CN111637792A - Multifunctional rocket erecting system and control method thereof - Google Patents
Multifunctional rocket erecting system and control method thereof Download PDFInfo
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- CN111637792A CN111637792A CN202010684784.XA CN202010684784A CN111637792A CN 111637792 A CN111637792 A CN 111637792A CN 202010684784 A CN202010684784 A CN 202010684784A CN 111637792 A CN111637792 A CN 111637792A
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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 multifunctional rocket erecting system and a control method thereof, wherein the system comprises: the locking valve group is connected with the balance valve group, and the locking valve groups are connected with the erecting oil cylinder; the speed regulating valve bank is connected with the balance valve bank; the main oil pump is provided with an auxiliary pump and a system pump, a pressure oil port of the auxiliary pump is connected to an oil inlet of a liquid-filling valve group, the liquid-filling valve group is connected with a small energy accumulator, and a control port of the liquid-filling valve group is respectively connected with a locking valve group and a balancing valve group; the oil pressing port of the system pump is connected with a check valve in parallel, the outlet of the check valve is connected with a pressure maintaining ball valve, a pressure relief ball valve and an emergency valve group in parallel, the pressure maintaining ball valve is connected with a large energy accumulator, the pressure relief ball valve is connected with return oil, and the working oil port of the emergency valve group is connected with a balance valve group. The multifunctional rocket erecting system and the control method thereof provided by the invention have the functions of independent erecting, linkage erecting and emergency leveling.
Description
Technical Field
The invention relates to the technical field of rocket ground launching, in particular to a multifunctional rocket erecting system and a control method thereof.
Background
With the development of human beings and the progress of society, more and more rocket ascends to the air and is used for launching scientific activities such as satellite or space exploration. The motorized rocket launching technology will increasingly occupy the mainstream of the market due to the characteristics of high flexibility, low manufacturing cost and the like. As a erecting system which is one of key technologies for the launching of the maneuvering rocket, the controllability and the safety of the erecting system directly influence the success or failure of maneuvering launching.
A conventional double-cylinder erecting system is generally based on a closed-loop control scheme of a proportional reversing valve, namely, the extension displacement of one erecting oil cylinder is converted through an encoder or a stroke sensor, and the extension displacement of the other erecting oil cylinder is controlled. The closed-loop control scheme has high precision and good cylinder synchronism, but has high requirements on elements, and once any link in the closed-loop control system, such as an encoder fails, the erecting system cannot operate, so that the rocket cannot be launched.
The other double-cylinder erecting system is generally based on an open-loop control scheme of parallel connection of erecting oil cylinders, does not have a synchronous adjusting process of the oil cylinders, and ensures that the displacements of the two erecting oil cylinders are equal by means of mechanical synchronization. The control scheme is simple to operate and low in failure rate, but has high requirements on the rocket projectile, and the gravity center of the rocket projectile needs to be basically in the middle. If the gravity center of the rocket projectile is excessively offset, the two oil cylinders are stressed differently, and the synchronism is different.
In addition, in the existing rocket erecting system, when phenomena such as power failure, hydraulic pump failure, valve failure and the like occur in the rocket erecting process, the system cannot run at the moment, the rocket is positioned at a certain position in the rocket erecting process, and only the launching device can be maintained or leveled by means of an external crane, so that great potential safety hazards exist, the operation and maintenance are difficult, and the time is long.
Disclosure of Invention
The invention aims to provide a multifunctional rocket erecting system and a control method thereof, which can realize independent erecting based on a proportional reversing valve, can realize linked erecting based on parallel connection of erecting oil cylinders, and can realize the emergency leveling function of rocket projectiles when the system cannot operate in the erecting process.
In order to achieve the purpose, the invention provides the following scheme:
a multifunctional rocket erecting system comprises a main oil pump, a proportional multi-way valve and a balance valve group, wherein the main oil pump is connected to the proportional multi-way valve, the proportional multi-way valve is connected to the balance valve group, the system also comprises two groups of locking valve groups, a speed regulating valve group, an emergency valve group and a liquid filling valve group, the two groups of locking valve groups are respectively and symmetrically connected with the balance valve group, and each locking valve group is connected with a corresponding erecting oil cylinder; the speed regulating valve group is connected with an oil return port of the balance valve group;
an auxiliary pump and a system pump are mounted on the main oil pump in a through shaft driving mode, a pressure oil port of the auxiliary pump is connected to an oil inlet of the liquid-filled valve group, the liquid-filled valve group is connected with a small energy accumulator, and a control port of the liquid-filled valve group is respectively connected with the locking valve group and the balance valve group; the hydraulic oil port of the system pump is connected with a liquid-filled check valve in parallel, the outlet of the liquid-filled check valve is connected with a pressure maintaining ball valve, a pressure relief ball valve and the emergency valve group in parallel, the pressure maintaining ball valve is connected with a large energy accumulator, the pressure relief ball valve is connected with an oil return pipeline, and the working oil port of the emergency valve group is connected with the balance valve group.
Optionally, an encoder is installed at a rotating hinge shaft of the erecting oil cylinder, the encoder is connected with a controller, the controller is connected with the erecting oil cylinder, the encoder is used for measuring the angle of the erecting oil cylinder in real time and transmitting an angle signal to the controller, the controller converts the displacement of the erecting oil cylinder, compares the difference of the displacements of the two erecting oil cylinders, adjusts the output flow of the proportional multi-way valve, enables the two erecting oil cylinders to stretch out and displace equally, and achieves closed-loop control of the erecting system.
Optionally, the emergency valve bank is provided with a storage battery, and the storage battery is used for supplying power to the emergency valve bank.
Optionally, the proportional multi-way valve is provided with two proportional valves, and each proportional valve is connected with the balance valve group.
Optionally, the balancing valve group comprises two groups of balancing valves, two non-leakage hydraulic control switch valves and three one-way valves, and each group of balancing valves comprises two balancing valves, namely an upper balancing valve and a lower balancing valve; one of the non-leakage hydraulic control switch valves is connected with the two upper balance valves and used for confluence of the two upper balance valves, and the other of the non-leakage hydraulic control switch valves is connected with the two lower balance valves and used for confluence of the two lower balance valves; the three check valves are in triangular connection, the check valve at the top is connected with outlets of the two check valves at the lower part in parallel, the check valve at the top is connected with a working oil port of the emergency valve group and used for supplying emergency oil sources, and the two check valves at the lower part are respectively connected with one group of auxiliary working oil ports of the locking valve group and used for oil supplement.
Optionally, the locking valve group is installed on the corresponding erecting oil cylinder, the locking valve group comprises a rod cavity valve group and a rodless cavity valve group, the rod cavity valve group and the rodless cavity valve group are structurally communicated and respectively comprise two hydraulic control check valves and a safety valve which are mutually connected, and the rod cavity valve group and the rodless cavity valve group are connected in parallel to a working oil port of the erecting oil cylinder; the locking valve group is provided with a main working hydraulic control check valve working oil port C3 connected with a rod cavity valve group and a rodless cavity valve group, the rod cavity valve group is provided with a top hydraulic control check valve control oil port C1, and the rodless cavity valve group is provided with a bottom hydraulic control check valve control oil port C2.
Optionally, the liquid filling valve group comprises four electromagnetic valves, a liquid filling valve and an overflow valve communicated with the liquid filling valve, the liquid filling valve is connected with an oil inlet of the liquid filling valve group, and a liquid filling port of the liquid filling valve is connected with the small accumulator; the four electromagnetic valves are respectively connected with four control ports of the liquid filling valve group, and the four electromagnetic valves are respectively connected with the control ports of the two groups of locking valve groups and the control ports of the balancing valve group through the four control ports of the liquid filling valve group.
Optionally, four the solenoid valve is first solenoid valve, second solenoid valve, third solenoid valve, fourth solenoid valve respectively, first solenoid valve with the control hydraulic fluid port of balanced valves is connected, the second solenoid valve is respectively with two sets of the top pilot operated check valve control hydraulic fluid port C1 of locking valves is connected, the third solenoid valve is with a set of the main work pilot operated check valve working hydraulic fluid port C3 of locking valves is connected, the fourth solenoid valve is with another set the main work pilot operated check valve working hydraulic fluid port C3 of locking valves is connected.
Optionally, the emergency valve group comprises an electromagnetic switch valve, an electromagnetic overflow valve and two-position three-way electromagnetic valves, which are mutually communicated, the electromagnetic switch valve is connected with an oil inlet P of the emergency valve group, the oil inlet P of the emergency valve group is connected in parallel with the pressure maintaining ball valve and the pressure relief ball valve, and the electromagnetic overflow valve is connected with an outlet of the pressure relief ball valve; one two-position three-way electromagnetic valve is connected with a working oil port C of the emergency valve group and is connected with an emergency oil source supply port S of the balance valve group, and the other two-position three-way electromagnetic valve is connected with a working oil port D of the emergency valve group and is connected with two groups of locking valve group bottom hydraulic control check valve control oil ports C2; the electromagnetic switch valve, the electromagnetic overflow valve and the two-position three-way electromagnetic valve can be electrically controlled and manually operated.
The invention also provides a control method of the multifunctional rocket erecting system, which is applied to the multifunctional rocket erecting system and comprises the following three control modes:
first, independent erecting control mode: when high-pressure oil is supplied to ports A1 and A2 of the balancing valve group, a hydraulic control switch valve control port C1 is supplied with control oil from a port A of the liquid-filled valve group, the high-pressure oil enters a port A of the locking valve group through ports A3 and A4 of the balancing valve group respectively, rodless cavities of the vertical lifting oil cylinders enter the high-pressure oil respectively, a control oil port C3 of the locking valve group is supplied with the control oil from a port C, D of the liquid-filled valve group, rod cavity return oil flows into ports B3 and B4 of the balancing valve group through a port B of the locking valve group respectively until the oil returns, the vertical lifting oil cylinders independently operate in the process, the angle of the vertical lifting oil cylinders is measured in real time through an encoder, an angle signal is transmitted to a controller, the controller calculates the displacement of the vertical lifting oil cylinders, the displacement difference of the two vertical lifting oil cylinders is compared, and the output flow of the multi-way valve is adjusted, so that the vertical;
secondly, in a linkage erecting control mode, when high-pressure oil is supplied to ports A1 and A2 of the balance valve group, a hydraulic control switch valve control port C1 is decompressed, so that the high-pressure oil is converged through a hydraulic control switch valve, the high-pressure oil simultaneously enters a port A of the locking valve group through ports A3 and A4 of the balance valve group, the oil supply pressure of rodless cavities is equal, a control oil port C3 of the locking valve group is supplied with the control oil through a port C, D of the liquid-filling valve group, the control oil is supplied to a port C1 of the locking valve group through a port B, return oil of a rod cavity flows into ports B3 and B4 of the balance valve group through a port B of the locking valve group until the oil returns, erecting oil cylinders operate in a linkage manner, and;
and thirdly, an emergency leveling control mode is adopted, an electromagnetic switch valve of the emergency valve bank, an electromagnetic overflow valve and a two-position three-way electromagnetic valve are powered by a standby power supply or manually pressed and locked, high-pressure oil stored by an energy accumulator is supplied into an S port of the balance valve bank through a C port, flows into a rod cavity of a vertical oil cylinder through S1 and S2 ports, and is controlled by a D port to be supplied into a control port C2 of a bottom hydraulic control one-way valve of the locking valve bank, so that an auxiliary action oil port T1 is opened, return oil flows into the speed regulating valve bank, and the retraction speed of the oil cylinder is controlled by the speed regulating valve bank, so that.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a multifunctional rocket erecting system and a control method thereof, wherein the system comprises a main oil pump, a proportional multi-way valve, a balance valve group, two groups of locking valve groups, a speed regulating valve group, an emergency valve group and a liquid filling valve group; secondly, through the matching of the proportional multi-way valve, the balance valve group, the locking valve group and the liquid filling valve group, an open-loop control scheme based on the parallel connection of the erecting oil cylinders can be realized, namely the erecting is linked, the operation is simple, the use is reliable, and the failure rate is low; thirdly, the emergency leveling function of the rocket projectile can be realized when the system cannot operate in the erecting process through the cooperation of the emergency valve bank and the speed regulating valve bank, and the emergency leveling of the standby power supply operation or the emergency leveling of the manual operation can be realized when the equipment cannot operate in the erecting process once the system is powered off or other equipment faults occur; in conclusion, the invention has the advantages of two traditional erecting schemes, and when the control link of the independent erecting system fails and cannot be accurately controlled and synchronized, the linked erecting mode can be switched, the erecting mode is continued by adopting the parallel connection mode of the erecting oil cylinders, and the rocket bomb can be successfully erected under various emergency conditions; the emergency leveling function can enable the rocket projectile to use a standby power supply or manually level back under the conditions that the rocket projectile cannot be launched due to various faults, so that the rocket projectile can return to the original position in time to perform subsequent treatment. The invention greatly reduces the possibility that the rocket projectile can not be launched due to equipment failure and other reasons, and solves the problem that the rocket projectile can not be leveled in time after the rocket projectile is cancelled to be launched after abnormal conditions occur.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural view of a multifunctional rocket launching system according to the present invention;
FIG. 2 is a schematic structural diagram of a balancing valve assembly according to the present invention;
FIG. 3 is a schematic structural view of a locking valve set and a erecting oil cylinder of the present invention;
FIG. 4 is a schematic view of the structure of the liquid-filled valve set and the small accumulator according to the present invention;
FIG. 5 is a schematic view of the emergency valve set and the large accumulator according to the present invention;
reference numerals: 1. a main oil pump; 2. an auxiliary pump; 3. a system pump; 4. a storage battery; 5. an emergency valve bank; 6. a liquid-filled check valve; 7. a large accumulator; 8. a pressure maintaining ball valve; 9. a pressure relief ball valve; 10. a balancing valve bank; 11. a speed regulating valve bank; 12. a proportional multi-way valve; 13. a small accumulator; 14. a liquid-filled valve bank; 15. erecting an oil cylinder; 16. an encoder; 17. a locking valve group;
5-1, an electromagnetic switch valve; 5-2, an electromagnetic overflow valve; 5-3, a two-position three-way electromagnetic valve;
10-1, a lower balance valve; 10-2, an upper balance valve; 10-3, a leakage-free hydraulic control switch valve; 10-4, a one-way valve;
14-1, a first electromagnetic valve; 14-2, a second electromagnetic valve; 14-3, a third electromagnetic valve; 14-4, a fourth electromagnetic valve; 14-5, a liquid filling valve; 14-6, an overflow valve;
17-1, a hydraulic control one-way valve; 17-2 and a safety valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a multifunctional rocket erecting system and a control method, which can realize independent erecting based on a proportional reversing valve, can realize linked erecting based on parallel connection of erecting oil cylinders, and can realize the emergency leveling function of rocket projectiles when the system cannot operate in the erecting process.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is analyzed that the short-circuit fault is the main cause of the voltage sag, and thus the method is described as an example for the short-circuit fault.
As shown in fig. 1, the multifunctional rocket erecting system provided by the invention comprises a main oil pump 1, a proportional multi-way valve 12 and a balance valve group 10, wherein the main oil pump 1 is connected to the proportional multi-way valve 12, and the proportional multi-way valve 12 is connected to the balance valve group 10, and the system is characterized by further comprising two locking valve groups 17, a speed regulating valve group 11, an emergency valve group 5 and a liquid filling valve group 14, wherein the two locking valve groups 17 are respectively and symmetrically connected with the balance valve group 10, and each locking valve group 17 is connected with a corresponding erecting oil cylinder 15; the speed regulating valve group 11 is connected to an oil return port of the balance valve group 10;
an auxiliary pump 2 and a system pump 3 are mounted on the main oil pump 1 in a through shaft driving mode, a pressure oil port of the auxiliary pump 2 is connected to an oil inlet of a liquid-filling valve group 14, the liquid-filling valve group 14 is connected with a small energy accumulator 13, and a control port of the liquid-filling valve group 14 is respectively connected with the locking valve group 17 and the balance valve group 10; the hydraulic oil port of the system pump 3 is connected with a liquid filling one-way valve 6 in parallel, the outlet of the liquid filling one-way valve 6 is connected with a pressure maintaining ball valve 8, a pressure relief ball valve 9 in parallel and the emergency valve group 5 in parallel, the pressure maintaining ball valve 8 is connected with a large energy accumulator 7, the pressure relief ball valve 9 is connected with an oil return pipeline, and the working oil port of the emergency valve group 5 is connected with a balance valve group 10.
The device is characterized in that an encoder 16 or a stroke sensor is installed at a rotary hinge shaft of the erecting oil cylinder 15, the encoder 16 is connected with a controller, the controller is connected with the erecting oil cylinder 15, the encoder is used for measuring the angle of the erecting oil cylinder 15 in real time and transmitting an angle signal to the controller, the controller calculates the displacement of the erecting oil cylinder 15, compares the difference of the displacements of the two erecting oil cylinders 15, adjusts the output flow of the proportional multi-way valve 12, enables the two erecting oil cylinders 15 to stretch out to have equal displacement, and realizes the closed-loop control of the erecting system.
The emergency valve group 5 is provided with a storage battery 4, and the storage battery 4 is used for supplying power to the emergency valve group 5. The proportional multi-way valve 12 is provided with two proportional valves, and each proportional valve is connected with the balance valve group 10.
As shown in fig. 2, the balancing valve group 10 includes two groups of balancing valves, two non-leakage hydraulic control switch valves 10-3 and three check valves 10-4, each group of balancing valves includes two balancing valves, namely an upper balancing valve 10-2 and a lower balancing valve 10-1; one of the no-leakage hydraulic control switch valves is connected with the two upper balance valves 10-2 for confluence of the two upper balance valves 10-2, and the other of the no-leakage hydraulic control switch valves is connected with the two lower balance valves 10-1 for confluence of the two lower balance valves 10-1; the three check valves 10-4 are connected in a triangular shape, the check valve at the top is connected with outlets of the two check valves at the lower part in parallel, the check valve at the top is connected with a working oil port of the emergency valve group 5 and used for emergency oil source supply, and the two check valves at the lower part are respectively connected with auxiliary working oil ports of the locking valve group 17 and used for oil supplement; the ports A1 and B1 and the ports A2 and B2 of the balance valve group 10 are respectively connected with a working oil port of the proportional multi-way valve 12, the ports B1 and B2 and outlets of the two lower balance valves are connected in parallel with a non-leakage hydraulic control switch valve 10-3, a control oil port of the non-leakage hydraulic control switch valve 10-3 is C1, the top of the non-leakage hydraulic control switch valve is connected in parallel with outlets of the left lower check valve and the right lower check valve, and the ports S1 and S2 are respectively connected with an auxiliary working oil port S1 of the locking valve group 17.
As shown in fig. 3, the locking valve set 17 is installed on the corresponding erecting oil cylinder 15, the locking valve set 17 includes a rod cavity valve set and a rodless cavity valve set, the rod cavity valve set and the rodless cavity valve set are structurally communicated, and both include two hydraulic control check valves 17-1 and a safety valve 17-2 which are connected with each other, and the rod cavity valve set and the rodless cavity valve set are connected in parallel to a working oil port of the erecting oil cylinder 15; the locking valve group 17 is provided with a main working hydraulic control check valve working oil port C3 connected with a rod cavity valve group and a rodless cavity valve group, the rod cavity valve group is provided with a top hydraulic control check valve control oil port C1, and the rodless cavity valve group is provided with a bottom hydraulic control check valve control oil port C2. The auxiliary working oil port T1 of the bottom hydraulic control check valve is connected with the speed regulating valve group 11, and the working oil ports A, B of the middle two main working hydraulic control check valves are respectively connected with the ports A3 and B3, A4 and B4 of the balance valve group 10.
As shown in fig. 4, the liquid charging valve group 14 includes four solenoid valves, a liquid charging valve 14-5 and an overflow valve 14-6 communicated with the liquid charging valve, the liquid charging valve 14-5 is connected to an oil inlet of the liquid charging valve group 14, and a liquid charging port of the liquid charging valve 14-5 is connected to the small accumulator 13; the four electromagnetic valves are respectively connected with four control ports of the liquid filling valve group 14, and are respectively connected with control ports of the two groups of locking valve groups 17 and control ports of the balancing valve group 10. The four electromagnetic valves are respectively a first electromagnetic valve 14-1, a second electromagnetic valve 14-2, a third electromagnetic valve 14-3 and a fourth electromagnetic valve 14-4, the first electromagnetic valve 14-1 is connected with the control oil ports of the balance valve group 10, the second electromagnetic valve 14-2 is respectively connected with the top hydraulic control check valve control oil ports C1 of the two groups of locking valve groups 17, the third electromagnetic valve 14-3 is connected with the working oil port C3 of the main working hydraulic control check valve of one group of locking valve groups 17, and the fourth electromagnetic valve 14-4 is connected with the working oil port C3 of the main working hydraulic control check valve of the other group of locking valve groups 17. In the figure, the working oil port B of the electromagnetic valve is connected with the top check valve control oil port C1 of the locking valve group 17, the working oil port C, D of the electromagnetic valve is connected with the working oil port C3 of the main working hydraulic control check valve of the locking valve group 17, the liquid filling port is connected with Br and connected with the small energy accumulator 13, and the main oil inlet P is connected with the auxiliary pump 2.
As shown in fig. 5, the emergency valve group 5 includes an electromagnetic switch valve 5-1, an electromagnetic overflow valve 5-2, and two-position three-way electromagnetic valves 5-3, which are mutually communicated, the electromagnetic switch valve 5-1 is connected to an oil inlet P of the emergency valve group 5, the oil inlet P of the emergency valve group 5 is connected in parallel to the pressure maintaining ball valve 8 and the pressure relief ball valve 9, and the electromagnetic overflow valve 5-2 is connected to an outlet of the pressure relief ball valve 9; one two-position three-way electromagnetic valve is connected with a working oil port C of the emergency valve group 5 and is connected with an emergency oil source supply port S of the balance valve group 10, and the other two-position three-way electromagnetic valve is connected with a working oil port D of the emergency valve group 5 and is connected with two groups of hydraulic control check valve control oil ports C2 at the bottom of the locking valve group 17; the electromagnetic switch valve 5-1, the electromagnetic overflow valve 5-2 and the two-position three-way electromagnetic valve 5-3 can be electrically controlled and manually operated. The oil inlet P is connected with the pressure maintaining ball valve 8 and the pressure relief ball valve 9 in parallel, and the outlet of the pressure maintaining ball valve is connected with the large energy accumulator 7.
The invention also provides a control method of the multifunctional rocket erecting system, which is characterized in that the control method is applied to the multifunctional rocket erecting system and comprises the following three control modes:
first, independent erecting control mode: when high-pressure oil is supplied to ports A1 and A2 of the balancing valve group, a hydraulic control switch valve control port C1 is supplied with control oil from a port A of the liquid-filled valve group, the high-pressure oil enters a port A of the locking valve group through ports A3 and A4 of the balancing valve group respectively, rodless cavities of the vertical lifting oil cylinders enter the high-pressure oil respectively, a control oil port C3 of the locking valve group is supplied with the control oil from a port C, D of the liquid-filled valve group, rod cavity return oil flows into ports B3 and B4 of the balancing valve group through a port B of the locking valve group respectively until the oil returns, the vertical lifting oil cylinders independently operate in the process, the angle of the vertical lifting oil cylinders is measured in real time through an encoder, an angle signal is transmitted to a controller, the controller calculates the displacement of the vertical lifting oil cylinders, the displacement difference of the two vertical lifting oil cylinders is compared, and the output flow of the multi-way valve is adjusted, so that the vertical;
secondly, in a linkage erecting control mode, when high-pressure oil is supplied to ports A1 and A2 of the balance valve group, a hydraulic control switch valve control port C1 is decompressed, so that the high-pressure oil is converged through a hydraulic control switch valve, the high-pressure oil simultaneously enters a port A of the locking valve group through ports A3 and A4 of the balance valve group, the oil supply pressure of rodless cavities is equal, a control oil port C3 of the locking valve group is supplied with the control oil through a port C, D of the liquid-filling valve group, the control oil is supplied to a port C1 of the locking valve group through a port B, return oil of a rod cavity flows into ports B3 and B4 of the balance valve group through a port B of the locking valve group until the oil returns, erecting oil cylinders operate in a linkage manner, and;
and thirdly, an emergency leveling control mode is adopted, an electromagnetic switch valve of the emergency valve bank, an electromagnetic overflow valve and a two-position three-way electromagnetic valve are powered by a standby power supply or manually pressed and locked, high-pressure oil stored by an energy accumulator is supplied into an S port of the balance valve bank through a C port, flows into a rod cavity of a vertical oil cylinder through S1 and S2 ports, and is controlled by a D port to be supplied into a control port C2 of a bottom hydraulic control one-way valve of the locking valve bank, so that an auxiliary action oil port T1 is opened, return oil flows into the speed regulating valve bank, and the retraction speed of the oil cylinder is controlled by the speed regulating valve bank, so that.
The invention provides a multifunctional rocket erecting system and a control method thereof, wherein the system comprises a main oil pump, a proportional multi-way valve, a balance valve group, two groups of locking valve groups, a speed regulating valve group, an emergency valve group and a liquid filling valve group; secondly, through the matching of the proportional multi-way valve, the balance valve group, the locking valve group and the liquid filling valve group, an open-loop control scheme based on the parallel connection of the erecting oil cylinders can be realized, namely the erecting is linked, the operation is simple, the use is reliable, and the failure rate is low; thirdly, the emergency leveling function of the rocket projectile can be realized when the system cannot operate in the erecting process through the cooperation of the emergency valve bank and the speed regulating valve bank, and the emergency leveling of the standby power supply operation or the emergency leveling of the manual operation can be realized when the equipment cannot operate in the erecting process once the system is powered off or other equipment faults occur; in conclusion, the invention has the advantages of two traditional erecting schemes, and when the control link of the independent erecting system fails and cannot be accurately controlled and synchronized, the linked erecting mode can be switched, the erecting mode is continued by adopting the parallel connection mode of the erecting oil cylinders, and the rocket bomb can be successfully erected under various emergency conditions; the emergency leveling function can enable the rocket projectile to use a standby power supply or manually level back under the conditions that the rocket projectile cannot be launched due to various faults, so that the rocket projectile can return to the original position in time to perform subsequent treatment. The invention greatly reduces the possibility that the rocket projectile can not be launched due to equipment failure and other reasons, and solves the problem that the rocket projectile can not be leveled in time after the rocket projectile is cancelled to be launched after abnormal conditions occur.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A multifunctional rocket erecting system comprises a main oil pump (1), a proportional multi-way valve (12) and a balance valve group (10), wherein the main oil pump (1) is connected to the proportional multi-way valve (12), and the proportional multi-way valve (12) is connected to the balance valve group (10), and the system is characterized by further comprising two locking valve groups (17), two speed regulating valve groups (11), two emergency valve groups (5) and a liquid filling valve group (14), wherein the two locking valve groups (17) are respectively and symmetrically connected with the balance valve group (10), and each locking valve group (17) is connected with a corresponding erecting oil cylinder (15); the speed regulating valve group (11) is connected to an oil return port of the balance valve group (10);
an auxiliary pump (2) and a system pump (3) are mounted on the main oil pump (1) in a through shaft driving mode, a pressure oil port of the auxiliary pump (2) is connected to an oil inlet of the liquid-filling valve group (14), the liquid-filling valve group (14) is connected with a small energy accumulator (13), and a control port of the liquid-filling valve group (14) is respectively connected with the locking valve group (17) and the balance valve group (10); the hydraulic oil port of the system pump (3) is connected with the liquid filling check valve (6) in parallel, the outlet of the liquid filling check valve (6) is connected with the pressure maintaining ball valve (8), the pressure relieving ball valve (9) in parallel and the emergency valve bank (5), the pressure maintaining ball valve (8) is connected with the large energy accumulator (7), the pressure relieving ball valve (9) is connected with the oil return pipeline, and the working oil port of the emergency valve bank (5) is connected with the balance valve bank (10).
2. The multifunctional rocket erecting system according to claim 1, wherein an encoder (16) is installed at a rotating hinge shaft of the erecting oil cylinder (15), the encoder (16) is connected with a controller, the controller is connected with the erecting oil cylinder (15), the encoder is used for measuring the angle of the erecting oil cylinder (15) in real time and transmitting an angle signal to the controller, the controller converts the displacement of the erecting oil cylinder (15), compares the difference of the displacements of the two erecting oil cylinders (15), and adjusts the output flow of the proportional multi-way valve (12) to enable the extension displacements of the two erecting oil cylinders (15) to be equal.
3. Multifunctional rocket erection system according to claim 1, characterized in that said emergency valve group (5) is provided with an accumulator (4), said accumulator (4) being used to supply power to said emergency valve group (5).
4. Multifunctional rocket erection system according to claim 1, characterized in that said proportional multi-way valve (12) is provided with two pieces of proportional valves, each of said pieces of proportional valves being connected with said set of balancing valves (10).
5. A multifunctional rocket erection system according to claim 1, wherein said balancing valve group (10) comprises two groups of balancing valves, two leakless hydraulic control on-off valves (10-3) and three check valves (10-4), each group of balancing valves comprises two balancing valves, an upper balancing valve (10-2) and a lower balancing valve (10-1); one of the non-leakage hydraulic control switch valves is connected with two upper balance valves (10-2) for confluence of the two upper balance valves (10-2), and the other of the non-leakage hydraulic control switch valves is connected with two lower balance valves (10-1) for confluence of the two lower balance valves (10-1); the three check valves (10-4) are in triangular connection, the check valve at the top is connected with outlets of the two check valves at the lower part in parallel, the check valve at the top is connected with a working oil port of the emergency valve group (5) and used for emergency oil source supply, and the two check valves at the lower part are respectively connected with an auxiliary working oil port of the locking valve group (17) and used for oil supplement.
6. The multifunctional rocket erection system of claim 1, wherein the locking valve set (17) is installed on the corresponding erection cylinder (15), the locking valve set (17) comprises a rod cavity valve set and a rodless cavity valve set, the rod cavity valve set and the rodless cavity valve set are structurally communicated and respectively comprise two hydraulic control check valves (17-1) and a safety valve (17-2) which are connected with each other, and the rod cavity valve set and the rodless cavity valve set are connected in parallel to a working oil port of the erection cylinder (15); the locking valve group (17) is provided with a main working hydraulic control check valve working oil port C3 connected with a rod cavity valve group and a rodless cavity valve group, the rod cavity valve group is provided with a top hydraulic control check valve control oil port C1, and the rodless cavity valve group is provided with a bottom hydraulic control check valve control oil port C2.
7. The multifunctional rocket erection system of claim 6, wherein said liquid-filled valve set (14) comprises four solenoid valves, a liquid-filled valve (14-5) and an overflow valve (14-6) communicated with said liquid-filled valve, said liquid-filled valve (14-5) is connected to an oil inlet of said liquid-filled valve set (14), and a liquid-filled port of said liquid-filled valve (14-5) is connected to said small accumulator (13); the four electromagnetic valves are respectively connected with four control ports of the liquid filling valve group (14) and are respectively connected with control ports of the two groups of locking valve groups (17) and control ports of the balancing valve group (10).
8. The multifunctional rocket erecting system according to claim 7, wherein the four solenoid valves are respectively a first solenoid valve (14-1), a second solenoid valve (14-2), a third solenoid valve (14-3) and a fourth solenoid valve (14-4), the first solenoid valve (14-1) is connected with a control oil port of the balance valve group (10), the second solenoid valve (14-2) is respectively connected with a top pilot control oil port C1 of the two locking valve groups (17), the third solenoid valve (14-3) is connected with a main working pilot control oil port C3 of one locking valve group (17), and the fourth solenoid valve (14-4) is connected with a main working pilot control oil port C3 of the other locking valve group (17).
9. The multifunctional rocket erecting system according to claim 8, wherein the emergency valve set (5) comprises an electromagnetic switch valve (5-1), an electromagnetic overflow valve (5-2) and two-position three-way electromagnetic valves (5-3) which are communicated with each other, the electromagnetic switch valve (5-1) is connected with an oil inlet P of the emergency valve set (5), the oil inlet P of the emergency valve set (5) is connected with the pressure maintaining ball valve (8) and the pressure relief ball valve (9) in parallel, and the electromagnetic overflow valve (5-2) is connected with an outlet of the pressure relief ball valve (9); one two-position three-way electromagnetic valve is connected with a working oil port C of the emergency valve group (5) and is connected with an emergency oil source supply port S of the balance valve group (10), and the other two-position three-way electromagnetic valve is connected with a working oil port D of the emergency valve group (5) and is connected with two groups of hydraulic control check valve control oil ports C2 at the bottom of the locking valve group (17); the electromagnetic switch valve (5-1), the electromagnetic overflow valve (5-2) and the two-position three-way electromagnetic valve (5-3) can be electrically controlled and manually operated.
10. A control method of a multifunctional rocket erecting system, which is applied to the multifunctional rocket erecting system of any one of claims 1 to 9, and comprises the following three control modes:
first, independent erecting control mode: when high-pressure oil is supplied to ports A1 and A2 of the balancing valve group, a pilot-controlled switch valve control port C1 is supplied with control oil from a port A of the liquid-filling valve group, the high-pressure oil enters the port A of the locking valve group through ports A3 and A4 of the balancing valve group respectively, rodless cavities of the vertical oil cylinders enter the high-pressure oil respectively, the locking valve group control oil port C3 is supplied with control oil from the liquid charging valve group C, D, return oil of the rod cavity respectively flows into the balancing valve group B3 and B4 through the locking valve group B until the return oil, the vertical oil cylinder independently operates in the process, the angle of the erecting oil cylinder is measured in real time through an encoder, an angle signal is transmitted to a controller, the controller converts the displacement of the erecting oil cylinder, comparing the displacement difference of the two erecting oil cylinders, and adjusting the output flow of the proportional multi-way valve, so that the extending displacement of the erecting oil cylinders is equal, and the closed-loop control of the erecting system is realized;
secondly, in a linkage erecting control mode, when high-pressure oil is supplied to ports A1 and A2 of the balance valve group, a hydraulic control switch valve control port C1 is decompressed, so that the high-pressure oil is converged through a hydraulic control switch valve, the high-pressure oil simultaneously enters a port A of the locking valve group through ports A3 and A4 of the balance valve group, the oil supply pressure of rodless cavities is equal, a control oil port C3 of the locking valve group is supplied with the control oil through a port C, D of the liquid-filling valve group, the control oil is supplied to a port C1 of the locking valve group through a port B, return oil of a rod cavity flows into ports B3 and B4 of the balance valve group through a port B of the locking valve group until the oil returns, erecting oil cylinders operate in a linkage manner, and;
and thirdly, an emergency leveling control mode is adopted, an electromagnetic switch valve of the emergency valve bank, an electromagnetic overflow valve and a two-position three-way electromagnetic valve are powered by a standby power supply or manually pressed and locked, high-pressure oil stored by an energy accumulator is supplied into an S port of the balance valve bank through a C port, flows into a rod cavity of a vertical oil cylinder through S1 and S2 ports, and is controlled by a D port to be supplied into a control port C2 of a bottom hydraulic control one-way valve of the locking valve bank, so that an auxiliary action oil port T1 is opened, return oil flows into the speed regulating valve bank, and the retraction speed of the oil cylinder is controlled by the speed regulating valve bank, so that.
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