CN110595279A - Perpendicularity adjusting method for liquid rocket - Google Patents
Perpendicularity adjusting method for liquid rocket Download PDFInfo
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- CN110595279A CN110595279A CN201910730747.5A CN201910730747A CN110595279A CN 110595279 A CN110595279 A CN 110595279A CN 201910730747 A CN201910730747 A CN 201910730747A CN 110595279 A CN110595279 A CN 110595279A
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- rocket
- levelness
- leg
- adjusting
- launching platform
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F3/00—Rocket or torpedo launchers
- F41F3/04—Rocket or torpedo launchers for rockets
Abstract
The invention discloses a perpendicularity adjusting method for a liquid rocket, which comprises the following steps: placing the rocket on a launching platform in a vertical mode; collecting first inertial data before rocket filling, and calculating the levelness of the rocket according to the first inertial data; adjusting the launching platform according to the levelness to enable the rocket levelness to reach a preset requirement; collecting second inertial data after rocket filling, and calculating the levelness of the rocket according to the second inertial data; compared with the prior art, the invention has the advantages of reasonable design, convenient operation, cost saving, improved carrying capacity of the rocket and the like.
Description
Technical Field
The invention relates to the field of rocket launching, in particular to a perpendicularity adjusting method for a liquid rocket.
Background
The perpendicularity adjustment of the liquid rocket is a measure for adjusting the initial posture of the rocket and ensuring the takeoff safety and flight precision of the rocket. The shell of the liquid carrier rocket is very thin and cannot be erected and launched after being filled in a horizontal state, so the perpendicularity adjustment of the liquid carrier rocket is performed after the rocket is erected on a launching platform, and the perpendicularity adjustment can be divided into two types, namely the perpendicularity adjustment in a no-load state before filling and the perpendicularity adjustment in a loaded state after filling.
In the leveling work flow of the existing carrier rocket launching device in China, a mode of one horizontal measuring instrument on the ground is generally adopted, and the tail end of an rocket and an instrument bin are respectively provided with one horizontal measuring instrument. The mode can reliably finish the leveling requirement of the transmitting device and can also meet the requirement of high precision. There are three problems, however: firstly, the number of arrow/missile ground devices is large, and the implementation and operation processes are complex; secondly, equipment on the rocket is added, so that the carrying capacity of the rocket is reduced; thirdly, the cost of the rocket is greatly increased, and the market competitiveness is greatly reduced. With the development of civil aerospace technology, the market puts new requirements on the simplification of the rocket launching process and the low-cost, maintenance-free and quick response of the launching of a single rocket.
Therefore, how to provide a perpendicularity adjusting method for a liquid rocket has the advantages of reasonable design, convenience in operation, cost saving and improvement of carrying capacity of the rocket.
Disclosure of Invention
The invention aims to provide a perpendicularity adjusting method for a liquid rocket, which is reasonable in design, convenient to operate, cost-saving and capable of improving carrying capacity of the rocket.
In order to achieve the purpose, the invention provides the following technical scheme: a perpendicularity adjusting method for a liquid rocket comprises the following steps: firstly, placing a rocket on a launching platform in a vertical mode; secondly, collecting first inertial data before rocket filling, and calculating the levelness of the rocket according to the first inertial data; thirdly, adjusting the launching platform according to the levelness to enable the rocket levelness to reach a preset requirement; fourthly, collecting second inertia group data after the rocket is filled, and calculating the levelness of the rocket according to the second inertia group data; fifthly, adjusting the launching platform according to the levelness so that the rocket levelness meets the preset requirement.
Preferably, the rocket is vertically placed on the launching platform and comprises a level gauge, and the levelness of the launching platform is adjusted by using the supporting leg oil cylinder through the level gauge arranged on the launching platform, so that the levelness of the launching platform meets the preset requirement.
Preferably, the method comprises the steps of collecting first inertial data before rocket filling, and calculating the levelness of the rocket according to the first inertial data, and specifically comprises the steps of powering on the rocket equipment, sending an out-of-level collection instruction to the rocket equipment by a ground measurement and launch control system, starting to collect the first inertial data on the rocket by the rocket equipment, and calculating the out-of-level on the rocket.
Preferably, the launching platform is adjusted according to the levelness so that the levelness of the rocket meets the preset requirement, and specifically the method comprises the steps that a ground measurement and launch control system receives the levelness obtained by calculation of the first inertial data and transmits the levelness to a front-end launch control system, and the front-end launch control system controls a hydraulic adjusting system to adjust the supporting leg oil cylinder according to the non-levelness on the rocket so that the levelness of the rocket meets the preset requirement.
Preferably, the method includes the steps of collecting second inertial data after rocket filling, and calculating the levelness of the rocket according to the second inertial data, and specifically includes: and powering on the liquid rocket equipment, sending an on-rocket non-levelness acquisition instruction to the on-rocket equipment by the ground measurement and transmission control system, starting to acquire the on-rocket second inertial data by the on-rocket equipment, and calculating the non-levelness of the rocket.
Preferably, the adjusting the launching platform according to the levelness to make the rocket levelness meet a preset requirement specifically includes: and the ground measurement and launch control system receives a second levelness calculated by second inertial data and transmits the second levelness to the front-end launch control system, and the front-end launch control system controls the hydraulic adjusting system to adjust the launch platform by using the support leg oil cylinder according to the non-levelness on the rocket, so that the levelness of the rocket reaches the preset requirement.
Preferably, before the rocket is vertically placed between the launching platforms, the liquid rocket is fixed, specifically, the method comprises the steps of arranging a rocket leg supporting plate at the lower part of a rocket leg of the liquid rocket, measuring pressure data of the rocket leg of the liquid rocket through a pressure sensor, and adjusting the height of the rocket leg supporting plate, so that the pressure of the rocket leg of the liquid rocket on the rocket leg supporting plate meets a preset requirement.
Preferably, the gradienter is positioned on the lower surface of the launching platform, the supporting leg oil cylinders are uniformly distributed on the lower part of the launching platform, and the levelness of the launching platform is adjusted through the extension and retraction of the supporting leg oil cylinders.
Preferably, the supporting leg oil cylinder comprises a first supporting leg, a second supporting leg, a third supporting leg and a fourth supporting leg, wherein a connecting line between the first supporting leg and the second supporting leg and between the third supporting leg and the fourth supporting leg forms a square, the first supporting leg and the third supporting leg are used for adjusting the pitching angle of the launching platform, and the second supporting leg and the fourth supporting leg are used for adjusting the yawing angle of the launching platform.
Compared with the prior art, the invention has the beneficial effects that: the perpendicularity adjusting method of the liquid rocket comprises the following steps: firstly, placing a rocket on a launching platform in a vertical mode; secondly, collecting first inertial data before rocket filling, and calculating the levelness of the rocket according to the first inertial data; thirdly, adjusting the launching platform according to the levelness to enable the rocket levelness to reach a preset requirement; fourthly, collecting second inertia group data after the rocket is filled, and calculating the levelness of the rocket according to the second inertia group data; fifthly, adjusting the launching platform according to the levelness so that the rocket levelness meets the preset requirement. In the whole process, the device on the rocket of the liquid rocket is used for collecting the first inertial data and the second inertial data to calculate the levelness of the rocket so as to adjust the liquid rocket, the launching platform is adjusted according to the levelness so that the levelness of the rocket reaches the preset requirement, the device on the rocket is used for calculating the levelness of the rocket on the basis of not increasing a measuring device on the rocket, and the high-precision leveling of the rocket is reliably finished by adopting twice leveling and a corresponding algorithm so as to ensure the takeoff safety and flight precision of the rocket.
Drawings
FIG. 1 is a schematic diagram of the structure for perpendicularity adjustment of a liquid rocket according to the present invention;
FIG. 2 is a schematic structural diagram of a liquid rocket perpendicularity adjustment control system according to the present invention;
FIG. 3 is a bottom view of the liquid rocket perpendicularity adjustment support oil leg and launch platform of the present invention;
FIG. 4 is a front view of the arrow foot support plate of the present invention;
FIG. 5 is a top view of the arrow foot support tray of the present invention.
Description of reference numerals:
1 launching platform and 2 ground testing and launching control systems
3 equipment 4 transmission control system on arrow
5 pressure sensor 6 rocket arrow feet
7 arrow foot supporting plate 8 first leg
9 second leg 10 third leg
Wind-proof device for 11 fourth leg 12
13-support-leg oil cylinder 14 level gauge
15 arrow-on-machine 16 inertial set equipment
17 rocket axis
Detailed Description
For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the invention, reference will now be made to the drawings and detailed description, wherein there are shown in the drawings and described in detail, various modifications of the embodiments described herein, and other embodiments of the invention will be apparent to those skilled in the art.
The exemplary embodiments of the present invention and the description thereof are provided to explain the present invention and not to limit the present invention. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.
As used herein, the terms "first," "second," …, etc., do not denote any order or sequence, nor are they used to limit the present invention, but rather are used to distinguish one element from another or from another element or operation described in the same technical language.
With respect to directional terminology used herein, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Accordingly, the directional terminology used is intended to be illustrative and is not intended to be limiting of the present teachings.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
As used herein, "and/or" includes any and all combinations of the described items.
As used herein, the terms "substantially", "about" and the like are used to modify any slight variation in quantity or error that does not alter the nature of the variation. Generally, the range of slight variations or errors modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. It should be understood by those skilled in the art that the aforementioned values can be adjusted according to actual needs, and are not limited thereto.
Certain words used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the present application.
The embodiment of the invention provides a perpendicularity adjusting method for a liquid rocket, which comprises the following steps of:
placing the rocket on a launching platform 1 in a vertical mode;
collecting first inertial data before rocket filling, and calculating the levelness of the rocket according to the first inertial data;
adjusting the launching platform 1 according to the levelness to enable the levelness of the rocket to meet the preset requirement;
collecting second inertial data after the rocket is filled, and calculating the levelness of the rocket according to the second inertial data;
and adjusting the launching platform 1 according to the levelness so as to enable the levelness of the rocket to meet the preset requirement.
Specifically, the method comprises the following steps: the perpendicularity adjusting method of the liquid rocket comprises the following steps: firstly, placing a rocket on a launching platform 1 in a vertical mode; secondly, collecting first inertial data before rocket filling, and calculating the levelness of the rocket according to the first inertial data; thirdly, adjusting the launching platform 1 according to the levelness so as to enable the levelness of the rocket to meet the preset requirement; fourthly, collecting second inertia group data after the rocket is filled, and calculating the levelness of the rocket according to the second inertia group data; fifthly, adjusting the launching platform 1 according to the levelness so as to enable the levelness of the rocket to meet the preset requirement. In the whole perpendicularity adjusting process of the liquid rocket, the first inertial data and the second inertial data are collected through the liquid rocket mounted device 3, the levelness of the rocket is calculated, and the launching platform 1 where the liquid rocket is located is adjusted according to the levelness measured twice, so that the levelness of the rocket meets the preset requirement. That is to say, the method for adjusting the perpendicularity of the rocket provided by the embodiment of the invention can utilize the equipment on the rocket to calculate the levelness of the rocket on the basis of not increasing the measuring device on the rocket, and adopts twice leveling and a corresponding algorithm to reliably finish the high-precision leveling of the rocket, thereby ensuring the take-off safety and flight precision of the rocket.
Specifically speaking, the rocket can be vertically placed on the launching platform 1 before the rocket is placed on the launching platform 1, the levelers are arranged on the launching platform 1, the levelness of the launching platform 1 is adjusted by the aid of the supporting leg oil cylinders 13, so that the levelness of the launching platform 1 meets the preset requirement, and the liquid rocket can be vertically placed on the launching platform 1 after the levelness of the launching platform 1 meets the requirement.
It should be noted that, as shown in fig. 1 and fig. 2, the rocket upper machine 3 is used for collecting first inertial data before rocket filling, and the levelness of the rocket is calculated according to the first inertial data, specifically, the method includes that the liquid rocket upper machine 3 is powered on, the ground measurement and launch control system 2 (rear end control system) sends an arrow upper machine 3 non-levelness collection flow, an instruction is sent to the rocket upper machine 3, the rocket upper machine 3 starts to collect the first inertial data on the rocket, and the rocket upper machine 15 is used for calculating the arrow non-levelness. It should be further mentioned that the launch platform 1 is adjusted according to the levelness to make the rocket levelness meet the preset requirement, specifically comprising that the ground measurement launch control system 2 receives the levelness calculated by the first inertial data, and transmits the levelness calculated by the first inertial data to the launch control system 4 (front-end launch control system), and the front-end launch control system 4 controls the hydraulic adjusting system to adjust the support oil cylinder 13 according to the non-levelness on the rocket to make the rocket levelness meet the preset requirement.
It is particularly noteworthy that, in order to make the launch of the liquid rocket safer, the rocket-mounted device 3 collects second inertial data after the rocket is filled, and calculates the levelness of the rocket according to the second inertial data, specifically including: and powering on the liquid rocket on-arrow equipment 3, sending an on-arrow equipment 3 out-of-level acquisition instruction by the ground measurement and launch control system 2, and starting to acquire the second on-arrow inertial data by the on-arrow equipment 3 to calculate out-of-level of the on-arrow equipment 3.
The method specifically comprises the steps that a ground measurement and launch control system 2 receives the levelness calculated by second inertial data and transmits the levelness calculated by the second inertial data to a front-end launch control system 4, and the front-end launch control system 4 controls a hydraulic adjusting mechanism to adjust the launch platform 1 by using a supporting leg oil cylinder 13 according to the non-levelness of the rocket device 3, so that the levelness of the rocket reaches the preset requirement.
As shown in fig. 1, 4 and 5, in order to secure the rocket in a stable manner, it is necessary to secure the liquid rocket before the rocket is vertically placed on the launching platform 1, and specifically, the method includes providing a rocket leg support plate 7 under the liquid rocket leg 6, and further providing a pressure sensor 5 at the upper end of the rocket leg support plate 7 in order to ensure relatively uniform support force of the rocket leg 6. Firstly, the pressure sensor 5 measures pressure data of the liquid rocket foot 6, and then the rocket foot supporting plate 7 is adjusted according to the data, so that the pressure of the liquid rocket foot 6 on the rocket foot supporting plate 7 reaches a preset requirement (namely the pressure of the rocket foot is approximately equal). In particular, in the present embodiment, for example: the rocket foot supporting plate 7 is used for supporting a liquid to support a rocket, and the height of the rocket foot supporting plate can be manually adjusted by a small stroke; in order to facilitate operation, the arrow foot supporting plate 7 can be adjusted up and down by adopting a bolt, so that the height of the arrow foot supporting plate can be adjusted. In order to ensure the stability of the liquid rocket and ensure the safety of the rocket in the perpendicularity adjusting process; the windproof device 12 is connected with the rocket foot 6 of the rocket, and the windproof device 12 is used for locking the rocket foot 6 of the rocket, so that the movement of the whole rocket is avoided in the rocket launching process, and the launching safety of the liquid rocket is ensured. It is particularly noted that the rocket device 5 comprises a rocket inertial unit device 16 and a rocket motor 15, wherein the rocket inertial unit device 16 is used for collecting data, and the rocket motor 15 is used for calculating the collected data. When adjusting the rocket levelness, the base of the rocket inertial set device 16 needs to be perpendicular to the liquid rocket axis 17 so as to accurately sense the verticality of the rocket and ensure the takeoff stability and flight precision of the rocket.
It should be noted that, as shown in fig. 1 and fig. 2, in order to ensure accurate adjustment, a level 14 is provided on the launching platform 1, the leg cylinders 13 are uniformly distributed at the lower part of the launching platform 1 (in the direction of fig. 1, near the end of the leg cylinder 13 far from the liquid rocket), and the levelness of the launching platform 1 is adjusted by the extension and contraction of the leg cylinders 13. In addition, the level gauge 14 on the launching platform 1 is a double-shaft inclinometer, and outputs a test result by adopting an RS422 signal, so that the test result is used for measuring the non-levelness of the launching platform in the pitching and yawing directions and is used for leveling the launching platform 1 in the initial self-checking stage of the launching platform.
Further, as shown in fig. 1 and 3, the leg cylinder 13 includes a first leg 8, a second leg 9, a third leg 10, and a fourth leg 11. On the same horizontal plane in the horizontal direction, the connecting lines among the first leg 8, the second leg 9, the third leg 10 and the fourth leg 11 form a square. In order to adjust the levelness of the launching platform 1 conveniently, the first leg 8 and the third leg 10 are used for controlling the adjustment of the pitch angle of the launching platform 1, and the second leg 9 and the fourth leg 11 are used for controlling the adjustment of the yaw angle of the launching platform 1.
In addition, it should be mentioned that, as shown in fig. 1 and fig. 2, in order to ensure fast data transmission and avoid signal interference, the rocket machine 15 is connected with the ground test launch control system 2 through a cable. In practice, a wireless connection, such as a bluetooth connection, may also be used. The communication between the pressure sensor 5 and the emission control system 4 adopts an RS422 mode, and the communication between the systems adopts a network communication mode, and CAN also be designed into other communication modes such as a serial port, a CAN or 1553B and the like. The rocket perpendicularity adjusting process in the device is used as a basic process matched with the launching control system, and simple sequential adjustment, detail change and operation interface change on the basis are all within the protection scope of the patent.
Still relate to in this scheme: the sensor data acquisition, analog input/output control and digital input/output control are not described in detail herein. In the embodiment, the design can be improved on the basis of the invention according to the actual use requirement.
The foregoing is merely an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principle of the present invention should fall within the protection scope of the present invention.
Claims (9)
1. A perpendicularity adjusting method for a liquid rocket is characterized by comprising the following steps:
placing the rocket on a launching platform in a vertical mode;
collecting first inertial data before rocket filling, and calculating the levelness of the rocket according to the first inertial data;
adjusting the launching platform according to the levelness to enable the rocket levelness to reach a preset requirement;
collecting second inertial data after rocket filling, and calculating the levelness of the rocket according to the second inertial data;
and adjusting the launching platform according to the levelness so as to enable the rocket levelness to reach a preset requirement.
2. The method for adjusting the perpendicularity of a liquid rocket according to claim 1, wherein before the rocket is vertically placed on the launching platform, the method comprises the step of adjusting the levelness of the launching platform by using a supporting leg oil cylinder through a level gauge arranged on the launching platform so that the levelness of the launching platform meets a preset requirement.
3. The method for adjusting the perpendicularity of a liquid rocket according to claim 1, wherein first inertial data before filling of the rocket is collected, and the levelness of the rocket is calculated according to the first inertial data, and specifically the method comprises the steps of powering on equipment on the rocket, sending an out-of-level collection instruction to the equipment on the rocket by a ground measurement and launch control system, starting collection of the first inertial data on the rocket by the equipment on the rocket, and calculating the out-of-level on the rocket.
4. The method for adjusting the perpendicularity of a liquid rocket according to claim 1, wherein the launching platform is adjusted according to the levelness so that the levelness of the rocket reaches a preset requirement, and specifically comprises the steps of receiving the levelness calculated by the first inertial data by a ground measurement and launch control system, transmitting the levelness to a front-end launch control system, and controlling a hydraulic adjusting system by the front-end launch control system according to the non-levelness on the rocket to adjust a support leg cylinder so that the levelness of the rocket reaches the preset requirement.
5. The method for adjusting perpendicularity of a liquid rocket according to claim 1, wherein second inertia data after filling of the rocket is collected, and levelness of the rocket is calculated according to the second inertia data, and specifically the method comprises: and powering on the liquid rocket equipment, sending an on-rocket non-levelness acquisition instruction to the on-rocket equipment by the ground measurement and transmission control system, starting to acquire the on-rocket second inertial data by the on-rocket equipment, and calculating the non-levelness of the rocket.
6. The method for adjusting the perpendicularity of a liquid rocket according to claim 1, wherein the step of adjusting the launching platform according to the levelness so that the levelness of the rocket meets a preset requirement specifically comprises the steps of: and the ground measurement and launch control system receives a second levelness calculated by second inertial data and transmits the second levelness to the front-end launch control system, and the front-end launch control system controls the hydraulic adjusting system to adjust the launch platform by using the support leg oil cylinder according to the non-levelness on the rocket, so that the levelness of the rocket reaches the preset requirement.
7. The method for adjusting the perpendicularity of a liquid rocket according to claim 1, wherein before the rocket is vertically placed between launching platforms, the method further comprises fixing the liquid rocket, specifically comprises the steps of arranging a rocket leg supporting plate at the lower part of a rocket leg of the liquid rocket, measuring pressure data of the rocket leg of the liquid rocket through a pressure sensor, and adjusting the height of the rocket leg supporting plate, so that the pressure of the rocket leg of the liquid rocket on the rocket leg supporting plate reaches a preset requirement.
8. The method for adjusting the perpendicularity of a liquid rocket according to claim 2, wherein the level gauge is located on the lower surface of the launching platform, the leg cylinders are uniformly distributed on the lower portion of the launching platform, and the levelness of the launching platform is adjusted through the extension and contraction of the leg cylinders.
9. The method of adjusting perpendicularity of a liquid rocket according to claim 8, wherein the leg cylinder comprises a first leg, a second leg, a third leg and a fourth leg, wherein a connecting line between the first leg, the second leg, the third leg and the fourth leg forms a square on the same horizontal plane, the first leg and the third leg are used for adjusting a pitch angle of a launching platform, and the second leg and the fourth leg are used for adjusting a yaw angle of the launching platform.
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| CN201910730747.5A CN110595279A (en) | 2019-08-08 | 2019-08-08 | Perpendicularity adjusting method for liquid rocket |
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| CN111103902A (en) * | 2020-01-02 | 2020-05-05 | 蓝箭航天空间科技股份有限公司 | Leveling control system and method for rocket launching platform |
| CN111221356A (en) * | 2020-04-21 | 2020-06-02 | 贵州航天天马机电科技有限公司 | Automatic monitoring and adjusting device and method for levelness of transfer erecting rack |
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| CN115307487A (en) * | 2022-07-05 | 2022-11-08 | 蓝箭航天空间科技股份有限公司 | Verticality adjusting method for medium-sized liquid carrier rocket |
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| CN111221356A (en) * | 2020-04-21 | 2020-06-02 | 贵州航天天马机电科技有限公司 | Automatic monitoring and adjusting device and method for levelness of transfer erecting rack |
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| CN111665817B (en) * | 2020-05-13 | 2021-06-01 | 蓝箭航天空间科技股份有限公司 | Carrier rocket launching support equivalent test method |
| CN112461045A (en) * | 2020-11-26 | 2021-03-09 | 北京星途探索科技有限公司 | Detachable simple launching platform |
| CN114658705A (en) * | 2022-03-11 | 2022-06-24 | 东方空间技术(山东)有限公司 | Rocket supporting platform and rocket pose adjusting method |
| CN114658705B (en) * | 2022-03-11 | 2023-09-08 | 东方空间技术(山东)有限公司 | Rocket supporting platform and rocket pose adjusting method |
| CN115307487A (en) * | 2022-07-05 | 2022-11-08 | 蓝箭航天空间科技股份有限公司 | Verticality adjusting method for medium-sized liquid carrier rocket |
| CN115307487B (en) * | 2022-07-05 | 2023-12-05 | 蓝箭航天空间科技股份有限公司 | Verticality adjusting method for medium-sized liquid carrier rocket |
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Address after: 313000 Building 1, No.177, huangzhishan Road, Huzhou City, Zhejiang Province Applicant after: LANJIAN SPACEFLIGHT TECHNOLOGY Co.,Ltd. Address before: 313000 Three 1001-1 Blocks 1366 Hongfeng Road, Huzhou City, Zhejiang Province Applicant before: LANJIAN SPACEFLIGHT TECHNOLOGY Co.,Ltd. |
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Application publication date: 20191220 |