CN111665817A - Carrier rocket launching support equivalent test method - Google Patents

Carrier rocket launching support equivalent test method Download PDF

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CN111665817A
CN111665817A CN202010400458.1A CN202010400458A CN111665817A CN 111665817 A CN111665817 A CN 111665817A CN 202010400458 A CN202010400458 A CN 202010400458A CN 111665817 A CN111665817 A CN 111665817A
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proximity switch
launch
simulated
test method
arm
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CN111665817B (en
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韦银利
吴雪
张瑜
韩召洋
张彦杰
杨俊�
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Blue Arrow Aerospace Technology Wuxi Co ltd
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LandSpace Technology Co Ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00Testing or monitoring of control systems or parts thereof
    • G05B23/02Electric testing or monitoring

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Abstract

The invention provides a carrier rocket launching support equivalent test method, which is used for a carrier rocket launching support equivalent control system, and comprises the following steps: the erecting simulation erecting arm is in a horizontal state to a vertical state, and a first inclination angle sensor arranged on the simulation erecting arm transmits an inclination angle signal of the simulation erecting arm to the control device; adjusting the levelness of the analog launching platform, and transmitting a levelness signal to the control device by a second inclination angle sensor arranged on the analog launching platform; the signal output of the proximity switch on the proximity switch simulation board is monitored, and the control device receives different proximity switch signals and sends corresponding instructions. The carrier rocket launching support equivalent test method provides guarantee for synchronous development and factory leaving in advance of a control system of an actual carrier rocket launching support system.

Description

一种运载火箭发射支持等效测试方法An Equivalent Test Method for Launch Support of Launch Vehicles

技术领域technical field

本发明涉及运载火箭发射领域,具体涉及一种运载火箭发射支持等效测试方法。The invention relates to the field of launch vehicle launch, in particular to an equivalent test method for launch support of a launch vehicle.

背景技术Background technique

随着我国航天事业的迅猛发展,运载火箭的测发模式逐渐出现了“三平”测发模式。“三平”测发模式的设备研制过程中,实际运载火箭发射支持系统设备研制过程和周期很长,其控制系统设备在研制过程中没有实际的运载火箭发射支持系统装备可以用于系统调试和出厂验收,若在实际运载火箭发射支持系统上测试不仅浪费时间而且增加了研制经费。With the rapid development of my country's aerospace industry, the "three-level" measurement and launch mode of launch vehicles has gradually emerged. In the equipment development process of the "Sanping" test and launch mode, the actual launch vehicle launch support system equipment development process and cycle are very long, and its control system equipment has no actual launch vehicle launch support system equipment during the development process. It can be used for system debugging and delivery. Acceptance, if tested on the actual launch vehicle launch support system, not only wastes time but also increases development costs.

鉴于此,亟需设计一种避免研发周期长,并且能节约实际运载火箭发射支持系统联调时间的一种运载火箭发射支持等效测试方法。In view of this, it is urgent to design an equivalent test method for launch support of a launch vehicle, which avoids a long development cycle and saves the time of joint adjustment of the actual launch support system of the launch vehicle.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于克服现有技术的不足,提供一种运载火箭发射支持等效测试方法。The purpose of the present invention is to overcome the deficiencies of the prior art and provide an equivalent test method for launch support of a launch vehicle.

本发明提供一种运载火箭发射支持等效测试方法,该方法用于运载火箭发射支持等效控制系统,所述控制系统包括模拟发射平台、模拟起竖臂、接近开关模拟板和控制装置,所述控制装置电连接于所述模拟发射平台、所述模拟起竖臂和所述接近开关模拟板,所述测试方法包括:起竖所述模拟起竖臂从水平状态到垂直状态,设置在所述模拟起竖臂上的第一倾角传感器将模拟起竖臂的倾角信号传至所述控制装置;调整所述模拟发射平台的水平度,设置在所述模拟发射平台上的第二倾角传感器将水平度信号传至所述控制装置;监测所述接近开关模拟板上的接近开关的信号输出,所述控制装置接收到不同的接近开关信号并发出相应的指令。The invention provides an equivalent test method for launch support of a launch vehicle. The method is used for an equivalent control system for launch support of a launch vehicle. The control system includes a simulated launch platform, a simulated vertical arm, a proximity switch simulation board and a control device. The control device is electrically connected to the analog launch platform, the analog erector arm and the proximity switch analog board, and the test method includes: erecting the analog erector arm from a horizontal state to a vertical state, and setting it at the The first inclination sensor on the simulated erecting arm transmits the inclination signal of the simulated erecting arm to the control device; the level of the simulated launching platform is adjusted, and the second inclination sensor arranged on the simulated launching platform will The level signal is transmitted to the control device; the signal output of the proximity switch on the proximity switch analog board is monitored, and the control device receives different proximity switch signals and sends out corresponding commands.

根据本发明的一个方面,所述调整所述模拟发射平台的水平度包括:控制支撑所述模拟发射平台的至少三个可活动支腿的长度,使得所述第二倾角传感器的水平度的绝对值为0度—0.5度之间。According to an aspect of the present invention, the adjusting the levelness of the simulated launch platform includes: controlling the lengths of at least three movable legs supporting the simulated launch platform, so that the absolute level of the second inclination sensor is The value is between 0 degrees and 0.5 degrees.

根据本发明的一个方面,运载火箭发射支持等效测试方法还包括:起竖所述模拟起竖臂相对于所述模拟发射平台大于91.5度时,所述控制装置发出报警信号及关闭所述模拟起竖臂的指令。According to one aspect of the present invention, the equivalent test method for launch support of a launch vehicle further includes: when the simulated erecting arm is erected at a degree greater than 91.5 degrees relative to the simulated launch platform, the control device sends an alarm signal and closes the simulated Command to raise the arm.

根据本发明的一个方面,所述监测所述接近开关模拟板上的接近开关的信号输出包括:监测所述接近开关模拟板上的四种所述模拟起竖臂的接近开关,分别是起竖到位接近开关、回平到位接近开关、预倒到位接近开关和快倒到位接近开关。According to an aspect of the present invention, the monitoring the signal output of the proximity switch on the proximity switch analog board includes: monitoring four proximity switches on the proximity switch analog board simulating the erector arm, which are erection arms respectively. In-position proximity switch, leveling in-position proximity switch, pre-rewinding in-position proximity switch and quick-rewinding in-position proximity switch.

根据本发明的一个方面,设置所述模拟起竖臂为水平状态,抬起所述模拟起竖臂当起竖角度大于1度时,监测所述回平到位接近开关的信号输出,当所述模拟起竖臂的起竖角大于89.5度时,监测所述起竖到位接近开关的信号输出。According to an aspect of the present invention, the simulated erecting arm is set to a horizontal state, and when the simulated erecting arm is raised, when the erecting angle is greater than 1 degree, the signal output of the leveling position proximity switch is monitored, and when the When the erection angle of the simulated erector arm is greater than 89.5 degrees, the signal output of the erection position proximity switch is monitored.

根据本发明的一个方面,所述控制系统包括起飞模拟按钮用于模拟所述运载火箭的起飞信号,所述测试方法还包括:按下起飞模拟按钮并发出所述运载火箭的起飞信号,所述控制装置接收到起飞信号后开启所述模拟起竖臂快倒指令,监测所述快倒到位接近开关的信号输出。According to an aspect of the present invention, the control system includes a take-off simulation button for simulating a take-off signal of the launch vehicle, and the test method further includes: pressing the take-off simulation button and sending a take-off signal of the launch vehicle, the After receiving the take-off signal, the control device turns on the fast rewind command of the simulated erecting arm, and monitors the signal output of the fast rewind position proximity switch.

根据本发明的一个方面,所述监测所述接近开关模拟板上的接近开关的信号输出包括:监测所述接近开关模拟板上的两种上夹钳的接近开关,分别是上夹钳打开到位接近开关和上夹钳抱紧到位接近开关。According to one aspect of the present invention, the monitoring of the signal output of the proximity switch on the proximity switch analog board includes: monitoring the proximity switches of two upper clamps on the proximity switch analog board, respectively, when the upper clamp is opened in place. The proximity switch and the upper clamp hold the proximity switch in place.

根据本发明的一个方面,所述控制装置开启上夹钳解锁指令,监测所述上夹钳解锁到位接近开关的信号输出;所述控制装置开启上夹钳抱紧指令,监测所述上夹钳抱紧到位接近开关的信号输出。According to an aspect of the present invention, the control device activates the upper clamp unlocking instruction, and monitors the signal output of the proximity switch when the upper clamp is unlocked in place; the control device activates the upper clamp clamping instruction, and monitors the upper clamp Hold the signal output of the proximity switch in place.

根据本发明的一个方面方面,所述监测所述接近开关模拟板上的接近开关的信号输出包括:监测所述接近开关模拟板上的两种防风装置的接近开关,分别是防风装置解锁到位接近开关和防风装置锁紧到位接近开关。According to one aspect of the present invention, the monitoring of the signal output of the proximity switch on the proximity switch analog board includes: monitoring the proximity switches of two types of windproof devices on the proximity switch simulation board, respectively, when the windproof device is unlocked in place and approaching The switch and draft shield lock into place for the proximity switch.

根据本发明的一个方面方面,所述控制装置开启防风装置解锁指令,监测所述防风装置解锁到位接近开关的信号输出;所述控制装置开启防风装置锁紧指令,监测所述防风装置锁紧到位接近开关的信号输出。According to one aspect of the present invention, the control device activates an unlocking command of the windproof device, and monitors the signal output of the proximity switch when the windproof device is unlocked; Signal output of proximity switch.

本发明提供的运载火箭发射支持等效测试方法包含了模拟起竖臂的测试、模拟发射平台的测试以及接近开关模拟板的测试,可以方便的完成实际运载火箭发射支持系统的控制分系统的调试、综合试验,出厂验收和系统故障分离,为实际运载火箭发射支持系统的控制系统同步研制和提前出厂提供保障。The equivalent test method for launch support of a launch vehicle provided by the present invention includes the test of the simulated erecting arm, the test of the simulated launch platform and the test of the proximity switch simulation board, which can conveniently complete the debugging of the control sub-system of the actual launch support system of the launch vehicle , comprehensive test, factory acceptance and system fault separation, to provide guarantee for the synchronous development and early delivery of the control system of the actual launch vehicle launch support system.

应了解的是,上述一般描述及以下具体实施方式仅为示例性及阐释性的,其并不能限制本发明所欲主张的范围。It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to limit the scope of the invention as claimed.

附图说明Description of drawings

下面的附图是本发明的说明书的一部分,其绘示了本发明的示例实施例,所附附图与说明书的描述一起用来说明发明的原理。The accompanying drawings, which are part of the specification of the invention, illustrate exemplary embodiments of the invention and, together with the description of the specification, serve to explain the principles of the invention.

图1是本发明一个实施例的运载火箭发射支持等效装置的示意图;1 is a schematic diagram of a launch vehicle launch support equivalent device according to an embodiment of the present invention;

图2是本发明再一实施例的运载火箭发射支持等效装置的示意图;2 is a schematic diagram of a launch vehicle launch support equivalent device according to still another embodiment of the present invention;

图3是本发明一个实施例的运载火箭发射支持等效测试方法的流程图。FIG. 3 is a flowchart of an equivalent test method for launch support of a launch vehicle according to an embodiment of the present invention.

附图标记说明:Description of reference numbers:

101-模拟发射平台,102-可活动支腿,103-第一倾角传感器,104-模拟起竖臂,105-第二倾角传感器,106-接近开关模拟板,201-起飞模拟按钮,202-位移传感器。101-analog launch platform, 102-movable outriggers, 103-first inclination sensor, 104-analog vertical arm, 105-second inclination sensor, 106-proximity switch simulation board, 201-take-off simulation button, 202-displacement sensor.

具体实施方式Detailed ways

下面将详细描述本发明的各个方面的特征和示例性实施例,为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及具体实施例,对本发明进行进一步详细描述。应理解,此处所描述的具体实施例仅被配置为解释本发明,用于示例性的说明本发明的原理,并不被配置为限定本发明。另外,附图中的机构件不一定是按照比例绘制的。例如,可能对于其他结构件或区域而放大了附图中的一些结构件或区域的尺寸,以帮助对本发明实施例的理解。The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention, are used to exemplify the principles of the present invention, and are not configured to limit the present invention. Additionally, the machine components in the figures are not necessarily drawn to scale. For example, the dimensions of some of the structural elements or regions in the figures may be exaggerated for other structural elements or regions to facilitate an understanding of embodiments of the present invention.

下述描述中出现的方位词均为图中示出的方向,并不是对本发明实施例的具体结构进行限定。在本发明的描述中,需要说明的是,除非另有说明,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是直接相连,也可以通过中间媒介间接相连。对于本领域的普通技术人员而言,可视具体情况理解上述术语在本发明中的具体含义。Orientation words appearing in the following description are all directions shown in the drawings, and do not limit the specific structure of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise specified, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated ground connection; either directly or indirectly through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific conditions.

此外术语“包括”、“包含”“具有”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素结构件或组件不仅包括那些要素,而且还包括没有明确列出或固有的属于结构件、组件上的其他机构件。在没有更多限制的情况下,由语句“包括……”限定的要素,并不排除在包括要素的物品或者设备中还存在另外的相同要素。Furthermore, the terms "comprising," "comprising," "having," or any other variation thereof are intended to encompass a non-exclusive inclusion, whereby a structure or component that includes a list of elements includes not only those elements, but also includes not explicitly listed or inherent belong to structural parts, other mechanical parts on components. Without further limitation, an element defined by the phrase "comprising" does not preclude the presence of additional identical elements in the article or device comprising the element.

诸如“下面”、“下方”、“在…下”、“低”、“上方”、“在…上”、“高”等的空间关系术语用于使描述方便,以解释一个元件相对于第二元件的定位,表示除了与图中示出的那些取向不同的取向以外,这些术语旨在涵盖器件的不同取向。另外,例如“一个元件在另一个元件上/下”可以表示两个元件直接接触,也可以表示两个元件之间还具有其他元件。此外,诸如“第一”、“第二”等的术语也用于描述各个元件、区、部分等,并且不应被当作限制。类似的术语在描述通篇中表示类似的元件。Spatial relational terms such as "below," "below," "below," "lower," "above," "above," "higher," etc. are used to facilitate description to explain an element relative to a The orientation of the two elements means that these terms are intended to encompass different orientations of the device in addition to orientations other than those shown in the figures. In addition, for example, "one element is on/under the other" can mean that two elements are in direct contact with each other, or that there are other elements between the two elements. Furthermore, terms such as "first", "second", and the like, are also used to describe various elements, regions, sections, etc. and should not be regarded as limiting. Similar terms refer to similar elements throughout the description.

对于本领域技术人员来说,本发明可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本发明的示例来提供对本发明更好的理解。It will be apparent to those skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present invention by illustrating examples of the invention.

图1是本发明一个实施例的运载火箭发射支持等效装置的示意图,图2是本发明再一实施例的运载火箭发射支持等效装置的示意图,图3是本发明一个实施例的运载火箭发射支持等效测试方法的流程图。1 is a schematic diagram of a launch vehicle launch support equivalent device according to an embodiment of the present invention, FIG. 2 is a schematic diagram of a launch vehicle launch support equivalent device according to another embodiment of the present invention, and FIG. 3 is a launch vehicle according to an embodiment of the present invention. A flow chart of the launch support equivalent test method.

如图1所述,本发明提供一种运载火箭发射支持等效装置,包括:模拟发射平台101,设置在至少三个可活动支腿102上,在模拟发射平台101上安装第一倾角传感器103;模拟起竖臂104,设置在模拟发射平台101的一端并通过可旋转绞点连接,在模拟起竖臂104上安装第二倾角传感器105;接近开关模拟板106,用于安装模拟起竖臂102、上夹钳和防风装置的接近开关。As shown in FIG. 1 , the present invention provides an equivalent device for launch support of a launch vehicle, comprising: a simulated launch platform 101 arranged on at least three movable legs 102 , and a first inclination sensor 103 installed on the simulated launch platform 101 ; The simulated erector arm 104 is arranged at one end of the simulated launch platform 101 and connected by a rotatable hinge point, and the second inclination sensor 105 is installed on the simulated erector arm 104; The proximity switch analog board 106 is used to install the simulated erector arm 102. Proximity switch of upper clamp and windproof device.

具体地,本实施例中的运载火箭发射支持等效装置用来解决没有真实的发射支持系统或者在模拟发射任务之前,用来控制系统调试及出场验收的问题。运载火箭发射支持等效装置采用的是实际发射支持系统设备接口完全一致的等效装置,模拟发射平台101模拟真实的模拟发射台,可以采用轻质铝材,同时作为其他模拟设备的安装平台。模拟发射平台101设置在至少三个可活动支腿102上,通过可活动支腿102调节模拟发射平台101的水平度。Specifically, the launch vehicle launch support equivalent device in this embodiment is used to solve the problem of no real launch support system or to control system debugging and field acceptance before a simulated launch mission. The equivalent device for launch support of the launch vehicle adopts the equivalent device with the same equipment interface of the actual launch support system. The simulated launch platform 101 simulates a real simulated launch pad, which can be made of lightweight aluminum, and is also used as an installation platform for other simulated equipment. The simulated launch platform 101 is arranged on at least three movable legs 102 , and the level of the simulated launch platform 101 is adjusted through the movable legs 102 .

在本实施例中,可活动支腿102选择实际系统中同一类型的小型号产品,其控制逻辑和方法与实际系统是一致的。在模拟发射平台101上安装第一倾角传感器103,用于实时反馈模拟发射平台101的水平度即运载火箭的垂直度信息,第一倾角传感器103可以是实际发射支持系统所采用的,保证了模拟发射过程中的传感器元件的一致性。本发明的一个方面,可活动支腿102为伺服电动支腿或者液压动力支腿,例如伺服电动支腿可以选择电动丝杠,通过控制丝杠的伸缩实现模拟发射平台101的调平。In this embodiment, the movable outrigger 102 selects the same type of small-model product in the actual system, and its control logic and method are consistent with the actual system. A first inclination sensor 103 is installed on the simulated launch platform 101 for real-time feedback of the levelness of the simulated launch platform 101, that is, the verticality information of the launch vehicle. Consistency of sensor elements during launch. In one aspect of the present invention, the movable outrigger 102 is a servo electric outrigger or a hydraulic power outrigger, for example, an electric lead screw can be selected for the servo electric outrigger, and the analog launch platform 101 can be leveled by controlling the extension and contraction of the lead screw.

其中,模拟起竖臂104能够模拟真实的运载火箭起竖过程,模拟起竖臂104可以采用铝材,通过手动实现起竖过程的模拟。模拟起竖臂104设置在模拟发射平台101的一端,并通过带锁紧装置的可旋转绞点连接。本发明的一个方面,模拟起竖臂104能够实现-2度至92度的任意角度限位,并具有锁紧功能。在模拟起竖臂104上安装第二倾角传感器105,用于实时反馈模拟起竖臂104的起竖角度,第二倾角传感器105可以采用实际发射支持系统一样的产品。Among them, the simulated erecting arm 104 can simulate the actual erection process of the launch vehicle, and the simulated erecting arm 104 can be made of aluminum material, and the simulation of the erecting process can be realized manually. The simulated erecting arm 104 is arranged at one end of the simulated launching platform 101 and is connected by a rotatable hinge point with a locking device. In one aspect of the present invention, the simulated erecting arm 104 can realize any angle limit from -2 degrees to 92 degrees, and has a locking function. A second inclination sensor 105 is installed on the simulated erecting arm 104 for real-time feedback of the erecting angle of the simulated erecting arm 104. The second inclination sensor 105 can be the same product as the actual launch support system.

另外,运载火箭发射支持等效装置中的接近开关模拟板106用于安装其它设备的接近开关。作为其中一种实施例,其它设备包括:模拟起竖臂102、上夹钳和防风装置,其中上夹钳和防风装置没有实际的模拟产品,只采用了两者的接近开关来模拟上夹钳和防风装置的传输信号。接近开关模拟板106的位置不做限定,在本实施例中,为了操作方便,接近开关模拟板106设置在模拟发射平台101上。Additionally, a proximity switch analog board 106 in the launch vehicle launch support equivalent is used to install proximity switches for other equipment. As one of the embodiments, other devices include: a simulated erecting arm 102, an upper clamp and a windproof device, wherein the upper clamp and the windproof device have no actual simulation products, only the proximity switches of the two are used to simulate the upper clamp and windshield transmission signal. The position of the proximity switch simulation board 106 is not limited. In this embodiment, for the convenience of operation, the proximity switch simulation board 106 is arranged on the simulation launch platform 101 .

如图2所示,本发明的一个方面,运载火箭发射支持等效装置还包括:起飞模拟按钮201,设置在模拟发射平台101的另一端,用于模拟运载火箭的起飞信号。具体地,通过按下起飞模拟按钮201能模拟运载火箭发射支持等效装置的起飞信号,等效装置在收到起飞信号后执行模拟起竖臂104快倒的操作。As shown in FIG. 2 , in one aspect of the present invention, the launch vehicle launch support equivalent device further includes a take-off simulation button 201 , which is arranged at the other end of the simulated launch platform 101 and used to simulate the launch signal of the launch vehicle. Specifically, by pressing the take-off simulation button 201, the launch vehicle can be simulated to launch a take-off signal supporting the equivalent device, and the equivalent device can perform an operation of simulating a fast reverse of the erector arm 104 after receiving the take-off signal.

如图2所示,本发明的一个方面,运载火箭发射支持等效装置,还包括:位移传感器202,位移传感器202的一端安装在模拟发射平台101的底面,另一端安装于可活动支腿102,用于反馈可活动支腿102的长度。位移传感器202负责实现可活动支腿102移动位移的检测,其采用的是实际发射支持系统一样的产品。在本实施例中,位移传感器202的一端安装在模拟发射平台101的底面,另一端安装在每个可活动支腿102的支腿座位置,实际应用中可以根据位移传感器202原理的不同放置在不同的位置,只要能实现可活动支腿102的移动位移检测即可。As shown in FIG. 2 , in one aspect of the present invention, the launch vehicle launch support equivalent device further includes: a displacement sensor 202 , one end of the displacement sensor 202 is installed on the bottom surface of the simulated launch platform 101 , and the other end is installed on the movable outrigger 102 , used to feedback the length of the movable outrigger 102 . The displacement sensor 202 is responsible for realizing the detection of the movement and displacement of the movable leg 102, and it adopts the same product as the actual launch support system. In this embodiment, one end of the displacement sensor 202 is installed on the bottom surface of the analog launch platform 101, and the other end is installed at the position of the support leg seat of each movable support leg 102. In practical applications, the displacement sensor 202 can be placed on the Different positions are sufficient as long as the movement and displacement detection of the movable legs 102 can be realized.

本发明的一个方面,接近开关模拟板106设置多个安装孔,用于固定接近开关。本发明的一个方面,接近开关模拟板106还包括输出指示灯,输出指示灯与对应的接近开关控制输出信号并联。In one aspect of the present invention, the proximity switch simulation board 106 is provided with a plurality of mounting holes for fixing the proximity switch. In one aspect of the present invention, the proximity switch simulation board 106 further includes an output indicator light, and the output indicator light is connected in parallel with the corresponding proximity switch control output signal.

其中,接近开关模拟板106作为接近开关的安装支架,还可用于控制输出指示灯的安装支架,同时配套相应的辅助设备用于模拟接近开关闭合和打开的状态,包括模拟起竖臂102、上夹钳和防风装置的接近开关信号。所有接近开关均可以使用与实际发射支持系统完全相同的产品,控制输出指示灯与对应的接近开关控制输出信号并联,通过输出指示灯来反应各个接近开关的状态。Among them, the proximity switch simulation board 106 is used as the installation bracket of the proximity switch, and can also be used to control the installation bracket of the output indicator light. At the same time, the corresponding auxiliary equipment is used to simulate the closed and open states of the proximity switch, including the simulation of the vertical arm 102, the upper Proximity switch signals for clamps and draft shields. All proximity switches can use the same products as the actual launch support system. The control output indicator light is connected in parallel with the corresponding proximity switch control output signal, and the status of each proximity switch is reflected by the output indicator light.

为了保证本发明中运载火箭发射支持等效装置的真实性,提高试验结果的可信度,例如,等效装置中所有传感器均采用了与实际运载火箭发射支持系统一致的实际产品。等效装置在实验过程中,在一些传感器和设备无法按计划到位的情况下,也可使用按钮、信号模拟板卡或者PLC模块实现类似的功能。本实施例中没有提及的装置有:传感器数据采集,模拟量输入输出控制及数字量输入输出控制,以上装置属于本行业公知,可根据实际使用需要在本发明的基础上改进设计。In order to ensure the authenticity of the launch vehicle launch support equivalent device in the present invention and improve the reliability of the test results, for example, all sensors in the equivalent device use actual products consistent with the actual launch vehicle launch support system. Equivalent devices During the experiment, in the case that some sensors and equipment cannot be in place as planned, buttons, signal simulation boards or PLC modules can also be used to achieve similar functions. The devices not mentioned in this embodiment include: sensor data acquisition, analog input and output control and digital input and output control. The above devices are well known in the industry and can be improved on the basis of the present invention according to actual needs.

另一方面,本发明提供一种运载火箭发射支持等效控制系统,包括上述的运载火箭发射支持等效装置,以及,控制装置,电连接于模拟发射平台101、模拟起竖臂104以及接近开关模拟板106,用于控制模拟发射平台101、模拟起竖臂104以及接近开关模拟板106的动作。控制装置属于运载火箭发射支持等效控制系统的大脑,通过内置逻辑程序能有效控制模拟发射平台101的调平动作,控制模拟起竖臂104的起竖动作或快倒动作,以及控制接近开关模拟板106的接近开关打开或闭合动作。In another aspect, the present invention provides an equivalent control system for launch support of a launch vehicle, including the above-mentioned equivalent device for launch support of a launch vehicle, and a control device, which is electrically connected to the simulated launch platform 101, the simulated erector arm 104 and the proximity switch The simulation board 106 is used to control the actions of the simulation launch platform 101 , the simulation vertical arm 104 and the proximity switch simulation board 106 . The control device belongs to the brain of the equivalent control system supporting the launch of the launch vehicle. Through the built-in logic program, it can effectively control the leveling action of the simulated launch platform 101, control the erecting action or fast-reversing action of the simulated erecting arm 104, and control the proximity switch simulation. The proximity switch of board 106 opens or closes action.

火箭由火箭转运起竖车运到发射工位以后,主要进行以下工作:After the rocket is transported by the rocket transporter to the launch station, the main work is as follows:

1)起竖车起竖火箭,并下放火箭到发射台;1) erect the vehicle to erect the rocket, and lower the rocket to the launch pad;

2)打开起竖臂上夹钳;2) Open the upper clamp of the erector arm;

3)压紧火箭防风装置;3) Compress the rocket windproof device;

4)开始调整火箭垂直度;4) Start to adjust the verticality of the rocket;

5)解除火箭防风装置;5) Release the rocket windproof device;

6)起竖臂预倒一定角度;6) The erection arm is pre-declined to a certain angle;

7)接到火箭起飞信号,开始起竖臂快倒。7) After receiving the rocket take-off signal, start to raise the vertical arm and quickly fall back.

这种运载火箭发射支持等效控制系统主要完成以下等效功能:This launch vehicle launch support equivalent control system mainly completes the following equivalent functions:

1)模拟起竖臂104起竖和下放过程;1) Simulate the process of erecting and lowering the erecting arm 104;

2)模拟起竖臂104的上夹钳打开和抱紧过程;2) Simulate the process of opening and holding the upper clamp of the erector arm 104;

3)模拟防风装置锁紧和解锁过程;3) Simulate the locking and unlocking process of the windproof device;

4)模拟发射平台101的调平即火箭垂直度调整过程;4) Simulate the leveling of the launch platform 101, that is, the process of adjusting the verticality of the rocket;

5)模拟起竖臂104预倒和预倒到位的过程;5) Simulate the process of pre-inverting and pre-inverting the erector arm 104;

6)模拟起竖臂104快倒和快倒到位的过程。6) Simulate the process of rewinding and rewinding the erector arm 104 quickly into place.

因此,本发明提供一种运载火箭发射支持等效测试方法,该方法用于运载火箭发射支持等效控制系统,控制系统包括模拟发射平台101、模拟起竖臂104、接近开关模拟板106和控制装置,控制装置电连接于模拟发射平台101、模拟起竖臂104和接近开关模拟板106,测试方法包括:Therefore, the present invention provides an equivalent test method for launch support of a launch vehicle. The method is used for an equivalent control system for launch support of a launch vehicle. The control system includes a simulated launch platform 101, a simulated erector arm 104, a proximity switch simulation board 106 and a control system. device, the control device is electrically connected to the analog launch platform 101, the analog erector arm 104 and the proximity switch analog board 106, and the test method includes:

S100:起竖模拟起竖臂104从水平状态到垂直状态,设置在模拟起竖臂104上的第一倾角传感器103将模拟起竖臂104的倾角信号传至控制装置;S100: erecting the simulated erecting arm 104 from a horizontal state to a vertical state, and the first inclination sensor 103 disposed on the simulated erecting arm 104 transmits the inclination signal of the simulated erecting arm 104 to the control device;

S200:调整模拟发射平台101的水平度,设置在模拟发射平台101上的第二倾角传感器105将水平度信号传至控制装置;S200: Adjust the level of the analog launch platform 101, and the second inclination sensor 105 disposed on the analog launch platform 101 transmits the level signal to the control device;

S300:监测接近开关模拟板106上的接近开关的信号输出,控制装置接收到不同的接近开关信号并发出相应的指令。S300: Monitor the signal output of the proximity switch on the proximity switch analog board 106, and the control device receives different proximity switch signals and sends out corresponding commands.

具体地,运载火箭发射支持等效测试方法主要包括模拟起竖臂104的起竖过程、模拟发射平台101的调平过程、上夹钳打开和抱紧过程、防风装置锁紧和解锁过程。Specifically, the equivalent test method for launch support of the launch vehicle mainly includes simulating the erection process of the erector arm 104, the leveling process of the simulated launch platform 101, the upper clamp opening and clamping process, and the wind protection device locking and unlocking process.

其中,模拟起竖臂104的起竖过程中,起竖模拟起竖臂104从水平状态到垂直状态,设置在模拟起竖臂104上的第一倾角传感器103将模拟起竖臂104的倾角信号传至控制装置。模拟发射平台101的调平过程中,调整模拟发射平台101的水平度,设置在模拟发射平台101上的第二倾角传感器105将水平度信号传至控制装置。上夹钳打开和抱紧过程和防风装置锁紧和解锁过程都是在接近开关模拟板106上,通过检测上夹钳和防风装置的接近开关信号输出进行测试,控制装置接收不同的接近开关信号并发出相应的指令。Wherein, during the erecting process of the simulated erecting arm 104, the erecting simulated erecting arm 104 is from a horizontal state to a vertical state, and the first inclination sensor 103 disposed on the simulated erecting arm 104 will simulate the inclination signal of the erecting arm 104 to the control unit. During the leveling process of the simulated launch platform 101, the level of the simulated launch platform 101 is adjusted, and the second inclination sensor 105 disposed on the simulated launch platform 101 transmits the level signal to the control device. The upper clamp opening and clamping process and the wind protection device locking and unlocking process are all performed on the proximity switch simulation board 106. The test is performed by detecting the proximity switch signal output of the upper clamp and the wind protection device, and the control device receives different proximity switch signals. and issue the corresponding command.

根据本发明的一个方面,运载火箭发射支持等效测试方法还包括:当起竖模拟起竖臂104相对于模拟发射平台101大于91.5度时,控制装置发出报警信号及关闭模拟起竖臂104的指令。According to one aspect of the present invention, the equivalent test method for launch support of a launch vehicle further includes: when the erection of the simulated erector arm 104 is greater than 91.5 degrees relative to the simulated launch platform 101, the control device sends out an alarm signal and closes the simulated erection arm 104. instruction.

根据本发明的一个方面,调整模拟发射平台101的水平度包括:控制支撑模拟发射平台101的至少三个可活动支腿102的长度,使得第二倾角传感器105的水平度的绝对值为0度—0.5度之间。According to one aspect of the present invention, adjusting the level of the simulated launch platform 101 includes: controlling the lengths of at least three movable legs 102 supporting the simulated launch platform 101 so that the absolute value of the level of the second tilt sensor 105 is 0 degrees - between 0.5 degrees.

根据本发明的一个方面,监测接近开关模拟板106上的接近开关的信号输出包括:监测接近开关模拟板106上的四种模拟起竖臂104的接近开关,分别是起竖到位接近开关、回平到位接近开关、预倒到位接近开关和快倒到位接近开关。According to one aspect of the present invention, monitoring the signal output of the proximity switch on the proximity switch analog board 106 includes: monitoring four proximity switches on the proximity switch analog board 106 simulating the erection arm 104 , which are the erection position proximity switch, the return Flat position proximity switch, pre-retract position proximity switch and quick retract position proximity switch.

根据本发明的一个方面,设置模拟起竖臂104为水平状态,抬起模拟起竖臂104且当起竖角度大于1度时,监测回平到位接近开关的信号输出,当模拟起竖臂104的起竖角度大于89.5度时,监测起竖到位接近开关的信号输出。设置模拟起竖臂104为水平状态时,回平到位接近开关为闭合状态,抬起模拟起竖臂104当起竖角度大于1度时,回平到位接近开关为打开状态,当模拟起竖臂104的起竖角大于89.5度时,起竖到位接近开关为闭合状态。According to one aspect of the present invention, the simulated erecting arm 104 is set to be in a horizontal state, the simulated erecting arm 104 is raised and when the erecting angle is greater than 1 degree, the signal output of the proximity switch is monitored to be leveled back in position, when the simulated erecting arm 104 is raised When the erection angle is greater than 89.5 degrees, monitor the signal output of the proximity switch in the erected position. When the simulated erecting arm 104 is set to a horizontal state, the proximity switch in the leveling position is closed, and when the erecting angle of the simulated erecting arm 104 is raised, when the erection angle is greater than 1 degree, the proximity switch in the leveling position is on, and when the simulated erecting arm 104 is raised, the proximity switch is turned on. When the erection angle of 104 is greater than 89.5 degrees, the proximity switch in the erected position is closed.

根据本发明的一个方面,控制系统包括起飞模拟按钮用于模拟运载火箭的起飞信号,测试方法还包括:按下起飞模拟按钮并发出运载火箭的起飞信号,控制装置接收到起飞信号后开启模拟起竖臂104快倒指令,监测快倒到位接近开关的信号输出。模拟起竖臂104从90度开始,预倒到位至87度,预倒到位接近开关闭合,收到起飞信号后,模拟起竖臂104继续从87度开始,快倒到位至75度,快倒到位接近开关闭合According to one aspect of the present invention, the control system includes a take-off simulation button for simulating the take-off signal of the launch vehicle, and the test method further includes: pressing the take-off simulation button and sending the take-off signal of the launch vehicle, and the control device starts the simulation after receiving the take-off signal. The vertical arm 104 fast rewinds the command, and monitors the signal output of the proximity switch in the fast rewind position. The simulated erecting arm 104 starts from 90 degrees, pre-reverses to 87 degrees, and closes the proximity switch in the pre-reversing position. After receiving the take-off signal, the simulated erecting arm 104 continues to start from 87 degrees, and quickly reverses to 75 degrees, and then quickly reverses. In-position proximity switch closed

根据本发明的一个方面,监测接近开关模拟板106上的接近开关的信号输出包括:监测接近开关模拟板106上的两种上夹钳的接近开关,分别是上夹钳打开到位接近开关和上夹钳抱紧到位接近开关。According to one aspect of the present invention, monitoring the signal output of the proximity switch on the proximity switch analog board 106 includes: monitoring the proximity switches of two types of upper clamps on the proximity switch analog board 106 , which are the proximity switch when the upper clamp is opened and the proximity switch on the upper clamp. The clamps hold the proximity switch in place.

根据本发明的一个方面,控制装置开启上夹钳解锁指令,监测上夹钳解锁到位接近开关的信号输出;控制装置开启上夹钳抱紧指令,监测上夹钳抱紧到位接近开关的信号输出。在一些情况下,基于上夹钳的结构特征,设置上夹钳打开到位接近开关为两个或两个以上,设置上夹钳抱紧到位接近开关为两个或两个以上。According to one aspect of the present invention, the control device activates the upper clamp unlocking instruction, and monitors the signal output of the proximity switch when the upper clamp is unlocked; . In some cases, based on the structural features of the upper clamp, there are two or more proximity switches set when the upper clamp is opened, and two or more proximity switches are set when the upper clamp is held in place.

根据本发明的一个方面,监测接近开关模拟板106上的接近开关的信号输出包括:监测接近开关模拟板106上的两种防风装置的接近开关,分别是防风装置解锁到位接近开关和防风装置锁紧到位接近开关。According to an aspect of the present invention, monitoring the signal output of the proximity switch on the proximity switch analog board 106 includes: monitoring the proximity switches of two kinds of windproof devices on the proximity switch simulation board 106 , which are the proximity switch of the unlocked position of the windproof device and the lock of the windproof device, respectively. Tighten the proximity switch in place.

根据本发明的一个方面,控制装置开启防风装置解锁指令,监测防风装置解锁到位接近开关的信号输出;控制装置开启防风装置锁紧指令,监测防风装置锁紧到位接近开关的信号输出。在一些情况下,基于防风装置的结构特征,设置防风装置解锁到位接近开关为两个或两个以上,设置防风装置锁紧到位接近开关为两个或两个以上。According to one aspect of the present invention, the control device activates the windproof device unlocking command, and monitors the signal output of the proximity switch when the windproof device is unlocked in place; In some cases, based on the structural features of the windproof device, there are two or more proximity switches provided with the windproof device unlocked in place, and two or more proximity switches provided with the windproof device locked in place.

在本发明中,运载火箭发射支持等效测试方法包含五个模拟测试过程,具体操作过程如下:In the present invention, the equivalent test method for launch support of a launch vehicle includes five simulated test procedures, and the specific operation procedures are as follows:

一、模拟起竖臂104的起竖过程具体为:1. The erecting process of the simulated erecting arm 104 is as follows:

S101:模拟起竖臂104置水平状态,根据起第一倾角传感器的倾角信号,调整水平度调整到0度至正负0.5度之间;S101: simulate the horizontal state of the erecting arm 104, and adjust the horizontality to be between 0 degrees and plus or minus 0.5 degrees according to the inclination signal of the first inclination sensor;

S102:调整模拟起竖臂104回平到位接近开关到闭合状态;S102: Adjust the proximity switch of the simulated erecting arm 104 to be in a closed state;

S103:控制装置发出起竖指令,缓慢抬起模拟起竖臂104,监测控制装置采集的第一倾角传感器的倾角信号随动实时性和准确性;S103: The control device issues a erection command, slowly lifts the simulated erection arm 104, and monitors the real-time and accuracy of the follow-up of the inclination signal of the first inclination sensor collected by the control device;

S104:当起竖角度大于1度时,如果回平到位接近开关仍然显示闭合状态,检测控制装置是否给出模拟起竖臂回平到位接近开关故障提示;S104: When the erection angle is greater than 1 degree, if the leveling in-position proximity switch still displays the closed state, check whether the control device gives a fault prompt of the simulated erecting arm leveling-in-position proximity switch;

S105:监测回平到位接近开关的信号输出是否正常,当模拟起竖臂104起竖到位信号闭合时,监测起竖控制指令输出是否消失;S105: Monitor whether the signal output of the leveling-in-position proximity switch is normal, and when the analog erection arm 104 is closed to the erection-in-position signal, monitor whether the erection control command output disappears;

S106:继续起竖模拟起竖臂104直到大于91.5度时,监测控制装置是否给出报警信息并关闭起竖控制指令。S106: Continue to erect the simulated erecting arm 104 until it is greater than 91.5 degrees, monitor whether the control device gives an alarm message and close the erecting control command.

二、模拟发射平台101的调平过程具体为:2. The leveling process of the simulated launch platform 101 is as follows:

S201:手动控制至少三个可活动支腿102调整模拟发射平台101,使第二倾角传感器显示角度在0度至正负0.5度之间;S201: Manually control at least three movable legs 102 to adjust the simulated launch platform 101, so that the display angle of the second inclination sensor is between 0 degrees and plus or minus 0.5 degrees;

S202:控制装置发出模拟发射平台101的调平即火箭垂直度调整指令,监测模拟发射平台101调平情况;S202: The control device sends out the leveling command of the simulated launch platform 101, that is, the rocket verticality adjustment command, and monitors the leveling of the simulated launch platform 101;

S203:监测模拟发射平台101可活动支腿102动作情况是否和可活动支腿102控制输出指令保持一致;S203: monitor whether the action of the movable outrigger 102 of the simulated launch platform 101 is consistent with the control output command of the movable outrigger 102;

S204:指定时间内没有完成火箭垂直度调整是否给出出错提示;S204: Whether an error message is given if the vertical adjustment of the rocket is not completed within the specified time;

S205:垂直度调整正常结束后,模拟发射平台101的水平度即火箭垂直度结果是否满足精度要求。S205: After the verticality adjustment is normally completed, simulate whether the horizontality of the launch platform 101, that is, whether the result of the verticality of the rocket meets the accuracy requirements.

三、上夹钳打开和抱紧过程具体为:3. The process of opening and holding the upper clamp is as follows:

S301:上夹钳打开到位接近开关置闭合状态;S301: The upper clamp is opened in place and the proximity switch is set to the closed state;

S302:控制装置发出上夹钳抱紧指令;S302: The control device issues a command to hold the upper clamp;

S303:监测控制系统上夹钳抱紧指令输出是否正常;S303: Monitor whether the output of the clamp tightening command on the control system is normal;

S304:当上夹钳抱紧到位接近开关闭合时,监测控制装置中上夹钳抱紧指令输出是否消失;S304: When the proximity switch closes when the upper clamp is in place, monitor whether the upper clamp clamping command output in the control device disappears;

S305:上夹钳抱紧到位接近开关置闭合状态;S305: The upper clamp is in place and the proximity switch is closed;

S306:控制装置发出上夹钳打开指令;S306: The control device issues an instruction to open the upper clamp;

S307:监测控制装置上夹钳打开指令输出是否正常;S307: Monitor whether the output of the clamp opening command on the control device is normal;

S308:当上夹钳打开到位接近开关闭合时,监测控制装置中上夹钳打开指令输出是否消失。S308: When the upper clamp is opened to the limit and the proximity switch is closed, monitor whether the upper clamp opening command output in the control device disappears.

四、防风装置锁紧和解锁过程具体为:4. The locking and unlocking process of the windproof device is as follows:

S401:防风装置解锁到位接近开关置闭合状态;S401: The windproof device is unlocked in place and the proximity switch is closed;

S402:控制装置发出防风装置锁紧指令;S402: The control device issues a windproof device locking instruction;

S403:监测控制装置防风装置锁紧指令输出是否正常;S403: Monitor whether the output of the locking command of the windproof device of the control device is normal;

S404:当防风装置锁紧到位接近开关闭合时,监测控制装置中防风装置锁紧指令输出是否消失;S404: When the windproof device is locked in place and the proximity switch is closed, monitor whether the windproof device locking command output in the control device disappears;

S405:防风装置锁紧到位接近开关置闭合状态;S405: The windproof device is locked in place and the proximity switch is in the closed state;

S406:控制装置发出防风装置解锁指令;S406: The control device issues an unlocking instruction for the windproof device;

S407:监测控制装置中防风装置解锁指令输出是否正常;S407: Monitor whether the output of the unlocking command of the windproof device in the control device is normal;

S408:当防风装置解锁到位接近开关闭合时,监测控制装置中防风装置解锁指令输出是否消失。S408: When the proximity switch of the windproof device is unlocked in place, monitor whether the output of the unlocking command of the windproof device in the control device disappears.

五、收到起飞信号模拟起竖臂104快倒过程:5. Receiving the take-off signal to simulate the fast reversing process of the erection arm 104:

S501:按下起飞模拟按钮201;S501: Press the take-off simulation button 201;

S502:控制装置发出模拟起竖臂104快倒指令;S502: The control device issues a fast reverse command to simulate the erecting arm 104;

S503:监测控制装置起竖臂快倒指令是否输出;S503: Monitor whether the command of the control device for erecting the erection arm fast reversal is output;

S504:当按下起飞模拟按钮201时,监测控制装置快倒指令是否输出;S504: when the take-off simulation button 201 is pressed, monitor whether the control device fast reverse command is output;

S505:考核控制装置接收起飞信号的反应时间;S505: assess the response time of the control device for receiving the take-off signal;

S506:快倒起控反应时间及快倒过程反应时间;S506: fast rewind start control reaction time and fast rewind process reaction time;

S507:当快倒到位接近开关闭合时,监测控制装置中快倒指令是否消失。S507: When the fast rewind position proximity switch is closed, monitor whether the fast rewind command in the control device disappears.

本发明中的运载火箭发射支持等效测试方法,应用的等效装置采用的是与实际运载火箭发射支持系统设备接口完全一致的,在实际运载火箭发射支持系统方案初步确定以后,保证实际运载火箭发射支持系统的控制系统研制与总体设备的研制同步进行,利用该运载火箭发射支持等效测试方法能大大缩短研制周期,节约了实际运载火箭发射支持系统调试时间,同时大幅节省了研制经费。该运载火箭发射支持等效测试方法可以方便的完成实际运载火箭发射支持系统的控制分系统的调试、综合试验,出厂验收和系统故障分离,为实际运载火箭发射支持系统的控制系统同步研制和提前出厂提供保障。The equivalent test method for launch support of the launch vehicle in the present invention adopts the equivalent device which is completely consistent with the equipment interface of the actual launch support system of the launch vehicle. The development of the control system of the launch support system is carried out simultaneously with the development of the overall equipment. Using the launch vehicle launch support equivalent test method can greatly shorten the development cycle, save the actual launch vehicle launch support system debugging time, and greatly save development costs. The launch vehicle launch support equivalent test method can conveniently complete the commissioning, comprehensive test, factory acceptance and system fault separation of the control subsystem of the actual launch vehicle launch support system, and is synchronously developed and advanced for the control system of the actual launch vehicle launch support system. Factory guarantee.

以上仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. within.

Claims (10)

1.一种运载火箭发射支持等效测试方法,其特征在于,该方法用于运载火箭发射支持等效控制系统,所述控制系统包括模拟发射平台、模拟起竖臂、接近开关模拟板和控制装置,所述控制装置电连接于所述模拟发射平台、所述模拟起竖臂和所述接近开关模拟板,所述测试方法包括:1. a launch vehicle launch support equivalent test method, it is characterized in that, this method is used for launch vehicle launch support equivalent control system, and described control system comprises simulated launch platform, simulated erector arm, proximity switch simulation board and control device, the control device is electrically connected to the analog launch platform, the analog erector arm and the proximity switch analog board, and the test method includes: 起竖所述模拟起竖臂从水平状态到垂直状态,设置在所述模拟起竖臂上的第一倾角传感器将所述模拟起竖臂的倾角信号传至所述控制装置;erecting the simulated erecting arm from a horizontal state to a vertical state, and the first inclination sensor arranged on the simulated erecting arm transmits the inclination angle signal of the simulated erecting arm to the control device; 调整所述模拟发射平台的水平度,设置在所述模拟发射平台上的第二倾角传感器将水平度信号传至所述控制装置;Adjusting the level of the simulated launch platform, the second inclination sensor arranged on the simulated launch platform transmits the level signal to the control device; 监测所述接近开关模拟板上的接近开关的信号输出,所述控制装置接收到不同的接近开关信号并发出相应的指令。The signal output of the proximity switch on the proximity switch analog board is monitored, and the control device receives different proximity switch signals and sends out corresponding commands. 2.根据权利要求1所述的运载火箭发射支持等效测试方法,其特征在于,所述调整所述模拟发射平台的水平度包括:2. The launch vehicle launch support equivalent test method according to claim 1, wherein the adjusting the levelness of the simulated launch platform comprises: 控制支撑所述模拟发射平台的至少三个可活动支腿的长度,使得所述第二倾角传感器的水平度的绝对值为0度—0.5度之间。The lengths of at least three movable legs supporting the simulated launch platform are controlled so that the absolute value of the horizontality of the second inclination sensor is between 0 degrees and 0.5 degrees. 3.根据权利要求1所述的运载火箭发射支持等效测试方法,其特征在于,还包括:3. The carrier rocket launch support equivalent test method according to claim 1, is characterized in that, also comprises: 起竖所述模拟起竖臂相对于所述模拟发射平台大于91.5度时,所述控制装置发出报警信号及关闭所述模拟起竖臂的指令。When erecting the simulated erecting arm is greater than 91.5 degrees relative to the simulated launching platform, the control device sends an alarm signal and an instruction to close the simulated erecting arm. 4.根据权利要求1所述的运载火箭发射支持等效测试方法,其特征在于,所述监测所述接近开关模拟板上的接近开关的信号输出包括:4. The launch vehicle launch support equivalent test method according to claim 1, wherein the monitoring of the signal output of the proximity switch on the proximity switch analog board comprises: 监测所述接近开关模拟板上的四种所述模拟起竖臂的接近开关,分别是起竖到位接近开关、回平到位接近开关、预倒到位接近开关和快倒到位接近开关。Monitor the four proximity switches on the proximity switch analog board simulating the erecting arm, which are the erecting position proximity switch, the leveling position proximity switch, the pre-retracting position proximity switch and the fast retracting position proximity switch. 5.根据权利要求4所述的运载火箭发射支持等效测试方法,其特征在于,设置所述模拟起竖臂为水平状态,抬起所述模拟起竖臂当起竖角度大于1度时,监测所述回平到位接近开关的信号输出,当所述模拟起竖臂的起竖角大于89.5度时,监测所述起竖到位接近开关的信号输出。5. The launch vehicle launch support equivalent test method according to claim 4, wherein the simulated erector arm is set to be in a horizontal state, and the simulated erector arm is lifted when the erection angle is greater than 1 degree, Monitor the signal output of the leveling position proximity switch, and monitor the signal output of the erecting position proximity switch when the erection angle of the simulated erecting arm is greater than 89.5 degrees. 6.根据权利要求4所述的运载火箭发射支持等效测试方法,其特征在于,所述控制系统包括起飞模拟按钮用于模拟所述运载火箭的起飞信号,所述测试方法还包括:6. The equivalent test method for launch support of a launch vehicle according to claim 4, wherein the control system comprises a take-off simulation button for simulating the take-off signal of the launch vehicle, and the test method further comprises: 按下起飞模拟按钮并发出所述运载火箭的起飞信号,所述控制装置接收到起飞信号后开启所述模拟起竖臂快倒指令,监测所述快倒到位接近开关的信号输出。Press the take-off simulation button and send the take-off signal of the launch vehicle. After receiving the take-off signal, the control device turns on the fast reverse command of the simulated erector arm, and monitors the signal output of the fast reverse position proximity switch. 7.根据权利要求1所述的运载火箭发射支持等效测试方法,其特征在于,所述监测所述接近开关模拟板上的接近开关的信号输出包括:7. The launch vehicle launch support equivalent test method according to claim 1, wherein the monitoring of the signal output of the proximity switch on the proximity switch analog board comprises: 监测所述接近开关模拟板上的两种上夹钳的接近开关,分别是上夹钳打开到位接近开关和上夹钳抱紧到位接近开关。Monitor the proximity switches of the two upper clamps on the proximity switch analog board, namely, the upper clamp opening proximity switch and the upper clamp tightening position proximity switch. 8.根据权利要求7所述的运载火箭发射支持等效测试方法,其特征在于,所述控制装置开启上夹钳解锁指令,监测所述上夹钳解锁到位接近开关的信号输出;所述控制装置开启上夹钳抱紧指令,监测所述上夹钳抱紧到位接近开关的信号输出。8 . The launch vehicle launch support equivalent test method according to claim 7 , wherein the control device starts the upper clamp unlocking instruction, and monitors the signal output of the proximity switch when the upper clamp is unlocked in place; the control The device starts the upper clamp tightening instruction, and monitors the signal output of the upper clamp close proximity switch. 9.根据权利要求1所述的运载火箭发射支持等效测试方法,其特征在于,所述监测所述接近开关模拟板上的接近开关的信号输出包括:9 . The launch vehicle launch support equivalent test method according to claim 1 , wherein the monitoring of the signal output of the proximity switch on the proximity switch analog board comprises: 10 . 监测所述接近开关模拟板上的两种防风装置的接近开关,分别是防风装置解锁到位接近开关和防风装置锁紧到位接近开关。Monitor the proximity switches of two kinds of windproof devices on the proximity switch analog board, namely, the proximity switch of the windproof device unlocked in place and the proximity switch of the locked position of the windproof device. 10.根据权利要求9所述的运载火箭发射支持等效测试方法,其特征在于,所述控制装置开启防风装置解锁指令,监测所述防风装置解锁到位接近开关的信号输出;所述控制装置开启防风装置锁紧指令,监测所述防风装置锁紧到位接近开关的信号输出。10 . The equivalent test method for launch support of a launch vehicle according to claim 9 , wherein the control device starts an unlocking instruction of the windproof device, and monitors the signal output of the proximity switch when the windproof device is unlocked in place; the control device is turned on. 11 . The windproof device locking command monitors the signal output of the proximity switch when the windproof device is locked in place.
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