 107703739 A CN107703739 A CN 107703739A
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- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
Abstract
The invention discloses a kind of special vehicle launching tube to play the fault tolerant control method during perpendicular straightening, and the fault tolerant control method comprises the following steps：The perpendicular starting stage is played, the perpendicular monitoring stage is played, plays perpendicular abnormal stage and straightening control stage etc..In order to solve the problems, such as to have terminated perpendicular straightening flow because playing perpendicular angular encoder or straightening sensor fault, innovative design of the present invention plays fault tolerant control method when perpendicular angular encoder or straightening sensor fault, as a kind of Redundant Control strategy, invention achieves risen in the case where playing perpendicular angular encoder or straightening sensor failure perpendicular straightening flow do not stop, the steady and safe purpose for having completed perpendicular flow, to ensure smoothly completing for transmitting preparation flow.
Description
Technical field
The present invention relates to special vehicle technical field, specifically for, the present invention rises for a kind of special vehicle launching tube
Fault tolerant control method during perpendicular straightening.
Background technology
Special vehicle car control system is used to realize that launching tube plays perpendicular and straightening, and it is to realize that transmitting prepares stream to play perpendicular straightening flow
The important step of journey, it is therefore necessary to ensure electrical system, hydraulic system, mechanical system work well in car control system, to control
The safety and reliability of system has very high requirement.During perpendicular straightening is played, perpendicular angular encoder and straightening sensor are played
Vital effect is played, when alternative one breaks down, Traditional solutions can only be off perpendicular straightening process,
Then corresponding sensor is repaired or replaced, carried out again when playing perpendicular angular encoder and the equal fault-free of straightening sensor
Rise perpendicular.But this perpendicular straightening work for having stopped the mode that perpendicular straightening flow is repaired and having had a strong impact on launching tube,
It is often difficult to meet being actually needed for special vehicle under specific operating mode.
Therefore, special vehicle hair how is reliably completed in the case where playing perpendicular angular encoder or straightening sensor fault
Shooting cylinder plays perpendicular straightening, and so as to ensure that transmitting prepares smoothly completing for flow, it is urgently to be resolved hurrily to become those skilled in the art
Technical problem and the emphasis studied all the time.
The content of the invention
To solve playing vertical angle degree encoder fault or straightening biography during existing special vehicle launching tube plays perpendicular straightening
The problem of perpendicular straightening flow must have been stopped during sensor failure, innovative design of the present invention plays perpendicular faults-tolerant control flow and straightening is held
Wrong control flow, as a kind of Redundant Control strategy, the present invention realize rise perpendicular angular encoder abnormal conditions under or
Play perpendicular straightening flow in the case of straightening sensor abnormality not terminate, be steadily safely completed special vehicle launching tube plays perpendicular straightening
Work, so as to ensure that transmitting prepares smoothly completing for flow.
To realize above-mentioned technical purpose, the invention discloses a kind of special vehicle launching tube to play the appearance during perpendicular straightening
Wrong control method, the fault tolerant control method comprise the following steps,
Play the perpendicular starting stage：Open the first hydraulic pump and the second hydraulic pump, opened perpendicular banked direction control valves A, rise perpendicular banked direction control valves B with
And perpendicular banked direction control valves C is played, described perpendicular banked direction control valves A, a perpendicular banked direction control valves B, a perpendicular banked direction control valves C are disposed as full-gear；Wherein,
First hydraulic pump and the second hydraulic pump are connected with master controller, described perpendicular banked direction control valves A, rise perpendicular banked direction control valves B, rise it is perpendicular more
Road valve C is connected with controller of multi-path valve, and the controller of multi-path valve is connected by CAN with master controller；
Play the perpendicular monitoring stage：The state of perpendicular angular encoder has been monitored, has judged whether the state of perpendicular angular encoder accords with
The first preset failure state is closed, and has entered when meeting and has erected the abnormal stage；Wherein, described perpendicular angular encoder passes through CAN
Bus is connected with master controller；
Rise and erect the abnormal stage：Effective angle of the perpendicular angular encoder in abnormal preceding detection is read；
If the effective angle is less than 60 °, perpendicular banked direction control valves A has been closed successively and has played perpendicular banked direction control valves B, turned down perpendicular more
Road valve C flows, close the first hydraulic pump, then read the perpendicularity of straightening sensor detection, if the perpendicularity -5 ° with
Between 5 °, then enter the straightening control stage after having turned down the pressure of perpendicular straightening hydraulic system；Wherein, the straightening sensor passes through
CAN is connected with master controller；
If the effective angle is more than or equal to 60 °, perpendicular banked direction control valves B flows is turned down, have closed the first hydraulic pump, read
The perpendicularity for taking straightening sensor to detect, if the perpendicularity between -5 ° and 5 °, has turned down perpendicular straightening hydraulic system
Enter the straightening control stage after pressure；
Straightening controls the stage：Straightening is carried out to special vehicle launching tube by closed loop straightening control method.
The present invention has innovatively devised fault tolerant control method during vertical angle degree encoder fault, realizes and is playing vertical angle degree volume
Steady, the safety of launching tube are risen perpendicular during code device failure, and vertical angle degree encoder fault is being played so as to effectively overcome conventional method
Shi Bixu has stopped the problem of perpendicular flow, improves the reality for playing perpendicular efficiency, meeting field working conditions of special vehicle launching tube
Demand.
Further, the perpendicular monitoring stage is being played, if playing perpendicular angular encoder fault-free, is entering perpendicular normal phase；
Play perpendicular normal phase：According to rise the angle that detects of perpendicular angular encoder to rise a perpendicular banked direction control valves A, rise perpendicular banked direction control valves B,
Play perpendicular banked direction control valves C, the pressure of a perpendicular straightening hydraulic system and the first hydraulic pump to be controlled, and play a perpendicular angular encoder
The angle detected enters the straightening control stage when being more than 85 °.
The present invention will play that perpendicular angular encoder is faulty and two kinds of control strategies of fault-free organically combine, and realize to special type
Vehicle emissions cylinder plays safe, the steady control of perpendicular process.
Further, when entering the straightening control stage afterwards by playing perpendicular normal phase, judge whether straightening sensor accords with
The second preset failure state is closed, and enters the straightening exception stage when meeting；
The straightening exception stage：The anterior-posterior horizontal degree of leveling sensor collection is read, and perpendicularity is calculated according to following manner,
The straightening under straightening sensor fault is carried out, wherein, the leveling sensor is connected by CAN with master controller；
AN2=UN1+AN1-90 °；
Wherein, AN2 is perpendicularity, and UN1 has been the angle that perpendicular angular encoder detects, AN1 gathers for leveling sensor
Anterior-posterior horizontal degree.
Based on above-mentioned improved technical scheme, the present invention innovatively devises faults-tolerant control side during straightening sensor fault
Method, steady, the safe straightening of the launching tube in straightening sensor fault is realized, passed so as to effectively overcome conventional method in straightening
The problem of straightening flow must be stopped during sensor failure, the straightening efficiency of special vehicle launching tube is improved, meets live work
The actual demand of condition.
Further, the straightening sensor fault-free in the straightening control stage；
If perpendicularity >=-5 °, the pressure for playing perpendicular straightening hydraulic system is adjusted to the 10% of full-gear, closed loop is adjusted
Straight speed planning value is 20 '/s；
If the perpendicularity -5 ° and -80 ' between or 80 ' and 5 ° between, closed loop straightening speed planning value is
8′/s；
If the perpendicularity is adjusted to full-gear between 8 ' and 80 ', by the pressure for playing perpendicular straightening hydraulic system
90%, by rise perpendicular banked direction control valves C Flow-rate adjustments be full-gear 20%；
If if the perpendicularity -80 ' and -8 ' between, the pressure for playing perpendicular straightening hydraulic system is adjusted to entirely
The 10% of open state, perpendicular banked direction control valves C Flow-rate adjustments will be played as the 20% of full-gear；
If the perpendicularity between -8 ' and 8 ', has closed perpendicular banked direction control valves C, and if perpendicularity is still -8 after 2s '
Between 8 ', then terminate the straightening control stage.
The present invention is realized straightening sensor is faulty and two kinds of control strategies of fault-free organically combine to special vehicle
Safe, the steady control of launching tube straightening process.
Further, the closed loop straightening control method makes W once to be counted every 100ms to comprise the following steps
Calculate the difference of actual straightening angular speed and closed loop straightening speed planning value；
As 0 ＜ W 5 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 1%；
As -5 '/s ＜ W ＜ 0, then perpendicular banked direction control valves C flows increase 1% will be played；
As 5 '/s ＜ W 10 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 2%；
As -10 '/s ＜ W ＜ -5 '/s, then perpendicular banked direction control valves C flows increase 2% will be played；
As 10 '/s ＜ W 20 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 3%；
As -20 '/s ＜ W ＜ -10 '/s, then perpendicular banked direction control valves C flows increase 3% will be played；
As 20 '/s ＜ W 30 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 4%；
As -30 '/s ＜ W ＜ -20 '/s, then perpendicular banked direction control valves C flows increase 4% will be played；
As W 30 '/s of ＞, then it will play perpendicular banked direction control valves C flows and reduce 6%；
As W ＜ -30 '/s, then perpendicular banked direction control valves C flows increase 6% will be played.
Based on above-mentioned improved technical scheme, the present invention is effectively improved the essence during special vehicle launching tube straightening
Degree, so as to realize steady, the safe straightening to launching tube.
Further, the first preset failure state includes：Play no signal in the perpendicular continuous 2s of angular encoder, play vertical angle
Spend the perpendicular speed that rises that signal in the continuous 2s of encoder is unchanged, plays perpendicular angular encoder detects and be more than at least one of 5 °/s.
Further, the second preset failure state includes：Rise after the angle that detects of perpendicular angular encoder is more than 85 °
The continuous 2s of straightening sensor after the angle that no signal, a perpendicular angular encoder detect in the continuous 2s of straightening sensor is more than 85 °
Interior signal is unchanged.
Further, during special vehicle launching tube plays perpendicular straightening, exceed in the event of the change of left and right horizontal degree
15 ', the change of anterior-posterior horizontal degree is more than more than the angle that the perpendicular angular encoder of 2 °, detects more than 90.5 °, anterior-posterior horizontal degree
The angle that the perpendicular angular encoder of 3 °, detects between 78 ° and 93 ° and rise perpendicular straightening hydraulic system flow be more than 150L/
The perpendicularity that min, straightening sensor detect -210 ' and -80 ' between and straightening angular speed be more than or equal to 100 '/s, straightening
The perpendicularity that sensor detects is between -80 ' and 80 ' and straightening angular speed is more than or equal to any of 40 '/s situation, then
Play perpendicular straightening process jerk and alarm.
Further, rising the perpendicular starting stage, be delayed 500ms, Ran Hou after the first hydraulic pump of unlatching and the second hydraulic pump
In 2s then the pressure regulation for playing perpendicular straightening hydraulic system perpendicular banked direction control valves A is opened, has played perpendicular multichannel to the 80% of full-gear
Valve B, a perpendicular banked direction control valves C and three's initial flow are the 20% of respective full-gear, then with the speed of every 200ms increases by 10%
Perpendicular banked direction control valves A, the flow for playing perpendicular banked direction control valves B, playing perpendicular banked direction control valves C are gradually stepped up, until three is shown in a fully open operation.
Further, perpendicular normal phase is being played,
If UN1≤60 °, the pressure of perpendicular straightening hydraulic system and the flow of each perpendicular banked direction control valves have been kept；
If 60 ° of ＜ UN1≤68 °, having closed perpendicular banked direction control valves A, perpendicular banked direction control valves B will be played, a perpendicular banked direction control valves C Flow-rate adjustment is
The 60% of respective full-gear, the pressure for playing perpendicular straightening hydraulic system is adjusted to the 70% of full-gear；；
If 68 ° of ＜ UN1≤75 °, perpendicular banked direction control valves B Flow-rate adjustments will be played as the 30% of full-gear；
If 75 ° of ＜ UN1≤80 °, having closed perpendicular banked direction control valves B, then start closed loop and play perpendicular control, closed loop straightening speed planning
It is worth for 75 '/s；
If 80 ° of ＜ UN1≤85 °, closed loop straightening speed planning value is 50 '/s, closes the first hydraulic pump；
Wherein, UN1 has been the angle that perpendicular angular encoder detects.
Based on above-mentioned improved technical scheme, the present invention is effectively improved the essence during special vehicle launching tube erects
Degree, it is perpendicular to the steady of launching tube, safety so as to realize.
Beneficial effects of the present invention are：It is perpendicular in order to solve to have terminated because playing perpendicular angular encoder or straightening sensor fault
The problem of straightening flow, the present invention have innovatively devised faults-tolerant control side when perpendicular angular encoder and straightening sensor fault
Method, reach and played perpendicular straightening flow in the case of a perpendicular angular encoder or straightening sensor failure and do not stop, be steady and safe
The purpose of perpendicular flow has been completed, has prepared smoothly completing for flow to ensure to launch.
Brief description of the drawings
Fig. 1 is the simple schematic flow sheet of fault tolerant control method during the perpendicular straightening of special vehicle launching tube of the present invention.
Perpendicular schematic flow sheet is played when Fig. 2 has been perpendicular encoder exception.
Fig. 3 has been to play perpendicular schematic flow sheet when perpendicular encoder is normal.
Fig. 4 is the monitoring schematic flow sheet that special vehicle launching tube plays perpendicular straightening process.
Fig. 5 is the fault tolerant control method detailed process schematic diagram during the perpendicular straightening of special vehicle launching tube of the present invention.
Fig. 6 is the structural representation of special vehicle car control system.
Embodiment
The faults-tolerant control during perpendicular straightening is played to a kind of special vehicle launching tube of the present invention with reference to Figure of description
Method carries out detailed explanation and illustration.
As shown in figures 1 to 6, the invention discloses a kind of special vehicle launching tube to play the faults-tolerant control side during perpendicular straightening
Method, the fault tolerant control method comprise the following steps.
Play the perpendicular starting stage：Open the first hydraulic pump and the second hydraulic pump, opened perpendicular banked direction control valves A, rise perpendicular banked direction control valves B with
And perpendicular banked direction control valves C is played, perpendicular banked direction control valves A, a perpendicular banked direction control valves B, a perpendicular banked direction control valves C will be played and be disposed as full-gear；Specifically,
As shown in figure 5, rising the perpendicular starting stage, be delayed 500ms after the first hydraulic pump of unlatching and the second hydraulic pump, then will be risen in 2s
The pressure regulation of straightening hydraulic system is erected to the 80% of full-gear, perpendicular banked direction control valves A has then been opened, has played perpendicular banked direction control valves B, rises and erect
Banked direction control valves C and the initial low discharge of three are the 20% of respective full-gear, are then gradually carried with the speed of every 200ms increases by 10%
Raised perpendicular banked direction control valves A, the flow for playing perpendicular banked direction control valves B, playing perpendicular banked direction control valves C, until three is shown in a fully open operation wherein, the first hydraulic pressure
Pump and the second hydraulic pump are connected with master controller, are played perpendicular banked direction control valves A, are played perpendicular banked direction control valves B, play perpendicular banked direction control valves C and banked direction control valves
Controller is connected, and controller of multi-path valve is connected by CAN with master controller；As shown in fig. 6, in the present embodiment, for tool
The special vehicle of body, the first hydraulic pump are the big pump of hydraulic pressure, and the second hydraulic pump is pump in hydraulic pressure；Specifically, special vehicle car control system
Master controller in system sends control command by CAN to controller of multi-path valve, to control hydraulic system valve member to realize
Perpendicular cylinder action direction and the control of responsiveness；Realized by flow sensor to playing flow rate of hydraulic system in perpendicular straightening flow
Collection, by rise perpendicular angular encoder realize to rise it is perpendicular during launching tube angle collection, realized by straightening sensor
Collection to perpendicularity during straightening, realized by leveling sensor and car body anterior-posterior horizontal degree and left and right horizontal degree are adopted
Collection.In the present embodiment, straightening sensor and leveling sensor are double-shaft tilt angle sensor.
Play the perpendicular monitoring stage：The state of perpendicular angular encoder has been monitored, has judged whether the state of perpendicular angular encoder accords with
The first preset failure state is closed, and has entered when meeting and has erected the abnormal stage；In this stage, if playing perpendicular angular encoder without reason
Barrier, then entered perpendicular normal phase；Wherein, perpendicular angular encoder is played to be connected with master controller by CAN.First default event
Barrier state can be perpendicular angular encoder is offline, angle change is too fast, angle change is excessively slow, continuous 2 seconds angles are unchanged etc., this
In embodiment, the first preset failure state includes：It is continuous to play no signal in the perpendicular continuous 2s of angular encoder, a perpendicular angular encoder
Signal is unchanged in 2s, plays a perpendicular speed for perpendicular angular encoder detection more than at least one of 5 °/s.
Rise and erect the abnormal stage：As a kind of Redundant Control strategy risen during erecting, perpendicular angular encoder has been read different
The effective angle of detection before often；In the present embodiment, what master controller preserved before reading 2 seconds plays vertical angle degree, it is thus understood that：It is perpendicular rising
During when playing perpendicular angular encoder device and breaking down, master controller alarm but not jerk, and automatically switched to perpendicular encoder
Control strategy branch has carried out perpendicular control during failure, due to can not predict encoder when failure, the master controller in the present invention
The angle for playing perpendicular angular encoder in the real-time storage nearest 2 seconds time, is illustrated as shown in Figure 2.
If effective angle is less than 60 °, perpendicular banked direction control valves A has been closed successively and has played perpendicular banked direction control valves B, has turned perpendicular banked direction control valves down
C flows, the first hydraulic pump is closed, specifically, first closed perpendicular banked direction control valves A, perpendicular banked direction control valves B has been turned off after the 5s that is delayed, has risen and erects
Banked direction control valves C Flow-rate adjustments are the 30% of full-gear, close the first hydraulic pump, then read the vertical of straightening sensor detection
Degree, if perpendicularity enters the straightening control stage after between -5 ° and 5 °, having turned down the pressure of perpendicular straightening hydraulic system.
If effective angle is more than or equal to 60 °, perpendicular banked direction control valves B flows is turned down, have closed the first hydraulic pump, specifically
Ground, perpendicular banked direction control valves B flows have been turned down to the 30% of full-gear, close the first hydraulic pump after the 5s that is delayed, read straightening sensor
The perpendicularity of detection, if perpendicularity enters straightening control after between -5 ° and 5 °, having turned down the pressure of perpendicular straightening hydraulic system
Stage processed；Wherein, straightening sensor is connected by CAN with master controller；
Play perpendicular normal phase：According to rise the angle that detects of perpendicular angular encoder to rise a perpendicular banked direction control valves A, rise perpendicular banked direction control valves B,
Play perpendicular banked direction control valves C, the pressure of a perpendicular straightening hydraulic system and the first hydraulic pump to be controlled, and play a perpendicular angular encoder
The angle detected enters the straightening control stage when being more than 85 °, be described as follows, as shown in Figure 3.
If UN1≤60 °, the pressure of perpendicular straightening hydraulic system and the flow of each perpendicular banked direction control valves have been kept；
If 60 ° of ＜ UN1≤68 °, having closed perpendicular banked direction control valves A, perpendicular banked direction control valves B will be played, a perpendicular banked direction control valves C Flow-rate adjustment is
The 60% of respective full-gear, the pressure for playing perpendicular straightening hydraulic system is adjusted to the 70% of full-gear；；
If 68 ° of ＜ UN1≤75 °, perpendicular banked direction control valves B Flow-rate adjustments will be played as the 30% of full-gear；
If 75 ° of ＜ UN1≤80 °, having closed perpendicular banked direction control valves B, then start closed loop and play perpendicular control, closed loop straightening speed planning
It is worth for 75 '/s；
If 80 ° of ＜ UN1≤85 °, closed loop straightening speed planning value is 50 '/s, closes the first hydraulic pump；Wherein, UN1 is
Play the angle that perpendicular angular encoder detects, unit degree of being designated as.
Straightening controls the stage：Straightening is further carried out to special vehicle launching tube by closed loop straightening control method.
More specifically, when entering the straightening control stage afterwards by playing perpendicular normal phase, whether straightening sensor is judged
Meet the second preset failure state, and enter the straightening exception stage when meeting, it is thus understood that：Straightening sensor breaks down
When, when master controller has judged perpendicular angular transducer fault-free, master controller alarm not jerk, and automatically switch to straightening sensing
Branch is controlled to carry out straightening control during device failure；If straightening sensor and a perpendicular equal failure of angular transducer, perpendicular flow is played certainly
Dynamic jerk terminates；If straightening sensor fault-free, the perpendicularity detected according to the straightening sensor carries out closed loop straightening control
System.In the present embodiment, the second preset failure state includes two kinds：Rise after the angle that perpendicular angular encoder detects is more than 85 ° and adjust
After the angle that no signal, a perpendicular angular encoder detect in the continuous 2s of the sensor that direct transfers is more than 85 ° in the continuous 2s of straightening sensor
Signal is unchanged.
The straightening exception stage：As a kind of Redundant Control strategy during straightening, the present embodiment reads leveling sensor
The anterior-posterior horizontal degree of collection, and perpendicularity is calculated according to following manner, then according to the perpendicularity of the calculating pass in straightening
Straightening under sensor failure, as shown in figure 4, wherein, leveling sensor is connected by CAN with master controller.
AN2=UN1+AN1-90 °；
Wherein, AN2 is perpendicularity, and UN1 has been the angle that perpendicular angular encoder detects, AN1 gathers for leveling sensor
Anterior-posterior horizontal degree, AN2, UN1, AN1 unit degree of being designated as.
In the straightening control stage, if straightening sensor fault-free, specifically according to the vertical of straightening sensor detection
Degree carries out straightening, specific as follows.
If perpendicularity >=-5 °, the pressure for playing perpendicular straightening hydraulic system is adjusted to the 10% of full-gear, closed loop is adjusted
Straight speed planning value is 20 '/s；
If perpendicularity -5 ° and -80 ' between or 80 ' and 5 ° between, closed loop straightening speed planning value is 8 '/s；
If perpendicularity (preceding height) between 8 ' and 80 ', the pressure for playing perpendicular straightening hydraulic system is adjusted to standard-sized sheet shape
The 90% of state, perpendicular banked direction control valves C Flow-rate adjustments will be played as the 20% of full-gear；
If if perpendicularity -80 ' and -8 ' between (preceding low), the pressure for playing perpendicular straightening hydraulic system is adjusted to
The 10% of full-gear, perpendicular banked direction control valves C Flow-rate adjustments will be played as the 20% of full-gear；
If perpendicularity between -8 ' and 8 ', has closed perpendicular banked direction control valves C, and if perpendicularity is still -8 ' and 8 ' after 2s
Between, then terminate the straightening control stage.
More specifically, closed loop straightening control method makes W once to be calculated every 100ms to comprise the following steps
Actual straightening angular speed and the difference of closed loop straightening speed planning value；
As 0 ＜ W 5 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 1%；
As -5 '/s ＜ W ＜ 0, then perpendicular banked direction control valves C flows increase 1% will be played；
As 5 '/s ＜ W 10 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 2%；
As -10 '/s ＜ W ＜ -5 '/s, then perpendicular banked direction control valves C flows increase 2% will be played；
As 10 '/s ＜ W 20 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 3%；
As -20 '/s ＜ W ＜ -10 '/s, then perpendicular banked direction control valves C flows increase 3% will be played；
As 20 '/s ＜ W 30 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 4%；
As -30 '/s ＜ W ＜ -20 '/s, then perpendicular banked direction control valves C flows increase 4% will be played；
As W 30 '/s of ＞, then it will play perpendicular banked direction control valves C flows and reduce 6%；
As W ＜ -30 '/s, then perpendicular banked direction control valves C flows increase 6% will be played.
In addition, it is necessary to explanation, in order to ensure the reliability of perpendicular straightening process, perpendicular adjust is played in special vehicle launching tube
During straight, examined in the event of the change of left and right horizontal degree more than the change of 15 ', anterior-posterior horizontal degree more than the perpendicular angular encoder of 2 °,
The angle measured be more than 90.5 °, anterior-posterior horizontal degree be more than the angle that detects of the perpendicular angular encoder of 3 °, between 78 ° and 93 °
And the flow for playing perpendicular straightening hydraulic system be more than perpendicularity that 150L/min, straightening sensor detect -210 ' and -80 ' it
Between and straightening angular speed is more than or equal to perpendicularity that 100 '/s, straightening sensor detect between -80 ' and 80 ' and straightening angle
Speed is more than or equal to any of 40 '/s situation, then plays perpendicular straightening process jerk and alarm.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the description of this specification, reference term " the present embodiment ", " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. mean to combine the specific features of the embodiment or example description, structure,
Material or feature are contained at least one embodiment or example of the present invention.In this manual, above-mentioned term is shown
The statement of meaning property is necessarily directed to identical embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can combine in an appropriate manner in any one or more embodiments or example.In addition, in the case of not conflicting,
Those skilled in the art can be by the different embodiments or example described in this specification and different embodiments or example
Feature is combined and combined.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Any modification, equivalent substitution and simple modifications for being made in content etc., should be included in the scope of the protection.
Claims (10)
1. a kind of special vehicle launching tube plays the fault tolerant control method during perpendicular straightening, it is characterised in that：The faults-tolerant control side
Method comprises the following steps,
Play the perpendicular starting stage：The first hydraulic pump and the second hydraulic pump are opened, perpendicular banked direction control valves A has been opened, has played perpendicular banked direction control valves B and rise
Perpendicular banked direction control valves C, described perpendicular banked direction control valves A, a perpendicular banked direction control valves B, a perpendicular banked direction control valves C are disposed as full-gear；Wherein, it is described
First hydraulic pump and the second hydraulic pump are connected with master controller, described perpendicular banked direction control valves A, are played perpendicular banked direction control valves B, are played perpendicular banked direction control valves
C is connected with controller of multi-path valve, and the controller of multi-path valve is connected by CAN with master controller；
Play the perpendicular monitoring stage：The state of perpendicular angular encoder has been monitored, has judged whether the state of perpendicular angular encoder meets
One preset failure state, and entered when meeting and erected the abnormal stage；Wherein, described perpendicular angular encoder passes through CAN
It is connected with master controller；
Rise and erect the abnormal stage：Effective angle of the perpendicular angular encoder in abnormal preceding detection is read；
If the effective angle is less than 60 °, perpendicular banked direction control valves A has been closed successively and has played perpendicular banked direction control valves B, has turned perpendicular banked direction control valves down
C flows, close the first hydraulic pump, then read the perpendicularity of straightening sensor detection, if the perpendicularity -5 ° with 5 ° it
Between, then enter the straightening control stage after having turned down the pressure of perpendicular straightening hydraulic system；Wherein, the straightening sensor passes through CAN
Bus is connected with master controller；
If the effective angle is more than or equal to 60 °, perpendicular banked direction control valves B flows is turned down, have closed the first hydraulic pump, read and adjust
The perpendicularity of the sensor that direct transfers detection, if the perpendicularity between -5 ° and 5 °, has turned down the pressure of perpendicular straightening hydraulic system
Enter the straightening control stage afterwards；
Straightening controls the stage：Straightening is carried out to special vehicle launching tube by closed loop straightening control method.
2. special vehicle launching tube according to claim 1 plays the fault tolerant control method during perpendicular straightening, its feature exists
In：The perpendicular monitoring stage is being played, if playing perpendicular angular encoder fault-free, is entering perpendicular normal phase；
Play perpendicular normal phase：According to the angle that a perpendicular angular encoder detects to playing a perpendicular banked direction control valves A, a perpendicular banked direction control valves B, rising and erect
Banked direction control valves C, the pressure for playing perpendicular straightening hydraulic system and the first hydraulic pump are controlled, and are playing perpendicular angular encoder detection
The angle arrived enters the straightening control stage when being more than 85 °.
3. special vehicle launching tube according to claim 2 plays the fault tolerant control method during perpendicular straightening, its feature exists
In：When entering the straightening control stage afterwards by playing perpendicular normal phase, judge whether straightening sensor meets the second preset failure
State, and enter the straightening exception stage when meeting；
The straightening exception stage：The anterior-posterior horizontal degree of leveling sensor collection is read, and perpendicularity is calculated according to following manner, is carried out
Straightening under straightening sensor fault, wherein, the leveling sensor is connected by CAN with master controller；
AN2=UN1+AN1-90 °；
Wherein, AN2 is perpendicularity, and UN1 has been the angle that perpendicular angular encoder detects, AN1 is before leveling sensor gathers
Levelness afterwards.
It is 4. fault-tolerant during the perpendicular straightening of special vehicle launching tube according to any claim in claims 1 to 3
Control method, it is characterised in that：The straightening sensor fault-free in the straightening control stage；
If perpendicularity >=-5 °, the pressure for playing perpendicular straightening hydraulic system is adjusted to the 10% of full-gear, closed loop straightening speed
Degree planning value is 20 '/s；
If the perpendicularity -5 ° and -80 ' between or 80 ' and 5 ° between, closed loop straightening speed planning value is 8 '/s；
If the perpendicularity is adjusted to full-gear between 8 ' and 80 ', by the pressure for playing perpendicular straightening hydraulic system
90%, perpendicular banked direction control valves C Flow-rate adjustments will be played as the 20% of full-gear；
If if the perpendicularity -80 ' and -8 ' between, the pressure for playing perpendicular straightening hydraulic system is adjusted to standard-sized sheet shape
The 10% of state, perpendicular banked direction control valves C Flow-rate adjustments will be played as the 20% of full-gear；
If the perpendicularity between -8 ' and 8 ', has closed perpendicular banked direction control valves C, and if perpendicularity is still -8 ' and 8 ' after 2s
Between, then terminate the straightening control stage.
5. special vehicle launching tube according to claim 1 plays the fault tolerant control method during perpendicular straightening, its feature exists
In：For the closed loop straightening control method to comprise the following steps, it is once to be calculated actual straightening angle speed every 100ms to make W
Degree and the difference of closed loop straightening speed planning value；
As 0 ＜ W 5 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 1%；
As -5 '/s ＜ W ＜ 0, then perpendicular banked direction control valves C flows increase 1% will be played；
As 5 '/s ＜ W 10 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 2%；
As -10 '/s ＜ W ＜ -5 '/s, then perpendicular banked direction control valves C flows increase 2% will be played；
As 10 '/s ＜ W 20 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 3%；
As -20 '/s ＜ W ＜ -10 '/s, then perpendicular banked direction control valves C flows increase 3% will be played；
As 20 '/s ＜ W 30 '/s of ＜, then it will play perpendicular banked direction control valves C flows and reduce 4%；
As -30 '/s ＜ W ＜ -20 '/s, then perpendicular banked direction control valves C flows increase 4% will be played；
As W 30 '/s of ＞, then it will play perpendicular banked direction control valves C flows and reduce 6%；
As W ＜ -30 '/s, then perpendicular banked direction control valves C flows increase 6% will be played.
6. special vehicle launching tube according to claim 1 plays the fault tolerant control method during perpendicular straightening, its feature exists
In：The first preset failure state includes：Play no signal in the perpendicular continuous 2s of angular encoder, play the perpendicular continuous 2s of angular encoder
Interior signal is unchanged, plays a perpendicular speed for perpendicular angular encoder detection more than at least one of 5 °/s.
7. special vehicle launching tube according to claim 3 plays the fault tolerant control method during perpendicular straightening, its feature exists
In：The second preset failure state includes：It is continuous to play straightening sensor after the angle that perpendicular angular encoder detects is more than 85 °
Signal is unchanged in the continuous 2s of straightening sensor after the angle that no signal, a perpendicular angular encoder detect in 2s is more than 85 °.
It is 8. fault-tolerant during the perpendicular straightening of special vehicle launching tube according to any claim in claim 5 to 7
Control method, it is characterised in that：During special vehicle launching tube plays perpendicular straightening, exceed in the event of the change of left and right horizontal degree
15 ', the change of anterior-posterior horizontal degree is more than more than the angle that the perpendicular angular encoder of 2 °, detects more than 90.5 °, anterior-posterior horizontal degree
The angle that the perpendicular angular encoder of 3 °, detects between 78 ° and 93 ° and rise perpendicular straightening hydraulic system flow be more than 150L/
The perpendicularity that min, straightening sensor detect -210 ' and -80 ' between and straightening angular speed be more than or equal to 100 '/s, straightening
The perpendicularity that sensor detects is between -80 ' and 80 ' and straightening angular speed is more than or equal to any of 40 '/s situation, then
Play perpendicular straightening process jerk and alarm.
9. special vehicle launching tube according to claim 1 plays the fault tolerant control method during perpendicular straightening, its feature exists
In：Rising the perpendicular starting stage, be delayed 500ms after the first hydraulic pump of unlatching and the second hydraulic pump, and perpendicular straightening then will be played in 2s
Then the pressure regulation of hydraulic system has opened perpendicular banked direction control valves A, has played perpendicular banked direction control valves B, plays perpendicular banked direction control valves to the 80% of full-gear
C and three's initial flow are the 20% of respective full-gear, have then been gradually stepped up with the speed of every 200ms increases by 10% perpendicular more
Road valve A, the flow for playing perpendicular banked direction control valves B, playing perpendicular banked direction control valves C, until three is shown in a fully open operation.
10. special vehicle launching tube according to claim 2 plays the fault tolerant control method during perpendicular straightening, its feature exists
In：Perpendicular normal phase is being played,
If UN1≤60 °, the pressure of perpendicular straightening hydraulic system and the flow of each perpendicular banked direction control valves have been kept；
If 60 ° of ＜ UN1≤68 °, having closed perpendicular banked direction control valves A, it is respective for playing perpendicular banked direction control valves B, play perpendicular banked direction control valves C Flow-rate adjustments
The 60% of full-gear, the pressure for playing perpendicular straightening hydraulic system are adjusted to the 70% of full-gear；；
If 68 ° of ＜ UN1≤75 °, perpendicular banked direction control valves B Flow-rate adjustments will be played as the 30% of full-gear；
If 75 ° of ＜ UN1≤80 °, having closed perpendicular banked direction control valves B, then start closed loop and play perpendicular control, closed loop straightening speed planning value is
75′/s；
If 80 ° of ＜ UN1≤85 °, closed loop straightening speed planning value is 50 '/s, closes the first hydraulic pump；
Wherein, UN1 has been the angle that perpendicular angular encoder detects.
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| CN108426486A (en) * | 2018-03-14 | 2018-08-21 | 北京航天发射技术研究所 | The self-adaptation control method of perpendicular straightening is erected in a kind of special purpose vehicle transmitting |
| CN110262214A (en) * | 2019-07-22 | 2019-09-20 | 北京航天发射技术研究所 | Play perpendicular control system |
| CN110550406A (en) * | 2019-09-02 | 2019-12-10 | 北京航天发射技术研究所 | Vertical transfer control method and device for separation platform |
| CN111665858A (en) * | 2020-06-28 | 2020-09-15 | 北京航天发射技术研究所 | Reliable erecting control method and control system realized through information fusion |
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