CN111520378B - Double-base-surface double-axial leveling control system - Google Patents
Double-base-surface double-axial leveling control system Download PDFInfo
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- CN111520378B CN111520378B CN202010387018.7A CN202010387018A CN111520378B CN 111520378 B CN111520378 B CN 111520378B CN 202010387018 A CN202010387018 A CN 202010387018A CN 111520378 B CN111520378 B CN 111520378B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/085—Servomotor systems incorporating electrically operated control means using a data bus, e.g. "CANBUS"
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
- F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
- F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a double-base-surface double-axial leveling control system, which comprises a control console, a leveling valve group, leveling support legs and a launching vehicle, wherein the control console is connected with the leveling valve group; the control console is connected with a control leveling valve group, a hydraulic pipeline of the leveling valve group is connected with leveling support legs, and the leveling support legs are arranged at the four corners of the launching vehicle; the leveling supporting legs are provided with pressure transmitters which are in communication connection with a console; the launching vehicle is provided with a main sensor and an auxiliary sensor which are respectively in communication connection with the console; the main sensor and the auxiliary sensor are respectively arranged at the position close to the tail and the position close to the head of the launching vehicle; the control console adjusts the mode of leveling the supporting legs by controlling the leveling valve group according to the reading values of the main sensor and the auxiliary sensor, and the attitude of the launching vehicle is leveled. The invention can carry out double-axial quick leveling on two base planes of the special vehicle, has higher leveling precision and stable and reliable leveling process.
Description
Technical Field
The invention relates to a double-base-surface double-axial leveling control system.
Background
With the progress of scientific technology and society, the hydraulic leveling technology is widely applied to modern national defense and civil technologies, such as heavy cranes and other equipment.
Aiming at special equipment vehicles with double base surfaces and double axial leveling, the requirements of quick, high-precision and high-reliability leveling are difficult to achieve through a traditional chasing type leveling mode.
Disclosure of Invention
In order to solve the technical problems, the invention provides a double-base-surface double-axial leveling control system which can effectively meet the requirements of rapidness, high precision and high reliability of a special equipment vehicle leveling process.
The invention is realized by the following technical scheme.
The invention provides a double-base-surface double-axial leveling control system which comprises a control console, a leveling valve group, leveling support legs and a launching vehicle, wherein the control console is connected with the leveling valve group; the control console is connected with a control leveling valve group, a hydraulic pipeline of the leveling valve group is connected with leveling support legs, and the leveling support legs are arranged at the four corners of the launching vehicle; the leveling supporting legs are provided with pressure transmitters which are in communication connection with a console; the launching vehicle is provided with a main sensor and an auxiliary sensor which are respectively in communication connection with the console; the main sensor and the auxiliary sensor are respectively arranged at the position close to the tail and the position close to the head of the launching vehicle; the control console adjusts the mode of leveling the supporting legs by controlling the leveling valve group according to the reading values of the main sensor and the auxiliary sensor, and the attitude of the launching vehicle is leveled.
The pressure transmitter is installed one on each leveling supporting leg, the leveling supporting leg positioned at the left front corner of the launching vehicle and the corresponding pressure transmitter form a front left supporting group, the leveling supporting leg positioned at the right front corner of the launching vehicle and the corresponding pressure transmitter form a front right supporting group, the leveling supporting leg positioned at the left rear corner of the launching vehicle and the corresponding pressure transmitter form a rear left supporting group, and the leveling supporting leg positioned at the right rear corner of the launching vehicle and the corresponding pressure transmitter form a rear right supporting group.
The leveling valve group consists of an electromagnetic valve bridge, a valve core and a sensor, wherein a voltage signal controls the electromagnetic valve bridge to act, the electromagnetic valve bridge drives the valve core, and the sensor acquires the position of the valve core and forms a feedback signal.
The process of leveling the posture of the launching vehicle by the control console comprises the following steps:
a. leveling a middle position: synchronously controlling the four leveling support legs by taking the control median of the leveling valve group as a control target value;
b. leveling a first base plane: for a selected one of the main sensor and the auxiliary sensor, a reading value is obtained in real time, and the reading value is enabled to be smaller than +/-10' in the X-axis direction and the Y-axis direction by controlling the four leveling supporting legs;
c. leveling a second base surface: for the other one of the main sensor and the auxiliary sensor, a reading value is obtained in real time, and the reading value is smaller than +/-10' in the X-axis direction and the Y-axis direction by controlling the four leveling supporting legs;
d. fine adjustment: and reading values of the main sensor and the auxiliary sensor are obtained and compared in real time, and the reading values of the main sensor and the auxiliary sensor are smaller than +/-9' in the X-axis direction and the Y-axis direction by controlling the four leveling supporting legs.
In the step d, the stop condition is that the reading values of the main sensor and the auxiliary sensor are less than +/-9' in the X-axis direction and the Y-axis direction in at least 20 continuous control cycles.
In the step a, after the four leveling legs reach the control target value and are stabilized for at least 2 seconds, the next step is carried out.
The leveling valve group is arranged corresponding to each leveling supporting leg.
The leveling supporting leg is composed of an oil cylinder, a body, a supporting plate and a clamping ring, the oil cylinder is sleeved in the body, the clamping ring is fixed at the rear end of the oil cylinder and is installed on the supporting plate, and the oil cylinder and the body are sealed.
The invention has the beneficial effects that: the two base planes of the special vehicle can be quickly leveled in a biaxial manner, the leveling precision is high, and the leveling process is stable and reliable.
Drawings
FIG. 1 is a schematic connection diagram of the present invention;
FIG. 2 is a schematic view of the installation layout of FIG. 1 on the launch vehicle of FIG. 1;
FIG. 3 is a schematic illustration of the connection of the leveling valve block of FIG. 1;
fig. 4 is a schematic structural view of the leveling leg of fig. 1.
In the figure: 101-console, 102-leveling valve group, 103-leveling support leg, 104-launching vehicle, 105-pressure transmitter, 106-main sensor, 107-auxiliary sensor, 201-electromagnetic valve bridge, 202-valve core, 203-sensor, 301-left front support group, 302-right front support group, 303-left rear support group, 304-right rear support group, 1-oil cylinder, 2-body, 3-support disc and 4-snap ring.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
As shown in fig. 1 to 4, the double-base-surface double-axial leveling control system includes a console 101, a leveling valve set 102, leveling legs 103, and a launch vehicle 104; the control console 101 is connected with a control leveling valve group 102, a hydraulic pipeline of the leveling valve group 102 is connected with leveling support legs 103, and the leveling support legs 103 are arranged at four corners of the launching vehicle 104; a pressure transmitter 105 is arranged on the leveling supporting leg 103, and the pressure transmitter 105 is in communication connection with the console 101; the launching vehicle 104 is provided with a main sensor 106 and an auxiliary sensor 107, and the main sensor 106 and the auxiliary sensor 107 are respectively in communication connection with the console 101; the main sensor 106 and the auxiliary sensor 107 are respectively arranged at the position close to the tail and the position close to the head of the launching vehicle 104; the console 101 levels the attitude of the launch vehicle 104 by controlling the leveling valve set 102 and adjusting the leveling legs 103 according to the readings of the main sensor 106 and the auxiliary sensor 107.
Both the main sensor 106 and the sub sensor 107 are horizontal sensors.
The pressure transmitter 105 is arranged on each leveling supporting leg 103, the leveling supporting leg 103 positioned at the left front corner of the launching vehicle 104 and the corresponding pressure transmitter 105 form a left front supporting group 301, the leveling supporting leg 103 positioned at the right front corner of the launching vehicle 104 and the corresponding pressure transmitter 105 form a right front supporting group 302, the leveling supporting leg 103 positioned at the left rear corner of the launching vehicle 104 and the corresponding pressure transmitter 105 form a left rear supporting group 303, and the leveling supporting leg 103 positioned at the right rear corner of the launching vehicle 104 and the corresponding pressure transmitter 105 form a right rear supporting group 304.
The leveling valve group 102 is composed of an electromagnetic valve bridge 201, a valve core 202 and a sensor 203, wherein a voltage signal controls the electromagnetic valve bridge 201 to act, the electromagnetic valve bridge 201 drives the valve core 202, and the sensor 203 acquires the position of the valve core 202 to form a feedback signal.
The process of leveling the posture of the launching vehicle 104 by the console 101 comprises the following steps:
a. leveling a middle position: synchronously controlling the four leveling support legs 103 by taking the control median of the leveling valve group 102 as a control target value;
b. leveling a first base plane: for a selected one of the main sensor 106 and the auxiliary sensor 107, a reading value is obtained in real time, and the reading value is smaller than +/-10' in the X-axis direction and the Y-axis direction by controlling the four leveling supporting legs 103;
c. leveling a second base surface: for the other one of the main sensor 106 and the auxiliary sensor 107, the reading value is obtained in real time, and the reading value is smaller than +/-10' in the X-axis direction and the Y-axis direction by controlling the four leveling supporting legs 103;
d. fine adjustment: the readings of the main sensor 106 and the auxiliary sensor 107 are obtained and compared in real time, and the readings of the main sensor 106 and the auxiliary sensor 107 are smaller than +/-9' in the X-axis direction and the Y-axis direction by controlling the four leveling supporting legs 103.
In step d, the stop condition is that the readings of the main sensor 106 and the sub sensor 107 are less than ± 9' in both the X-axis direction and the Y-axis direction for at least 20 consecutive control cycles.
In the step a, after the four leveling legs 103 reach the control target value and are stabilized for at least 2 seconds, the next step is performed.
The leveling valve group 102 is provided one for each leveling leg 103.
Leveling landing leg 103 comprises hydro-cylinder 1, body 2, supporting disk 3, snap ring 4, and hydro-cylinder 1 suit is in body 2, and the rear end of hydro-cylinder 1 is fixed with snap ring 4, and snap ring 4 installs on supporting disk 3, seals between hydro-cylinder 1 and the body 2.
Example 1
By adopting the scheme, a closed-loop control system is formed by the two level sensors, the leveling valve group, the leveling supporting leg, the supporting leg pressure transmitter, the hydraulic control console and the like. The hydraulic control console respectively collects two base level angle values of the special vehicle and the pressure values of the leveling support legs in real time through the CAN bus communication board and the A/D board, and sends out the control quantity of the corresponding proportional valve group through the D/A board to adjust the valve core switching quantity of the corresponding leveling proportional valve group in real time according to the collected base level angle values and the pressure values of the leveling support legs, so that the corresponding leveling support legs are driven to act to achieve the aims of quick, high-precision and high-reliability leveling of the special vehicle.
The leveling step specifically comprises:
1) after the hydraulic control console receives a leveling command, the special vehicle enters an automatic leveling program to start leveling;
2) the special vehicle firstly sets the proportional valve control values of the four leveling support legs as a median value and then switches on the power supply of the leveling support leg valve group;
3) judging whether the communication between the hydraulic control console and the main level sensor and the communication between the hydraulic control console and the auxiliary level sensor are normal or not, if any one path of communication is abnormal, firstly setting the valve group control values of the four leveling support legs as a median, and then disconnecting the power supply of the valve group of the leveling support legs to finish the leveling work, otherwise, continuing the leveling work;
4) the special vehicle firstly judges whether the slope of the ground where the special vehicle is located is larger than 3 degrees or not by receiving the inclination angle value of the main horizontal sensor, and the slope of the ground is larger than 3 degrees, and then the power supply of the leveling support leg valve set is disconnected by a median value to finish leveling work; otherwise, continuing to carry out leveling work;
5) the four leveling support legs are quickly extended;
6) after the leg is quickly stretched, judging the leg to be in a virtual state, and continuing to quickly land under the condition of the leg to be in a virtual state;
7) when the four legs are all solid legs, the four legs are integrally extended for 2 seconds (ensuring that the four legs reliably land);
8) and after the whole extension is finished, entering a coarse adjustment link of the special vehicle, wherein in the link, firstly, the landing legs on the Y axis are controlled to act (the left front landing leg and the right front landing leg or the left rear landing leg and the right rear landing leg) according to the Y axis value of the main level sensor, and the Y axis value is adjusted to be +/-10'. If the virtual leg appears in the action, quickly compensating the virtual leg, and then performing the action after the virtual leg compensation is finished;
9) after the Y-axis rough adjustment of the main level sensor is finished, the supporting legs on the X-axis of the main level sensor and the supporting legs on the X-axis of the auxiliary level sensor are respectively controlled to act according to the X-axis values of the main level sensor and the auxiliary level sensor, the X-axis values of the main level sensor and the auxiliary level sensor are adjusted to be +/-10' (the main level sensor controls the left rear supporting leg or the right rear supporting leg, and the auxiliary level sensor controls the left front supporting leg or the right front supporting leg). If the virtual leg appears in the action, quickly compensating the virtual leg, and then performing the action after the virtual leg compensation is finished;
10) after the rough adjustment of the X axis of the main horizontal sensor and the auxiliary horizontal sensor is finished, the supporting legs on the Y axis are controlled to act (the left front supporting leg and the right front supporting leg or the left rear supporting leg and the right rear supporting leg) according to the Y axis value of the auxiliary horizontal sensor, and the Y axis value is adjusted to be +/-10';
11) after the Y-axis value of the auxiliary level sensor is adjusted to be within a range of +/-10 ', firstly judging whether the special vehicle meets the leveling requirement (the X-axis value of the main level sensor is less than +/-10 ', the Y-axis value is less than +/-10 ', the X-axis value of the auxiliary sensor is less than +/-10 ', the Y-axis value is less than +/-10 ' and no virtual leg exists in four leveling support legs), when the special vehicle meets the leveling requirement, firstly setting the valve group control values of the four leveling support legs as a median value, then disconnecting the power supply of the valve group of the leveling support legs and finishing the leveling work; otherwise, performing a fine adjustment correction link, and judging the virtual leg in real time in the link; if the virtual leg appears, the virtual leg is quickly compensated, after the virtual leg compensation is finished, the corresponding leg is controlled to extend according to the image limit value, and when the inclination angle value of the main horizontal sensor is smaller than 9 ', the left front leg or the right front leg is controlled to adjust the angle value according to the inclination angle value of the auxiliary horizontal sensor, so that the inclination angle value of the auxiliary horizontal sensor is smaller than 9'. If the inclination angle value of the main horizontal sensor is less than 9 'and the inclination angle value of the auxiliary horizontal sensor is less than 9' after 20 continuous beats, and the leveling support legs have no virtual legs, firstly setting the valve group control values of the four leveling support legs as the median, then disconnecting the power supply of the valve group of the leveling support legs, and finishing the leveling action. Otherwise, the fine adjustment and correction link is continued.
Claims (7)
1. The utility model provides a two base planes biax leveling control system, includes control cabinet (101), leveling valves (102), leveling landing leg (103), launch vehicle (104), its characterized in that: the control console (101) is connected with a control leveling valve group (102), a hydraulic pipeline of the leveling valve group (102) is connected with leveling support legs (103), and the leveling support legs (103) are arranged at four corners of the launching vehicle (104); a pressure transmitter (105) is installed on the leveling supporting leg (103), and the pressure transmitter (105) is in communication connection with the control console (101); a main sensor (106) and an auxiliary sensor (107) are mounted on the launching vehicle (104), and the main sensor (106) and the auxiliary sensor (107) are respectively in communication connection with the console (101); the main sensor (106) and the auxiliary sensor (107) are respectively arranged at the position close to the tail and the position close to the head of the launching vehicle (104); the control console (101) levels the posture of the launching vehicle (104) by controlling the leveling valve group (102) to adjust the leveling supporting legs (103) according to the reading values of the main sensor (106) and the auxiliary sensor (107);
the process that the control console (101) levels the posture of the launching vehicle (104) comprises the following steps:
a. leveling a middle position: synchronously controlling four leveling support legs (103) by taking the control median of the leveling valve group (102) as a control target value;
b. leveling a first base plane: for a selected one of the main sensor (106) and the auxiliary sensor (107), reading values are acquired in real time, and the reading values are smaller than +/-10' in the X-axis direction and the Y-axis direction by controlling the four leveling supporting legs (103);
c. leveling a second base surface: for the other one of the main sensor (106) and the auxiliary sensor (107), a reading value is obtained in real time, and the reading value is smaller than +/-10' in the X-axis direction and the Y-axis direction by controlling the four leveling supporting legs (103);
d. fine adjustment: and reading values of the main sensor (106) and the auxiliary sensor (107) are acquired and compared in real time, and the reading values of the main sensor (106) and the auxiliary sensor (107) are smaller than +/-9' in the X-axis direction and the Y-axis direction by controlling the four leveling supporting legs (103).
2. The dual-datum bi-axial leveling control system of claim 1, wherein: the pressure transmitter (105) is arranged on each leveling supporting leg (103), the leveling supporting leg (103) positioned at the left front corner of the launching vehicle (104) and the corresponding pressure transmitter (105) form a front left supporting group (301), the leveling supporting leg (103) positioned at the right front corner of the launching vehicle (104) and the corresponding pressure transmitter (105) form a front right supporting group (302), the leveling supporting leg (103) positioned at the left rear corner of the launching vehicle (104) and the corresponding pressure transmitter (105) form a rear left supporting group (303), the leveling supporting leg (103) positioned at the right rear corner of the launching vehicle (104) and the corresponding pressure transmitter (105) form a rear right supporting group (304).
3. The dual-datum bi-axial leveling control system of claim 1, wherein: the leveling valve group (102) consists of an electromagnetic valve bridge (201), a valve core (202) and a sensor (203), wherein a voltage signal controls the electromagnetic valve bridge (201) to act, the electromagnetic valve bridge (201) drives the valve core (202), and the sensor (203) acquires the position of the valve core (202) to form a feedback signal.
4. The dual-datum bi-axial leveling control system of claim 1, wherein: in the step d, the stop condition is that the reading values of the main sensor (106) and the auxiliary sensor (107) are less than +/-9' in the X-axis direction and the Y-axis direction in at least 20 continuous control cycles.
5. The dual-datum bi-axial leveling control system of claim 1, wherein: in the step a, after the four leveling legs (103) reach the control target value and are stabilized for at least 2 seconds, the next step is carried out.
6. The dual-datum bi-axial leveling control system of claim 1, wherein: the leveling valve group (102) is arranged corresponding to each leveling supporting leg (103).
7. The dual-datum bi-axial leveling control system of claim 1, wherein: leveling landing leg (103) comprise hydro-cylinder (1), body (2), supporting disk (3), snap ring (4), and hydro-cylinder (1) suit is in body (2), and hydro-cylinder (1) rear end is fixed with snap ring (4), and snap ring (4) are installed on supporting disk (3), seals between hydro-cylinder (1) and body (2).
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| CN202010387018.7A CN111520378B (en) | 2020-05-09 | 2020-05-09 | Double-base-surface double-axial leveling control system |
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| CN202010387018.7A CN111520378B (en) | 2020-05-09 | 2020-05-09 | Double-base-surface double-axial leveling control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102937813B (en) * | 2012-09-27 | 2015-11-25 | 北京航天发射技术研究所 | A kind of Platform center 4 leveling methods and leveling system |
| CN203811046U (en) * | 2014-04-24 | 2014-09-03 | 贵州航天天马机电科技有限公司 | Simple launching device |
| CN103954172B (en) * | 2014-04-24 | 2015-07-29 | 贵州航天天马机电科技有限公司 | The simple and easy emission system of a kind of carrier rocket |
| CN105346523A (en) * | 2015-11-23 | 2016-02-24 | 贵州航天天马机电科技有限公司 | Self-adaptation leveling lifting system and using method thereof |
| CN205256292U (en) * | 2015-11-23 | 2016-05-25 | 贵州航天天马机电科技有限公司 | Leveling elevating gear |
| CN106089862B (en) * | 2016-06-23 | 2017-11-21 | 江西洪都国际机电有限责任公司 | A kind of Double tabletop four-point supporting fast leveling system and its leveling method |
| CN205787778U (en) * | 2016-06-29 | 2016-12-07 | 贵州航天天马机电科技有限公司 | A kind of transmitting station quickly fixed high leveling system |
| CN107128291B (en) * | 2017-05-17 | 2019-08-02 | 贵州航天天马机电科技有限公司 | A kind of supporting leg supporting mechanism |
| CN107380140A (en) * | 2017-06-28 | 2017-11-24 | 湖北航天技术研究院总体设计所 | A kind of vehicle-mounted leveling system and control method based on double-shaft tilt angle sensor |
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