CN107703739B - Fault-tolerant control method in process of erecting and straightening special vehicle launching tube - Google Patents
Fault-tolerant control method in process of erecting and straightening special vehicle launching tube Download PDFInfo
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- CN107703739B CN107703739B CN201710753394.1A CN201710753394A CN107703739B CN 107703739 B CN107703739 B CN 107703739B CN 201710753394 A CN201710753394 A CN 201710753394A CN 107703739 B CN107703739 B CN 107703739B
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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 fault-tolerant control method in the process of erecting and straightening a special vehicle launching tube, which comprises the following steps: an initial erecting stage, an erecting monitoring stage, an abnormal erecting stage, a straightening control stage and the like. In order to solve the problem that the starting vertical angle encoder or the straightening sensor fails to stop the starting vertical angle straightening process, the fault-tolerant control method for the starting vertical angle encoder or the straightening sensor during failure is innovatively designed, and as a redundant control strategy, the invention achieves the purpose that the starting vertical angle straightening process is not stopped, and the starting vertical angle straightening process is stably and safely completed under the condition that the starting vertical angle encoder or the straightening sensor fails, so that the launching preparation process is smoothly completed.
Description
Technical Field
The invention relates to the technical field of special vehicles, in particular to a fault-tolerant control method in the process of erecting and straightening a launching tube of a special vehicle.
Background
The special vehicle control system is used for realizing the erection and the straightening of the launching tube, and the erection and straightening process is an important link for realizing the launching preparation process, so that the smooth work of an electrical system, a hydraulic system and a mechanical system in the vehicle control system must be ensured, and the safety and the reliability of the control are very high. In the process of erecting and straightening, the erecting angle encoder and the straightening sensor play a vital role, when one of the erecting and straightening sensor fails, the traditional solution method can only stop the erecting and straightening process, then maintain or replace the corresponding sensor, and when the erecting angle encoder and the straightening sensor do not have faults, erecting is carried out. However, the mode of stopping the process of erecting and straightening for maintenance seriously affects the erecting and straightening work of the launching tube, and the launching tube is often difficult to meet the actual requirements of special vehicles under specific working conditions.
Therefore, how to reliably finish the erection and the alignment of the special vehicle launching tube under the condition that the erection angle encoder or the alignment sensor has a fault so as to ensure the smooth completion of the launching preparation process becomes a key point for the technical problem to be solved and the research of the technical problem to be always carried out by the technical personnel in the field.
Disclosure of Invention
In order to solve the problem that the starting and straightening flow must be stopped when a starting vertical angle encoder fails or a straightening sensor fails in the starting and straightening processes of the existing special vehicle launching tube, the starting and straightening fault-tolerant control flow and the straightening fault-tolerant control flow are innovatively designed to serve as a redundancy control strategy.
In order to achieve the technical purpose, the invention discloses a fault-tolerant control method in the process of erecting and straightening a special vehicle launching tube, which comprises the following steps,
erecting initial stage: starting a first hydraulic pump and a second hydraulic pump, opening a erecting multi-way valve A, a erecting multi-way valve B and a erecting multi-way valve C, and setting the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C to be in a fully-opened state; the first hydraulic pump and the second hydraulic pump are connected with a main controller, the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C are connected with a multi-way valve controller, and the multi-way valve controller is connected with the main controller through a CAN bus;
erecting monitoring stage: monitoring the state of the erecting angle encoder, judging whether the state of the erecting angle encoder accords with a first preset fault state or not, and entering an erecting abnormal stage when the state of the erecting angle encoder accords with the first preset fault state; the vertical angle encoder is connected with a main controller through a CAN bus;
erecting an abnormal stage: reading an effective angle detected by a vertical angle encoder before abnormity;
if the effective angle is smaller than 60 degrees, closing the vertical multi-way valve A and the vertical multi-way valve B in sequence, reducing the flow of the vertical multi-way valve C, closing the first hydraulic pump, reading the verticality detected by the straightening sensor, and if the verticality is between-5 degrees and 5 degrees, reducing the pressure of the vertical straightening hydraulic system and entering a straightening control stage; the alignment sensor is connected with the main controller through a CAN bus;
if the effective angle is larger than or equal to 60 degrees, the flow of the vertical multi-way valve B is reduced, the first hydraulic pump is closed, the verticality detected by the straightening sensor is read, and if the verticality is between-5 degrees and 5 degrees, the pressure of the vertical hydraulic system is reduced and then the vertical hydraulic system enters a straightening control stage;
a straightening control stage: and (4) straightening the launching tube of the special vehicle by a closed-loop straightening control method.
The invention innovatively designs a fault-tolerant control method for the failure of the vertical angle encoder, and realizes the stable and safe vertical operation of the launching tube when the vertical angle encoder fails, thereby effectively overcoming the problem that the vertical operation process must be stopped when the vertical angle encoder fails in the traditional method, improving the vertical operation efficiency of the launching tube of a special vehicle, and meeting the actual requirements of field working conditions.
Further, in the erecting monitoring stage, if the erecting angle encoder has no fault, entering into the erecting normal stage;
erecting and normal stage: and controlling the erecting multi-way valve A, the erecting multi-way valve B, the erecting multi-way valve C, the pressure of the erecting straightening hydraulic system and the first hydraulic pump according to the angle detected by the erecting angle encoder, and entering a straightening control stage when the angle detected by the erecting angle encoder is more than 85 degrees.
The invention organically combines two control strategies of fault and no fault of the erecting angle encoder, and realizes safe and stable control of the erecting process of the special vehicle launching tube.
Further, when entering a straightening control stage after the erecting normal stage, judging whether the straightening sensor accords with a second preset fault state, and entering a straightening abnormal stage when the straightening sensor accords with the second preset fault state;
straightening abnormal stage: reading the front and back levelness acquired by a leveling sensor, calculating the verticality according to the following mode, and straightening under the fault of the straightening sensor, wherein the leveling sensor is connected with a main controller through a CAN bus;
AN2＝UN1+AN1–90°；
wherein AN2 is the perpendicularity, UN1 is the angle detected by the vertical angle encoder, and AN1 is the front and back levelness collected by the leveling sensor.
Based on the improved technical scheme, the fault-tolerant control method for the straightening sensor during the fault is innovatively designed, and the stable and safe straightening of the launching tube during the fault of the straightening sensor is realized, so that the problem that the straightening process must be stopped when the straightening sensor fails in the traditional method is effectively solved, the straightening efficiency of the launching tube of the special vehicle is improved, and the actual requirements of field working conditions are met.
Further, the straightening sensor has no fault in the straightening control stage;
if the verticality is more than or equal to-5 degrees, adjusting the pressure of the vertical straightening hydraulic system to be 10 percent of the fully open state, and setting the planning value of the closed-loop straightening speed to be 20'/s;
if the perpendicularity is between-5 ° and-80 ' or between 80 ' and 5 °, the closed-loop straightening speed plan value is 8 '/s;
if the perpendicularity is between 8 'and 80', adjusting the pressure of the erecting straightening hydraulic system to be 90% of the fully-opened state, and adjusting the flow of the erecting multi-way valve C to be 20% of the fully-opened state;
if the perpendicularity is between-80 'and-8', adjusting the pressure of the vertical straightening hydraulic system to be 10% of the full-open state, and adjusting the flow of the vertical multi-way valve C to be 20% of the full-open state;
if the perpendicularity is between-8 'and 8', the erecting multi-way valve C is closed, and if the perpendicularity is still between-8 'and 8' after 2s, the straightening control phase is ended.
The invention organically combines two control strategies of fault and non-fault of the straightening sensor to realize safe and stable control of the straightening process of the launching tube of the special vehicle.
Further, the closed-loop straightening control method comprises the following steps of calculating the difference between the actual straightening angular speed and the planned closed-loop straightening speed every 100ms by using W;
when W is more than 0 and less than 5'/s, reducing the flow of the vertical multi-way valve C by 1 percent;
when W is more than-5'/s and less than 0, the flow of the vertical multi-way valve C is increased by 1 percent;
when W is more than 5 '/s and less than 10'/s, reducing the flow of the vertical multi-way valve C by 2 percent;
when W is less than-5 '/s and is less than-10'/s, the flow of the vertical multi-way valve C is increased by 2 percent;
when W is more than 10 '/s and less than 20'/s, reducing the flow of the vertical multi-way valve C by 3 percent;
when W is less than-10 '/s and is less than-20'/s, the flow of the vertical multi-way valve C is increased by 3 percent;
when W is more than 20 '/s and less than 30'/s, reducing the flow of the vertical multi-way valve C by 4 percent;
when W is less than-20 '/s and is less than-30'/s, the flow of the vertical multi-way valve C is increased by 4 percent;
when W is more than 30'/s, reducing the flow of the vertical multi-way valve C by 6%;
when W < -30'/s, the flow of the vertical multi-way valve C is increased by 6 percent.
Based on the improved technical scheme, the invention effectively improves the precision of the special vehicle launching tube in the straightening process, thereby realizing the stable and safe straightening of the launching tube.
Further, the first preset fault state includes: and the vertical angle encoder has no signal within 2s continuously, has no signal change within 2s continuously, and detects a vertical speed greater than 5 degrees/s.
Further, the second preset fault state includes: after the angle detected by the starting vertical angle encoder is larger than 85 degrees, no signal exists in the continuous 2s of the straightening sensor, and after the angle detected by the starting vertical angle encoder is larger than 85 degrees, no signal changes in the continuous 2s of the straightening sensor.
Further, in the process of starting vertical alignment of the launching tube of the special vehicle, if any one of the conditions that the left-right levelness change exceeds 15 ', the front-back levelness change exceeds 2', the angle detected by the starting vertical angle encoder is greater than 90.5 °, the front-back levelness is greater than 3 °, the angle detected by the starting vertical angle encoder is between 78 ° and 93 °, the flow of the hydraulic system for starting vertical alignment is greater than 150L/min, the verticality detected by the alignment sensor is between-210 'and-80', the alignment angular speed is greater than or equal to 100 '/s, the verticality detected by the alignment sensor is between-80' and 80 ', and the alignment angular speed is greater than or equal to 40'/s occurs, the starting vertical alignment process is stopped suddenly and an alarm is given.
Further, in the initial stage of erecting, the time delay is 500ms after the first hydraulic pump and the second hydraulic pump are started, then the pressure of the erecting straightening hydraulic system is adjusted to 80% of the full-open state within 2s, then the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C are opened, the initial flow rates of the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C are 20% of the full-open state of each of the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C, and then the flow rates of the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-.
Further, in the erecting normal phase,
if UN1 is less than or equal to 60 degrees, the pressure of the vertical alignment hydraulic system and the flow of each vertical multi-way valve are kept;
if UN1 is more than 60 degrees and less than or equal to 68 degrees, closing the vertical multi-way valve A, adjusting the flow of the vertical multi-way valve B and the vertical multi-way valve C to be 60 percent of the full-open state of each, and adjusting the pressure of the vertical straightening hydraulic system to be 70 percent of the full-open state;
if the angle is more than 68 degrees and less than or equal to 75 degrees and UN1 degrees, the flow of the vertical multi-way valve B is adjusted to be 30 percent of the fully open state;
if UN1 is more than 75 degrees and less than or equal to 80 degrees, closing the vertical multi-way valve B, starting closed-loop vertical control, and setting the closed-loop straightening speed to be 75'/s;
if the angle is more than 80 degrees and less than or equal to 85 degrees and the planned value of the closed-loop straightening speed is 50'/s, closing the first hydraulic pump;
where UN1 is the angle detected by the erecting angle encoder.
Based on the improved technical scheme, the invention effectively improves the precision of the launching tube of the special vehicle in the erecting process, thereby realizing the stable and safe erecting of the launching tube.
The invention has the beneficial effects that: in order to solve the problem that the starting vertical angle encoder or the straightening sensor has a fault to terminate the starting vertical straightening process, the invention innovatively designs a fault-tolerant control method when the starting vertical angle encoder or the straightening sensor has a fault, and achieves the purpose that the starting vertical straightening process is not stopped, and the starting vertical straightening process is stably and safely completed under the condition that the starting vertical angle encoder or the straightening sensor fails, so as to ensure the smooth completion of the launching preparation process.
Drawings
FIG. 1 is a schematic flow chart of a fault-tolerant control method in the process of erecting and straightening a launching tube of a special vehicle.
Fig. 2 is a schematic diagram of the vertical flow when the vertical encoder is abnormal.
FIG. 3 is a schematic diagram of the vertical flow when the vertical encoder is normal.
FIG. 4 is a schematic view of a monitoring process of the special vehicle launching tube erecting and straightening process.
FIG. 5 is a detailed flow diagram of the fault-tolerant control method in the process of erecting and straightening the launching tube of the special vehicle.
FIG. 6 is a schematic structural diagram of a special vehicle control system.
Detailed Description
The fault-tolerant control method in the process of erecting and straightening the launching tube of the special vehicle is explained and explained in detail in the following by combining the attached drawings of the specification.
As shown in FIGS. 1-6, the invention discloses a fault-tolerant control method in the process of erecting and straightening a special vehicle launching tube, which comprises the following steps.
Erecting initial stage: starting a first hydraulic pump and a second hydraulic pump, opening a erecting multi-way valve A, a erecting multi-way valve B and a erecting multi-way valve C, and setting the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C to be in a fully-opened state; specifically, as shown in fig. 5, in the initial stage of erecting, the first hydraulic pump and the second hydraulic pump are started and delayed for 500ms, then the pressure of the erecting straightening hydraulic system is adjusted to 80% of the fully open state within 2s, then the erecting multi-way valve a, the erecting multi-way valve B and the erecting multi-way valve C are opened, the initial small flow rates of the three are 20% of the fully open state of each, then the flow rates of the erecting multi-way valve a, the erecting multi-way valve B and the erecting multi-way valve C are gradually increased at a multi-way speed of 10% increase per 200ms until the three are in the fully open state, wherein the first hydraulic pump and the second hydraulic pump are connected with a main controller, the erecting multi-way valve a, the erecting multi-way valve B and the erecting multi-way valve C are all connected with a multi-way valve controller, and the multi-way valve controller is connected with the CAN bus; as shown in fig. 6, in the present embodiment, for a specific special vehicle, the first hydraulic pump is a large hydraulic pump, and the second hydraulic pump is a medium hydraulic pump; specifically, a main controller in a vehicle control system of the special vehicle sends a control command to a multi-way valve controller through a CAN bus so as to control a valve element of a hydraulic system to realize the control of the action direction and the action speed of a vertical oil cylinder; the flow sensor is used for collecting the flow of a hydraulic system in the erecting and straightening process, the erecting angle encoder is used for collecting the angle of the launching tube in the erecting process, the straightening sensor is used for collecting the verticality in the straightening process, and the leveling sensor is used for collecting the front and back levelness and the left and right levelness of the vehicle body. In this embodiment, the alignment sensor and the leveling sensor are both dual-axis tilt sensors.
Erecting monitoring stage: monitoring the state of the erecting angle encoder, judging whether the state of the erecting angle encoder accords with a first preset fault state or not, and entering an erecting abnormal stage when the state of the erecting angle encoder accords with the first preset fault state; in the stage, if the erecting angle encoder has no fault, entering into the erecting normal stage; wherein, the vertical angle encoder is connected with the main controller through a CAN bus. The first preset fault state may be that the vertical angle encoder is offline, the angle change is too fast, the angle change is too slow, the angle does not change continuously for 2 seconds, and the like, and in this embodiment, the first preset fault state includes: and the vertical angle encoder has no signal within 2s continuously, has no signal change within 2s continuously, and detects a vertical speed greater than 5 degrees/s.
Erecting an abnormal stage: as a redundancy control strategy in the erecting process, reading an effective angle detected by an erecting angle encoder before abnormity; in this embodiment, the main controller reads the vertical angle saved 2 seconds ago, and it should be understood that: when the starting vertical angle encoder fails in the starting vertical process, the main controller gives an alarm but does not stop suddenly, and automatically switches to the control strategy branch for starting vertical control when the starting vertical encoder fails, and because the time when the encoder fails cannot be predicted, the main controller stores the angle of the starting vertical angle encoder within 2 seconds of the latest time in real time, and the specific description is shown in fig. 2.
If the effective angle is less than 60 degrees, closing the vertical multi-way valve A and the vertical multi-way valve B in sequence, reducing the flow of the vertical multi-way valve C, closing the first hydraulic pump, specifically, closing the vertical multi-way valve A first, closing the vertical multi-way valve B after delaying for 5s, adjusting the flow of the vertical multi-way valve C to be 30% of the fully open state, closing the first hydraulic pump, reading the verticality detected by the straightening sensor, and if the verticality is between-5 degrees and 5 degrees, reducing the pressure of the vertical straightening hydraulic system and entering a straightening control stage.
If the effective angle is larger than or equal to 60 degrees, reducing the flow of the vertical multi-way valve B, closing the first hydraulic pump, specifically, reducing the flow of the vertical multi-way valve B to 30 percent of the fully open state, closing the first hydraulic pump after delaying for 5s, reading the verticality detected by the straightening sensor, and if the verticality is between-5 degrees and 5 degrees, reducing the pressure of the vertical straightening hydraulic system and entering a straightening control stage; wherein, the alignment sensor is connected with the main controller through a CAN bus;
erecting and normal stage: and controlling the erecting multi-way valve A, the erecting multi-way valve B, the erecting multi-way valve C, the pressure of the erecting straightening hydraulic system and the first hydraulic pump according to the angle detected by the erecting angle encoder, and entering a straightening control stage when the angle detected by the erecting angle encoder is more than 85 degrees, which is specifically described as follows, and is shown in fig. 3.
If UN1 is less than or equal to 60 degrees, the pressure of the vertical alignment hydraulic system and the flow of each vertical multi-way valve are kept;
if UN1 is more than 60 degrees and less than or equal to 68 degrees, closing the vertical multi-way valve A, adjusting the flow of the vertical multi-way valve B and the vertical multi-way valve C to be 60 percent of the full-open state of each, and adjusting the pressure of the vertical straightening hydraulic system to be 70 percent of the full-open state;
if the angle is more than 68 degrees and less than or equal to 75 degrees and UN1 degrees, the flow of the vertical multi-way valve B is adjusted to be 30 percent of the fully open state;
if UN1 is more than 75 degrees and less than or equal to 80 degrees, closing the vertical multi-way valve B, starting closed-loop vertical control, and setting the closed-loop straightening speed to be 75'/s;
if the angle is more than 80 degrees and less than or equal to 85 degrees and the planned value of the closed-loop straightening speed is 50'/s, closing the first hydraulic pump; UN1 is the angle detected by the rising angle encoder, and is expressed in degrees.
A straightening control stage: and further straightening the launching tube of the special vehicle by a closed-loop straightening control method.
More specifically, when entering the straightening control stage after the erecting normal stage, it is determined whether the straightening sensor meets the second preset fault state, and when entering the straightening abnormal stage, it is understood that: when the straightening sensor has a fault, the main controller judges that the vertical angle sensor has no fault, the main controller gives an alarm without emergency stop, and automatically switches to a control branch for straightening control when the straightening sensor has a fault; if the straightening sensor and the starting and vertical angle sensor both have faults, the starting and vertical flow is automatically and suddenly stopped and terminated; and if the straightening sensor has no fault, carrying out closed-loop straightening control according to the verticality detected by the straightening sensor. In this embodiment, the second preset fault state includes two types: after the angle detected by the starting vertical angle encoder is larger than 85 degrees, no signal exists in the continuous 2s of the straightening sensor, and after the angle detected by the starting vertical angle encoder is larger than 85 degrees, no signal changes in the continuous 2s of the straightening sensor.
Straightening abnormal stage: as a redundant control strategy in the alignment process, the embodiment reads the front and rear levelness acquired by the leveling sensor, calculates the verticality according to the following method, and then performs alignment under the failure of the alignment sensor according to the calculated verticality, as shown in fig. 4, in which the leveling sensor is connected with the main controller through the CAN bus.
AN2＝UN1+AN1–90°；
The AN2 is a verticality, the UN1 is AN angle detected by a vertical angle encoder, the AN1 is a front and rear levelness acquired by a leveling sensor, and the units of the AN2, the UN1 and the AN1 are recorded as degrees.
In the straightening control stage, if the straightening sensor has no fault, straightening is specifically performed according to the verticality detected by the straightening sensor, which is specifically as follows.
If the verticality is more than or equal to-5 degrees, adjusting the pressure of the vertical straightening hydraulic system to be 10 percent of the fully open state, and setting the planning value of the closed-loop straightening speed to be 20'/s;
if the perpendicularity is between-5 ° and-80 ' or between 80 ' and 5 °, the closed-loop straightening speed plan value is 8 '/s;
if the verticality is between 8 'and 80' (the front height), adjusting the pressure of the vertical straightening hydraulic system to be 90% of the fully-opened state, and adjusting the flow of the vertical multi-way valve C to be 20% of the fully-opened state;
if the verticality is between-80 'and-8' (the front is low), adjusting the pressure of the erecting straightening hydraulic system to be 10% of the fully-opened state, and adjusting the flow of the erecting multi-way valve C to be 20% of the fully-opened state;
if the perpendicularity is between-8 'and 8', the erecting multi-way valve C is closed, and if the perpendicularity is still between-8 'and 8' after 2s, the straightening control phase is ended.
More specifically, the closed-loop straightening control method comprises the following steps of calculating the difference between the actual straightening angular speed and the planned value of the closed-loop straightening speed every 100ms by using W;
when W is more than 0 and less than 5'/s, reducing the flow of the vertical multi-way valve C by 1 percent;
when W is more than-5'/s and less than 0, the flow of the vertical multi-way valve C is increased by 1 percent;
when W is more than 5 '/s and less than 10'/s, reducing the flow of the vertical multi-way valve C by 2 percent;
when W is less than-5 '/s and is less than-10'/s, the flow of the vertical multi-way valve C is increased by 2 percent;
when W is more than 10 '/s and less than 20'/s, reducing the flow of the vertical multi-way valve C by 3 percent;
when W is less than-10 '/s and is less than-20'/s, the flow of the vertical multi-way valve C is increased by 3 percent;
when W is more than 20 '/s and less than 30'/s, reducing the flow of the vertical multi-way valve C by 4 percent;
when W is less than-20 '/s and is less than-30'/s, the flow of the vertical multi-way valve C is increased by 4 percent;
when W is more than 30'/s, reducing the flow of the vertical multi-way valve C by 6%;
when W < -30'/s, the flow of the vertical multi-way valve C is increased by 6 percent.
In addition, in order to ensure the reliability of the starting and vertical alignment process, in the starting and vertical alignment process of the special vehicle launching tube, if any one of the conditions that the left and right levelness change exceeds 15 ', the front and back levelness change exceeds 2 °, the angle detected by the starting and vertical angle encoder is greater than 90.5 °, the front and back levelness is greater than 3 °, the angle detected by the starting and vertical angle encoder is between 78 ° and 93 °, the flow of the starting and vertical alignment hydraulic system is greater than 150L/min, the verticality detected by the alignment sensor is between-210' and-80 'and the alignment angular speed is greater than or equal to 100'/s, the verticality detected by the alignment sensor is between-80 'and the alignment angular speed is greater than or equal to 40'/s occurs, the starting and vertical alignment process is stopped suddenly and an alarm is given.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "the present embodiment," "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and simplifications made in the spirit of the present invention are intended to be included in the scope of the present invention.
Claims (9)
1. A fault-tolerant control method in the process of erecting and straightening a special vehicle launching tube is characterized by comprising the following steps: the fault-tolerant control method comprises the following steps,
erecting initial stage: starting a first hydraulic pump and a second hydraulic pump, opening a erecting multi-way valve A, a erecting multi-way valve B and a erecting multi-way valve C, and setting the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C to be in a fully-opened state; the first hydraulic pump and the second hydraulic pump are connected with a main controller, the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C are connected with a multi-way valve controller, and the multi-way valve controller is connected with the main controller through a CAN bus;
erecting monitoring stage: monitoring the state of the erecting angle encoder, judging whether the state of the erecting angle encoder accords with a first preset fault state or not, and entering an erecting abnormal stage when the state of the erecting angle encoder accords with the first preset fault state; the vertical angle encoder is connected with a main controller through a CAN bus;
erecting an abnormal stage: reading an effective angle detected by a vertical angle encoder before abnormity;
if the effective angle is smaller than 60 degrees, closing the vertical multi-way valve A and the vertical multi-way valve B in sequence, reducing the flow of the vertical multi-way valve C, closing the first hydraulic pump, reading the verticality detected by the straightening sensor, and if the verticality is between-5 degrees and 5 degrees, reducing the pressure of the vertical straightening hydraulic system and entering a straightening control stage; the alignment sensor is connected with the main controller through a CAN bus;
if the effective angle is larger than or equal to 60 degrees, the flow of the vertical multi-way valve B is reduced, the first hydraulic pump is closed, the verticality detected by the straightening sensor is read, and if the verticality is between-5 degrees and 5 degrees, the pressure of the vertical hydraulic system is reduced and then the vertical hydraulic system enters a straightening control stage;
a straightening control stage: and (4) straightening the launching tube of the special vehicle by a closed-loop straightening control method.
2. The fault-tolerant control method in the starting and vertical alignment process of the special vehicle launching tube according to claim 1, characterized in that: in the erecting monitoring stage, if the erecting angle encoder has no fault, entering into the erecting normal stage;
erecting and normal stage: and controlling the erecting multi-way valve A, the erecting multi-way valve B, the erecting multi-way valve C, the pressure of the erecting straightening hydraulic system and the first hydraulic pump according to the angle detected by the erecting angle encoder, and entering a straightening control stage when the angle detected by the erecting angle encoder is more than 85 degrees.
3. The fault-tolerant control method in the starting and vertical alignment process of the special vehicle launching tube according to claim 2, characterized in that: after the erecting normal stage, when entering a straightening control stage, judging whether the straightening sensor accords with a second preset fault state, and entering a straightening abnormal stage when the straightening sensor accords with the second preset fault state;
straightening abnormal stage: reading the front and back levelness acquired by a leveling sensor, calculating the verticality according to the following mode, and straightening under the fault of the straightening sensor, wherein the leveling sensor is connected with a main controller through a CAN bus;
AN2＝UN1+AN1–90°；
wherein AN2 is the perpendicularity, UN1 is the angle detected by the vertical angle encoder, and AN1 is the front and back levelness collected by the leveling sensor.
4. The fault-tolerant control method in the process of erecting and straightening the special vehicle launching tube according to any one of claims 1 to 3, wherein the fault-tolerant control method comprises the following steps: the straightening sensor has no fault in the straightening control stage;
if the verticality is more than or equal to-5 degrees, adjusting the pressure of the vertical straightening hydraulic system to be 10 percent of the fully open state, and setting the planning value of the closed-loop straightening speed to be 20'/s;
if the perpendicularity is between-5 ° and-80 ' or between 80 ' and 5 °, the closed-loop straightening speed plan value is 8 '/s;
if the perpendicularity is between 8 'and 80', adjusting the pressure of the erecting straightening hydraulic system to be 90% of the fully-opened state, and adjusting the flow of the erecting multi-way valve C to be 20% of the fully-opened state;
if the perpendicularity is between-80 'and-8', adjusting the pressure of the vertical straightening hydraulic system to be 10% of the full-open state, and adjusting the flow of the vertical multi-way valve C to be 20% of the full-open state;
if the perpendicularity is between-8 'and 8', the erecting multi-way valve C is closed, and if the perpendicularity is still between-8 'and 8' after 2s, the straightening control phase is ended.
5. The fault-tolerant control method in the starting and vertical alignment process of the special vehicle launching tube according to claim 1, characterized in that: the first preset fault condition comprises: and the vertical angle encoder has no signal within 2s continuously, has no signal change within 2s continuously, and detects a vertical speed greater than 5 degrees/s.
6. The fault-tolerant control method in the starting and vertical alignment process of the special vehicle launching tube according to claim 3, characterized in that: the second preset fault condition comprises: after the angle detected by the starting vertical angle encoder is larger than 85 degrees, no signal exists in the continuous 2s of the straightening sensor, and after the angle detected by the starting vertical angle encoder is larger than 85 degrees, no signal changes in the continuous 2s of the straightening sensor.
7. The fault-tolerant control method in the starting and vertical alignment process of the special vehicle launching tube according to claim 5 or 6, wherein the fault-tolerant control method comprises the following steps: in the process of starting vertical alignment of the launching tube of the special vehicle, if any one of the conditions that the left and right levelness change exceeds 15 ', the front and back levelness change exceeds 2', the angle detected by the starting vertical angle encoder is more than 90.5%, the front and back levelness is more than 3%, the angle detected by the starting vertical angle encoder is between 78 DEG and 93 DEG, the flow of the starting vertical alignment hydraulic system is more than 150L/min, the verticality detected by the alignment sensor is between-210 'and-80', the alignment angular speed is more than or equal to 100 '/s, the verticality detected by the alignment sensor is between-80' and 80 ', and the alignment angular speed is more than or equal to 40'/s occurs, the starting vertical alignment process is scrammed and an alarm is given.
8. The fault-tolerant control method in the starting and vertical alignment process of the special vehicle launching tube according to claim 1, characterized in that: in the initial stage of erecting, the time delay is 500ms after the first hydraulic pump and the second hydraulic pump are started, then the pressure of the erecting straightening hydraulic system is adjusted to 80% of the full-open state within 2s, then the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C are opened, the initial flow rates of the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C are respectively 20% of the full-open state, and then the flow rates of the erecting multi-way valve A, the erecting multi-way valve B and the erecting multi-way valve C are gradually increased at the speed of increasing 10% every 200ms until the three are in the full.
9. The fault-tolerant control method in the starting and vertical alignment process of the special vehicle launching tube according to claim 2, characterized in that: in the normal stage of the vertical operation,
if UN1 is less than or equal to 60 degrees, the pressure of the vertical alignment hydraulic system and the flow of each vertical multi-way valve are kept;
if UN1 is more than 60 degrees and less than or equal to 68 degrees, closing the vertical multi-way valve A, adjusting the flow of the vertical multi-way valve B and the vertical multi-way valve C to be 60 percent of the full-open state of each, and adjusting the pressure of the vertical straightening hydraulic system to be 70 percent of the full-open state;
if the angle is more than 68 degrees and less than or equal to 75 degrees and UN1 degrees, the flow of the vertical multi-way valve B is adjusted to be 30 percent of the fully open state;
if UN1 is more than 75 degrees and less than or equal to 80 degrees, closing the vertical multi-way valve B, starting closed-loop vertical control, and setting the closed-loop straightening speed to be 75'/s;
if the angle is more than 80 degrees and less than or equal to 85 degrees and the planned value of the closed-loop straightening speed is 50'/s, closing the first hydraulic pump;
where UN1 is the angle detected by the erecting angle encoder.
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| CN108426486B (en) * | 2018-03-14 | 2020-03-20 | 北京航天发射技术研究所 | Self-adaptive control method for straightening erection of special vehicle launching cradle |
| CN110262214B (en) * | 2019-07-22 | 2022-08-05 | 北京航天发射技术研究所 | Erecting 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 |
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