WO2021228155A1 - Carrier rocket launching support equivalent device and control system - Google Patents

Carrier rocket launching support equivalent device and control system Download PDF

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Publication number
WO2021228155A1
WO2021228155A1 PCT/CN2021/093409 CN2021093409W WO2021228155A1 WO 2021228155 A1 WO2021228155 A1 WO 2021228155A1 CN 2021093409 W CN2021093409 W CN 2021093409W WO 2021228155 A1 WO2021228155 A1 WO 2021228155A1
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Prior art keywords
proximity switch
launch
simulated
simulation
platform
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PCT/CN2021/093409
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French (fr)
Chinese (zh)
Inventor
韦银利
吴雪
张瑜
韩召洋
张彦杰
杨俊�
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蓝箭航天空间科技股份有限公司
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Publication of WO2021228155A1 publication Critical patent/WO2021228155A1/en

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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

Definitions

  • the invention relates to the field of launch vehicle launches, in particular to a launch vehicle launch support equivalent device and control system.
  • the launch vehicle test and launch model has gradually emerged as a "three-level" test launch model.
  • the actual launch support system equipment development process and cycle of the actual launch vehicle are very long, and the control system equipment during the development process does not have the actual launch support system equipment of the launch vehicle that can be used for system debugging and delivery.
  • Acceptance, if testing on the actual carrier rocket launch support system not only wastes time but also increases development costs.
  • the purpose of the present invention is to overcome the shortcomings of the prior art and provide an equivalent launch support device and control system for a carrier rocket.
  • the present invention provides a launching support equivalent device for a launch vehicle, which includes: a simulated launching platform arranged on at least three movable legs, and a first inclination sensor installed on the simulated launching platform; One end of the analog launch platform is connected by a rotatable twisting point, and a second inclination sensor is installed on the analog erection arm; a proximity switch simulation board is used to install the analog erection arm, upper clamp and windproof device Proximity switch.
  • the launch vehicle launch support equivalent device further includes: a takeoff simulation button, which is arranged at the other end of the simulation launch platform and is used to simulate the takeoff signal of the launch vehicle.
  • the launch vehicle launch support equivalent device further includes: a displacement sensor, one end of the displacement sensor is installed on the bottom surface of the analog launch platform, and the other end is installed on the movable leg for feedback The length of the movable leg.
  • the proximity switch simulation board is provided with a plurality of mounting holes for fixing the proximity switch.
  • the proximity switch simulation board is provided with four types of proximity switches that simulate the vertical arm, which are the vertical position proximity switch, the leveling position proximity switch, the pre-reverse position proximity switch and the quick reverse position proximity switch. .
  • the proximity switch simulation board is provided with two types of proximity switches of the upper clamp, which are the upper clamp open in position proximity switch and the upper clamp clamp in position proximity switch respectively.
  • the proximity switch simulation board is provided with two types of proximity switches of the windproof device, namely, a windproof device unlocked in place proximity switch and a windproof device locked in place proximity switch.
  • the simulated vertical arm can achieve a limit of -2 degrees to 92 degrees, and has a locking function.
  • the movable legs are servo electric legs or hydraulic power legs.
  • the proximity switch analog board further includes an output indicator light, and the output indicator light is connected in parallel with the corresponding proximity switch control output signal.
  • the present invention provides a launch vehicle launch support equivalent control system, including the aforementioned launch vehicle launch support equivalent device, and a control device, electrically connected to the simulated launch platform, the simulated erecting arm, and The proximity switch simulation board is used to control the actions of the simulated launching platform, the simulated vertical arm and the proximity switch simulation board.
  • the launch support equivalent device of the launch vehicle provided by the present invention adopts the same sensor product as the actual launch support system of the launch vehicle by simulating the launch platform, simulating the erection arm and the setting of the proximity switch simulation board.
  • the experiment can shorten the development cycle, save the actual launch vehicle launch support system debugging time, and greatly save the development cost.
  • FIG. 1 is a schematic diagram of an equivalent device for launching support of a launch vehicle according to an embodiment of the present invention
  • Fig. 2 is a schematic diagram of an equivalent device for launching support of a launch vehicle according to another embodiment of the present invention.
  • 101-simulating launching platform 101-movable outrigger, 103-first inclination sensor, 104-simulating vertical arm, 105-second inclination sensor, 106-proximity switch simulation board, 201-takeoff simulation button, 202-displacement sensor.
  • Spatial relational terms such as “below”, “below”, “under”, “low”, “above”, “above”, “high”, etc. are used to facilitate the description and explain that an element is relative to the first
  • the positioning of the two elements means that these terms are intended to cover different orientations of the device in addition to those different orientations shown in the figures.
  • “one element is above/under another element” may mean that two elements are in direct contact, or that there are other elements between the two elements.
  • terms such as “first”, “second”, etc. are also used to describe various elements, regions, parts, etc., and should not be regarded as limitations. Similar terms refer to similar elements throughout the description.
  • FIG. 1 is a schematic diagram of an equivalent launch support device for a launch vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic view of an equivalent launch support device for a launch vehicle according to another embodiment of the present invention.
  • the present invention provides an equivalent device for launching a launch vehicle, including: a simulated launch platform 101, which is arranged on at least three movable legs 102, and a first inclination sensor 103 is installed on the simulated launch platform 101 ;
  • the simulated vertical arm 104 is set 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 vertical arm 104;
  • the proximity switch analog board 106 is used to install the simulated vertical arm 102.
  • the proximity switch of the upper clamp and the windproof device is used to install the simulated vertical arm 102.
  • the launch vehicle launch support equivalent device in this embodiment is used to solve the problem of the control system debugging and field acceptance before a real launch support system or before a simulated launch mission.
  • the launch vehicle launch support equivalent device may adopt an equivalent device that is exactly the same as the actual launch support system equipment interface.
  • the simulation launching platform 101 simulates a real simulation launching platform, which can be made of light-weight aluminum and also serves as an installation platform for other simulation equipment.
  • the simulated launch platform 101 is set on at least three movable legs 102, and the level of the simulated launch platform 101 is adjusted by the movable legs 102.
  • the movable leg 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.
  • the first inclination sensor 103 is installed on the simulation launch platform 101 for real-time feedback of the levelness of the simulation launch platform 101, that is, the verticality information of the launch vehicle.
  • the first inclination sensor 103 can be used by the actual launch support system to ensure the simulation The consistency of the sensor elements during the launch process improves the accuracy of the equivalent simulation.
  • the movable outrigger 102 is a servo electric outrigger or a hydraulic power outrigger.
  • the servo electric outrigger can select an electric screw, and the leveling of the simulated launch platform 101 can be realized by controlling the expansion and contraction of the screw.
  • the simulation erection arm 104 can simulate the actual erection process of the launch vehicle.
  • the simulation erection arm 104 is made of aluminum, for example, and the erection process can be simulated manually.
  • the simulated vertical arm 104 is arranged at one end of the simulated launch platform 101, and is connected by a rotatable hinge point with a locking device.
  • the simulated vertical arm 104 can realize a limit of any angle 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, and the second inclination sensor 105 adopts the same product as the actual launch support system.
  • the proximity switch simulation board 106 in the carrier rocket launch support equivalent device is used to install proximity switches of other equipment.
  • other equipment includes: a simulated vertical arm 102, an upper clamp and a windproof device.
  • the upper clamp and the windproof device do not have actual analog products, and only the proximity switches of the two are used to simulate the upper clamp And the transmission signal of the wind protection device.
  • the position of the proximity switch simulation board 106 is not limited. In this embodiment, for convenience of operation, the proximity switch simulation board 106 is set on the simulation launch platform 101.
  • the launch vehicle launch support equivalent device further includes: a takeoff simulation button 201, which is arranged at the other end of the simulation launch platform 101 and is used to simulate the takeoff signal of the launch vehicle.
  • the take-off simulation button 201 can simulate the launch of the launch vehicle supporting the equivalent device's take-off signal, and after receiving the take-off signal, it executes the operation of simulating the quick reverse of the vertical boom 104.
  • 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 analog launch platform 101, and the other end is installed on the movable leg 102 Above, it is used to feed back the length of the movable leg 102.
  • the displacement sensor 202 is responsible for realizing the detection of the movement displacement of the movable leg 102, which uses the same product as the actual launch support system.
  • 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 leg seat position of the movable leg 102. In actual applications, it can be placed in different positions according to the principle of the displacement sensor 202. The position, as long as the movement and displacement detection of the movable leg 102 can be realized.
  • the proximity switch simulation board 106 is provided with a plurality of mounting holes for fixing the proximity switch.
  • the proximity switch analog 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.
  • the proximity switch simulation board 106 is used as the mounting bracket of the proximity switch, and can also be used to control the mounting bracket of the output indicator.
  • the corresponding auxiliary equipment is used to simulate the closed and open state of the proximity switch, including the simulated vertical arm 102 and upper Proximity switch signals for clamps and wind protection devices. All proximity switches 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 output indicator light reflects the status of each proximity switch.
  • the proximity switch simulation board 106 is provided with four types of proximity switches for simulating the erecting arm 104, which are the erecting in-position proximity switch, the flattening-in-position proximity switch, the pre-reverse in-position proximity switch and the quick-reverse-in-position proximity switch.
  • the four types of proximity switches that simulate the erecting arm 104 are used in two scenarios: the erecting-in-position proximity switch and the leveling-in-position proximity switch are used to simulate the erection process simulation of the erecting arm 104, and to simulate the setting of the erecting arm 104.
  • the return to position proximity switch When it is in the horizontal state, the return to position proximity switch is in the closed state, slowly raise the simulated vertical arm 104.
  • the return to position proximity switch is open, and when the vertical angle is greater than 89.5 degrees, it is erected.
  • the in-position proximity switch is closed; the simulated vertical arm 104 starts at 90 degrees and is pre-reversed to 87 degrees, and the pre-reverse-in-position proximity switch is closed. After receiving the take-off signal, the simulated vertical boom 104 continues to start from 87 degrees and quickly reverses to the position 75 degrees, the fast rewind is in place and the proximity switch is closed.
  • the proximity switch simulation board 106 is provided with two upper clamp proximity switches, which are the upper clamp open in position proximity switch and the upper clamp clamp in position proximity switch.
  • the upper clamp clamp close proximity switch is closed, and when the upper clamp receives the upper clamp open command button, the upper clamp opens the position switch Close, during this process, check the control output signal of the upper clamp.
  • the number of proximity switches and the number of corresponding indicators can match the number of jaws of the upper clamp, so as to more accurately reflect the action of the upper clamp.
  • the proximity switch simulation board 106 is provided with two types of proximity switches of the windproof device, namely, the windproof device unlocked in position proximity switch and the windproof device locked in position proximity switch.
  • the wind protection device receives the wind protection device locking command
  • the wind protection device is locked in place and the proximity switch is closed.
  • the wind protection device unlocking command the wind protection device is unlocked and the proximity switch is closed.
  • observe the wind protection device observe the wind protection device.
  • the control output signal of the device In some cases, based on the structural features of the windproof device, there are two or more proximity switches for the unlocking of the windproof device, and two or more proximity switches for the locking of the windproof device.
  • buttons, signal simulation boards or PLC modules can also be used to achieve similar functions.
  • Devices not mentioned in this embodiment include: sensor data collection, analog input and output control, and digital input and output control. The above devices are well-known in the industry and can be improved and designed on the basis of the present invention according to actual needs.
  • the present invention provides a launch vehicle launch support equivalent control system, including the aforementioned launch vehicle launch support equivalent device, and a control device, electrically connected to the simulated launch platform 101, the simulated vertical arm 104, and the proximity switch
  • the simulation board 106 is used to control the actions of the simulation launching platform 101, the simulation vertical arm 104, and the proximity switch simulation board 106.
  • the control device belongs to the brain of the launch vehicle supporting equivalent control system. Through the built-in logic program, it can effectively control the leveling action of the simulated launching platform 101, control the erecting action or fast reverse action of the simulated erecting arm 104, and control the proximity switch simulation
  • the proximity switch of the plate 106 opens or closes.
  • the main tasks are as follows:
  • the vertical arm is pre-tilted to a certain angle
  • This carrier rocket launch support equivalent control system mainly completes the following equivalent functions:
  • the present invention provides a launch vehicle launch support equivalent test method, which is used in a launch vehicle launch support equivalent control system.
  • the control system includes a simulated launch platform 101, a simulated vertical arm 104, a proximity switch simulation board 106, and a control system.
  • the device and the control device are electrically connected to the simulated launching platform 101, the simulated vertical arm 104 and the proximity switch simulation board 106.
  • the test method includes: the vertical simulated vertical arm 104 is set on the simulated vertical arm 104 from a horizontal state to a vertical state
  • the first inclination sensor 103 transmits the inclination signal of the analog vertical arm 104 to the control device; adjusts the levelness of the analog launch platform 101, and the second inclination sensor 105 arranged on the analog launch platform 101 transmits the levelness signal to the control device ; Monitoring the signal output of the proximity switch on the proximity switch analog board 106, the control device receives different proximity switch signals and sends out corresponding instructions.
  • the launch vehicle launch support equivalent test method includes simulating the erecting process of the erecting arm 104, simulating the leveling process of the launch platform 101, the opening and holding process of the upper clamp, the locking and unlocking process of the windproof device, and the process of receiving The take-off signal simulates the rewinding process of the vertical boom 104.
  • the erection simulation erection arm 104 is from the horizontal state to the vertical state, the first inclination angle sensor 103 arranged on the analog erection arm 104 will simulate the inclination signal of the erection arm 104 Pass to the control device.
  • the leveling process of the analog launch platform 101 adjust the levelness of the analog launch platform 101, and the second inclination sensor 105 arranged on the analog launch platform 101 transmits the levelness signal to the control device;
  • the locking and unlocking process of the wind-proof device is performed on the proximity switch simulation board 106, and the test is performed by detecting the proximity switch signal output of the upper clamp and the wind-proof device.
  • the control device receives different proximity switch signals and sends out corresponding instructions.
  • the launch vehicle launch support equivalent test method further includes: when the simulated vertical arm 104 is erected relative to the simulated launch platform 101 greater than 91.5 degrees, the control device sends an alarm signal and closes the simulated vertical arm 104 instruction.
  • adjusting the level of the analog launch platform 101 includes: controlling the length of at least three movable legs 102 that support the analog launch platform 101 so that the absolute value of the level of the second inclination sensor 105 is 0°— Between 0.5 degrees.
  • monitoring the signal output of the proximity switch on the proximity switch analog board 106 includes: monitoring the proximity switches of the four analog rising arms 104 on the proximity switch analog board 106, which are the vertical position proximity switch and the return switch.
  • Monitoring the proximity switches of the four analog rising arms 104 on the proximity switch analog board 106 which are the vertical position proximity switch and the return switch.
  • the simulated vertical boom 104 is set to be in a horizontal state.
  • the signal output of the proximity switch is monitored when the simulated vertical boom 104 is lifted.
  • the erection angle is greater than 89.5 degrees, monitor the signal output of the erection position proximity switch.
  • the simulated vertical arm 104 is set to the horizontal state, the return-to-level proximity switch is closed, and when the simulated vertical-lift arm 104 is raised, when the vertical angle is greater than 1 degree, the return-to-position proximity switch is open.
  • the simulated vertical arm is raised
  • the vertical position proximity switch is closed.
  • the control system includes a take-off simulation button for simulating the take-off signal of the launch vehicle.
  • the test method also includes: pressing the take-off simulation button and sending out the launch vehicle take-off signal, and the control device starts the simulation after receiving the take-off signal.
  • the vertical arm 104 quickly reverses the command, and monitors the signal output of the proximity switch when the rapid reverse is in place.
  • the simulated vertical boom 104 starts at 90 degrees and is pre-reversed to 87 degrees.
  • the pre-reversed-position proximity switch is closed.
  • the simulated vertical boom 104 continues to start at 87 degrees, rewinds quickly to 75 degrees, and rewinds quickly. Proximity switch closed in place
  • monitoring the signal output of the proximity switch on the proximity switch analog board 106 includes: monitoring the proximity switches of the two upper clamps on the proximity switch analog board 106, which are the upper clamp open proximity switch and the upper clamp respectively. The clamp holds the proximity switch tightly.
  • the control device turns on the upper clamp unlock command and monitors the signal output of the upper clamp unlocking in-position proximity switch; the control device turns on the upper clamp holding command to monitor the signal output of the upper clamp clamping in-position proximity switch .
  • monitoring the signal output of the proximity switch on the proximity switch simulation board 106 includes: monitoring the proximity switches of two windproof devices on the proximity switch simulation board 106, namely the windproof device unlocked in place, the proximity switch and the windproof device lock Close to the switch in place.
  • the control device opens the wind-proof device unlocking command to monitor the signal output of the wind-proof device unlocking proximity switch; the control device opens the wind-proof device locking command and monitors the signal output of the wind-proof device locking proximity switch.
  • the launch vehicle launch support equivalent test method includes five simulation test procedures, and the specific operation procedures are as follows:
  • the specific erection process of the simulated erection arm 104 is as follows:
  • S101 Simulate the horizontal state of the vertical arm 104, and adjust the level to be between 0 degrees and plus or minus 0.5 degrees according to the inclination signal of the first inclination sensor;
  • the control device issues an erection instruction, slowly raises the simulated erection arm 104, and monitors the real-time and accuracy of follow-up of the inclination signal of the first inclination sensor collected by the control device;
  • S105 Monitor whether the signal output of the return-to-level proximity switch is normal, and monitor whether the erection control command output disappears when the analog erection arm 104 is closed;
  • S106 Continue to erect the simulated erecting arm 104 until it is greater than 91.5 degrees, and monitor whether the control device gives an alarm message and closes the erection control instruction.
  • the leveling process of the simulated launch platform 101 is specifically as follows:
  • S201 Manually control at least three movable legs 102 to adjust the analog launch platform 101 so that the second inclination sensor displays an angle between 0 degrees and plus or minus 0.5 degrees;
  • the control device issues the leveling of the simulated launching platform 101, that is, the rocket verticality adjustment instruction, to monitor the leveling of the simulated launching platform 101;
  • S403 monitor whether the lock command output of the windproof device of the control device is normal
  • S406 The control device issues an unlocking command of the windproof device
  • S503 monitor whether the quick reverse command of the vertical arm of the monitoring control device is output
  • the carrier rocket launch support equivalent device in the present invention is completely consistent with the actual carrier rocket launch support system equipment interface. After the actual carrier rocket launch support system plan is initially determined, the control system development and overall equipment of the actual carrier rocket launch support system are guaranteed The research and development of the carrier are carried out at the same time, which greatly shortens the development cycle, saves the time for debugging the actual launch support system of the carrier rocket, and greatly saves the development cost.
  • the launch vehicle launch support equivalent control system can easily complete the debugging, comprehensive test, factory acceptance and system failure separation of the control sub-system of the actual launch support system of the actual launch vehicle, which is the synchronous development and advancement of the control system of the actual launch support system. The factory provides protection.

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Abstract

The present invention provides a carrier rocket launching support equivalent device and a control system. The carrier rocket launching support equivalent device comprises: a simulation launching platform arranged on at least three movable supporting legs, with a first tilt angle sensor being installed on the simulation launching platform; a simulation erecting arm arranged at one end of the simulation launching platform and connected to same by means of a rotatable hinge point, with a second tilt angle sensor being installed on the simulation erecting arm; and a proximity switch simulation board used for installing proximity switches of the simulation erecting arm, an upper clamp and a windproof device. By using the carrier rocket launching support equivalent device, the development period can be shortened, the debugging time of an actual carrier rocket launching support system is saved on, and at the same time, development expenditure is greatly saved on.

Description

一种运载火箭发射支持等效装置及控制系统Equivalent device and control system for launching support of carrier rocket 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装置及控制系统。The invention relates to the field of launch vehicle launches, in particular to a launch vehicle launch support equivalent device and control system.
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 launch vehicle test and launch model has gradually emerged as a "three-level" test launch model. During the equipment development process of the "Sanping" test and launch mode, the actual launch support system equipment development process and cycle of the actual launch vehicle are very long, and the control system equipment during the development process does not have the actual launch support system equipment of the launch vehicle that can be used for system debugging and delivery. Acceptance, if testing on the actual carrier rocket 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运载火箭发射支持等效装置。In view of this, it is urgent to design a launch vehicle launch support equivalent device that avoids a long R&D cycle and can save the time for 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装置及控制系统。The purpose of the present invention is to overcome the shortcomings of the prior art and provide an equivalent launch support device and control system for a carrier rocket.
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，设置在至少三个可活动支腿上，在所述模拟发射平台上安装第一倾角传感器；模拟起竖臂，设置在所述模拟发射平台的一端并通过可旋转绞点连接，在所述模拟起竖臂上安装第二倾角传感器；接近开关模拟板，用于安装所述模拟起竖臂、上夹钳和防风装置的接近开关。The present invention provides a launching support equivalent device for a launch vehicle, which includes: a simulated launching platform arranged on at least three movable legs, and a first inclination sensor installed on the simulated launching platform; One end of the analog launch platform is connected by a rotatable twisting point, and a second inclination sensor is installed on the analog erection arm; a proximity switch simulation board is used to install the analog erection arm, upper clamp and windproof device Proximity switch.
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，设置在所述模拟发射平台的另一端，用于模拟所述运载火箭 的起飞信号。In one aspect of the present invention, the launch vehicle launch support equivalent device further includes: a takeoff simulation button, which is arranged at the other end of the simulation launch platform and is used to simulate the takeoff signal of the launch vehicle.
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，所述位移传感器的一端安装在所述模拟发射平台的底面，另一端安装于所述可活动支腿，用于反馈所述可活动支腿的长度。In one aspect of the present invention, the launch vehicle launch support equivalent device further includes: a displacement sensor, one end of the displacement sensor is installed on the bottom surface of the analog launch platform, and the other end is installed on the movable leg for feedback The length of the movable leg.
本发明的一个方面，所述接近开关模拟板设置多个安装孔，用于固定所述接近开关。In one aspect of the present invention, the proximity switch simulation board is provided with a plurality of mounting holes for fixing the proximity switch.
本发明的一个方面，所述接近开关模拟板设置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。In one aspect of the present invention, the proximity switch simulation board is provided with four types of proximity switches that simulate the vertical arm, which are the vertical position proximity switch, the leveling position proximity switch, the pre-reverse position proximity switch and the quick reverse position proximity switch. .
本发明的一个方面，所述接近开关模拟板设置两种所述上夹钳的接近开关，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。In one aspect of the present invention, the proximity switch simulation board is provided with two types of proximity switches of the upper clamp, which are the upper clamp open in position proximity switch and the upper clamp clamp in position proximity switch respectively.
本发明的一个方面，所述接近开关模拟板设置两种所述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。In one aspect of the present invention, the proximity switch simulation board is provided with two types of proximity switches of the windproof device, namely, a windproof device unlocked in place proximity switch and a windproof device locked in place proximity switch.
本发明的一个方面，所述模拟起竖臂能够实现-2度至92度的限位，并具有锁紧功能。In one aspect of the present invention, the simulated vertical arm can achieve a limit of -2 degrees to 92 degrees, and has a locking function.
本发明的一个方面，所述可活动支腿为伺服电动支腿或者液压动力支腿。In one aspect of the present invention, the movable legs are servo electric legs or hydraulic power legs.
本发明的一个方面，所述接近开关模拟板还包括输出指示灯，所述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 analog board further includes an output indicator light, and the output indicator light is connected in parallel with the corresponding proximity switch control output signal.
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，电连接于所述模拟发射平台、所述模拟起竖臂以及接近开关模拟板，用于控制所述模拟发射平台、所述模拟起竖臂以及接近开关模拟板的动作。In another aspect, the present invention provides a launch vehicle launch support equivalent control system, including the aforementioned launch vehicle launch support equivalent device, and a control device, electrically connected to the simulated launch platform, the simulated erecting arm, and The proximity switch simulation board is used to control the actions of the simulated launching platform, the simulated vertical arm and the proximity switch simulation board.
本发明提供的运载火箭发射支持等效装置，通过模拟发射平台、 模拟起竖臂和接近开关模拟板的设置，与实际运载火箭发射支持系统采用相同的传感器产品，在运载火箭支持等效装置上实验，能够缩短研制周期，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。The launch support equivalent device of the launch vehicle provided by the present invention adopts the same sensor product as the actual launch support system of the launch vehicle by simulating the launch platform, simulating the erection arm and the setting of the proximity switch simulation board. The experiment can shorten the development cycle, save the actual launch vehicle launch support system debugging time, and greatly save the development cost.
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 should be understood that the above general description and the following specific embodiments are only exemplary and explanatory, and they cannot limit the scope of the present invention.
附图说明Description of the 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 following drawings are a part of the specification of the present invention, which illustrate exemplary embodiments of the present invention. The accompanying drawings and the description of the specification are used to illustrate the principle of the present 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；FIG. 1 is a schematic diagram of an equivalent device for launching support of a launch vehicle 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。Fig. 2 is a schematic diagram of an equivalent device for launching support of a launch vehicle according to another embodiment of the present invention.
附图标记说明：Description of reference signs:
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-simulating launching platform, 102-movable outrigger, 103-first inclination sensor, 104-simulating vertical arm, 105-second inclination sensor, 106-proximity switch simulation board, 201-takeoff 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 each aspect of the present invention will be described in detail below. In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail 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, and are used to exemplarily illustrate the principle of the present invention, and are not configured to limit the present invention. In addition, the mechanical components in the drawings are not necessarily drawn to scale. For example, the size of some structural members or regions in the drawings may be enlarged for other structural members or regions to help the understanding of the 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。The orientation words appearing in the following description are all directions shown in the figure, and do not limit the specific structure of the embodiment 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, they may be fixed connection, detachable connection, or integral Ground connection; it can be directly connected or indirectly connected through an intermediary. For those of ordinary skill in the art, the specific meaning of the above-mentioned 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。In addition, the terms "include", "include", "have" or any other variations thereof are intended to cover non-exclusive inclusion, so that a series of element structures or components not only include those elements, but also include those that are not explicitly listed or inherent Belongs to the structural parts, other mechanical parts on the assembly. If there are no more restrictions, the elements defined by the sentence "including..." do not exclude the existence of other identical elements in the article or equipment that includes the elements.
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", "under", "low", "above", "above", "high", etc. are used to facilitate the description and explain that an element is relative to the first The positioning of the two elements means that these terms are intended to cover different orientations of the device in addition to those different orientations shown in the figures. In addition, for example, "one element is above/under another element" may mean that two elements are in direct contact, or that there are other elements between the two elements. In addition, terms such as “first”, “second”, etc. are also used to describe various elements, regions, parts, etc., and should not be regarded as limitations. 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。For those skilled in the art, the present invention can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by showing examples of the present 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。FIG. 1 is a schematic diagram of an equivalent launch support device for a launch vehicle according to an embodiment of the present invention, and FIG. 2 is a schematic view of an equivalent launch support device for a launch vehicle according to another embodiment of the present invention.
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 Figure 1, the present invention provides an equivalent device for launching a launch vehicle, including: a simulated launch platform 101, which is arranged on at least three movable legs 102, and a first inclination sensor 103 is installed on the simulated launch platform 101 ; The simulated vertical arm 104 is set 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 vertical arm 104; the proximity switch analog board 106 is used to install the simulated vertical arm 102. The proximity switch of the upper clamp and the 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，控制系统的调试及出场验收的问题。运载火箭发射支持等效装置可以采用与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的调节模拟发射平台101的水平度。Specifically, the launch vehicle launch support equivalent device in this embodiment is used to solve the problem of the control system debugging and field acceptance before a real launch support system or before a simulated launch mission. The launch vehicle launch support equivalent device may adopt an equivalent device that is exactly the same as the actual launch support system equipment interface. The simulation launching platform 101 simulates a real simulation launching platform, which can be made of light-weight aluminum and also serves as an installation platform for other simulation equipment. The simulated launch platform 101 is set on at least three movable legs 102, and the level of the simulated launch platform 101 is adjusted by 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，提高等效模拟的准确性。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 leg 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. The first inclination sensor 103 is installed on the simulation launch platform 101 for real-time feedback of the levelness of the simulation launch platform 101, that is, the verticality information of the launch vehicle. The first inclination sensor 103 can be used by the actual launch support system to ensure the simulation The consistency of the sensor elements during the launch process improves the accuracy of the equivalent simulation. In one aspect of the present invention, the movable outrigger 102 is a servo electric outrigger or a hydraulic power outrigger. For example, the servo electric outrigger can select an electric screw, and the leveling of the simulated launch platform 101 can be realized by controlling the expansion and contraction of the 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例如采用铝材，并可以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度任意角度的限位，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采用实际发射支持系统一样的产品。Among them, the simulation erection arm 104 can simulate the actual erection process of the launch vehicle. The simulation erection arm 104 is made of aluminum, for example, and the erection process can be simulated manually. The simulated vertical arm 104 is arranged at one end of the simulated launch platform 101, and is connected by a rotatable hinge point with a locking device. In one aspect of the present invention, the simulated vertical arm 104 can realize a limit of any angle 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, and the second inclination sensor 105 adopts 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。In addition, the proximity switch simulation board 106 in the carrier rocket launch support equivalent device is used to install proximity switches of other equipment. As one of the embodiments, other equipment includes: a simulated vertical arm 102, an upper clamp and a windproof device. The upper clamp and the windproof device do not have actual analog products, and only the proximity switches of the two are used to simulate the upper clamp And the transmission signal of the wind protection device. The position of the proximity switch simulation board 106 is not limited. In this embodiment, for convenience of operation, the proximity switch simulation board 106 is set 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，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，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 takeoff simulation button 201, which is arranged at the other end of the simulation launch platform 101 and is used to simulate the takeoff signal of the launch vehicle. Specifically, the take-off simulation button 201 can simulate the launch of the launch vehicle supporting the equivalent device's take-off signal, and after receiving the take-off signal, it executes the operation of simulating the quick reverse of the vertical boom 104.
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上，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 Figure 2, 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 analog launch platform 101, and the other end is installed on the movable leg 102 Above, it is used to feed back the length of the movable leg 102. The displacement sensor 202 is responsible for realizing the detection of the movement displacement of the movable leg 102, which uses 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 leg seat position of the movable leg 102. In actual applications, it can be placed in different positions according to the principle of the displacement sensor 202. The position, as long as the movement and displacement detection of the movable leg 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 analog 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 mounting bracket of the proximity switch, and can also be used to control the mounting bracket of the output indicator. At the same time, the corresponding auxiliary equipment is used to simulate the closed and open state of the proximity switch, including the simulated vertical arm 102 and upper Proximity switch signals for clamps and wind protection devices. All proximity switches 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 output indicator light reflects the status of each proximity switch.
本发明的一个方面，接近开关模拟板106设置四种模拟起竖臂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。In one aspect of the present invention, the proximity switch simulation board 106 is provided with four types of proximity switches for simulating the erecting arm 104, which are the erecting in-position proximity switch, the flattening-in-position proximity switch, the pre-reverse in-position proximity switch and the quick-reverse-in-position proximity switch.
具体地，这四种模拟起竖臂104的接近开关应用在两个场景：起竖到位接近开关和回平到位接近开关应用在模拟起竖臂104的起竖过程模拟，模拟起竖臂104设置为水平状态时回平到位接近开关为闭合状态，缓慢抬起模拟起竖臂104当起竖角度大于1度时，回平到位接近开关则为打开状态，当起竖角大于89.5度时起竖到位接近开关闭合；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。Specifically, the four types of proximity switches that simulate the erecting arm 104 are used in two scenarios: the erecting-in-position proximity switch and the leveling-in-position proximity switch are used to simulate the erection process simulation of the erecting arm 104, and to simulate the setting of the erecting arm 104. When it is in the horizontal state, the return to position proximity switch is in the closed state, slowly raise the simulated vertical arm 104. When the vertical angle is greater than 1 degree, the return to position proximity switch is open, and when the vertical angle is greater than 89.5 degrees, it is erected. The in-position proximity switch is closed; the simulated vertical arm 104 starts at 90 degrees and is pre-reversed to 87 degrees, and the pre-reverse-in-position proximity switch is closed. After receiving the take-off signal, the simulated vertical boom 104 continues to start from 87 degrees and quickly reverses to the position 75 degrees, the fast rewind is in place and the proximity switch is closed.
本发明的一个方面，接近开关模拟板106设置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。在本实施例中，上夹钳收到上夹钳抱紧命令时，则上夹钳抱紧到位接近开关闭合，上夹钳收到上夹钳打开命令按钮时，则上夹钳打开到位开关闭合，在此过程中，检查上夹钳的控制输出信号。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。例如，接近开关的数量、相应指示灯的数量可以匹配上夹钳的钳爪数，从而更准确的反应上夹钳的动作。In one aspect of the present invention, the proximity switch simulation board 106 is provided with two upper clamp proximity switches, which are the upper clamp open in position proximity switch and the upper clamp clamp in position proximity switch. In this embodiment, when the upper clamp receives the upper clamp clamping command, the upper clamp clamp close proximity switch is closed, and when the upper clamp receives the upper clamp open command button, the upper clamp opens the position switch Close, during this process, check the control output signal of the upper clamp. In some cases, based on the structural features of the upper clamp, there are two or more proximity switches for the upper clamp to open in place, and two or more proximity switches for the upper clamp to hold in place. For example, the number of proximity switches and the number of corresponding indicators can match the number of jaws of the upper clamp, so as to more accurately reflect the action of the upper clamp.
本发明的一个方面，接近开关模拟板106设置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。在本实施例中，防风装置接收到防风装置锁紧命令，则防风装置锁紧到位接近开关闭合，防风装置接收到防风装置解锁命令，则防风装置解锁接近开关闭合，在此过程中，观察防风装置的控制输出信号。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。In one aspect of the present invention, the proximity switch simulation board 106 is provided with two types of proximity switches of the windproof device, namely, the windproof device unlocked in position proximity switch and the windproof device locked in position proximity switch. In this embodiment, if the wind protection device receives the wind protection device locking command, the wind protection device is locked in place and the proximity switch is closed. When the wind protection device receives the wind protection device unlocking command, the wind protection device is unlocked and the proximity switch is closed. During this process, observe the wind protection device. The control output signal of the device. In some cases, based on the structural features of the windproof device, there are two or more proximity switches for the unlocking of the windproof device, and two or more proximity switches for the locking of the windproof device.
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，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 support equivalent device in the present invention and improve the credibility of the test results, all sensors in the equivalent device adopt actual products consistent with the actual launch support system of the launch vehicle. In the experiment process of the equivalent device, when 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. Devices not mentioned in this embodiment include: sensor data collection, analog input and output control, and digital input and output control. The above devices are well-known in the industry and can be improved and designed 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。On the other hand, the present invention provides a launch vehicle launch support equivalent control system, including the aforementioned launch vehicle launch support equivalent device, and a control device, electrically connected to the simulated launch platform 101, the simulated vertical arm 104, and the proximity switch The simulation board 106 is used to control the actions of the simulation launching platform 101, the simulation vertical arm 104, and the proximity switch simulation board 106. The control device belongs to the brain of the launch vehicle supporting equivalent control system. Through the built-in logic program, it can effectively control the leveling action of the simulated launching platform 101, control the erecting action or fast reverse action of the simulated erecting arm 104, and control the proximity switch simulation The proximity switch of the plate 106 opens or closes.
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 to the launch station by the rocket transporter, the main tasks are 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 clamp on the vertical 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) Disarm the rocket windproof device;
6)起竖臂预倒一定角度；6) The vertical arm is pre-tilted to a certain angle;
7)接到火箭起飞信号，开始起竖臂快倒。7) Receiving the rocket take-off signal, start to raise the arm and rewind.
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 carrier rocket 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 erection and lowering process of erecting arm 104;
2)模拟起竖臂104的上夹钳打开和抱紧过程；2) Simulate the opening and holding process of the upper clamp of the vertical 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 wind-proof 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 rocket verticality adjustment process;
5)模拟起竖臂104预倒和预倒到位的过程；5) Simulate the pre-falling and pre-falling process of the vertical 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 vertical arm 104 in 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：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；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；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。Therefore, the present invention provides a launch vehicle launch support equivalent test method, which is used in a launch vehicle launch support equivalent control system. The control system includes a simulated launch platform 101, a simulated vertical arm 104, a proximity switch simulation board 106, and a control system. The device and the control device are electrically connected to the simulated launching platform 101, the simulated vertical arm 104 and the proximity switch simulation board 106. The test method includes: the vertical simulated vertical arm 104 is set on the simulated vertical arm 104 from a horizontal state to a vertical state The first inclination sensor 103 transmits the inclination signal of the analog vertical arm 104 to the control device; adjusts the levelness of the analog launch platform 101, and the second inclination sensor 105 arranged on the analog launch platform 101 transmits the levelness signal to the control device ; Monitoring the signal output of the proximity switch on the proximity switch analog board 106, the control device receives different proximity switch signals and sends out corresponding instructions.
具体地，运载火箭发射支持等效测试方法包括模拟起竖臂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、收到起飞信号模拟起竖臂104快倒过程。Specifically, the launch vehicle launch support equivalent test method includes simulating the erecting process of the erecting arm 104, simulating the leveling process of the launch platform 101, the opening and holding process of the upper clamp, the locking and unlocking process of the windproof device, and the process of receiving The take-off signal simulates the rewinding process of the vertical boom 104.
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。Among them, in the process of simulating the erection of the erection arm 104: the erection simulation erection arm 104 is from the horizontal state to the vertical state, the first inclination angle sensor 103 arranged on the analog erection arm 104 will simulate the inclination signal of the erection arm 104 Pass to the control device. During the leveling process of the analog launch platform 101, adjust the levelness of the analog launch platform 101, and the second inclination sensor 105 arranged on the analog launch platform 101 transmits the levelness signal to the control device; The locking and unlocking process of the wind-proof device is performed on the proximity switch simulation board 106, and the test is performed by detecting the proximity switch signal output of the upper clamp and the wind-proof device. The control device receives different proximity switch signals and sends out corresponding instructions.
根据本发明的一个发明，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 an invention of the present invention, the launch vehicle launch support equivalent test method further includes: when the simulated vertical arm 104 is erected relative to the simulated launch platform 101 greater than 91.5 degrees, the control device sends an alarm signal and closes the simulated vertical 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的水平度绝对值为0度—0.5度之间。According to one aspect of the present invention, adjusting the level of the analog launch platform 101 includes: controlling the length of at least three movable legs 102 that support the analog launch platform 101 so that the absolute value of the level of the second inclination sensor 105 is 0°— Between 0.5 degrees.
根据本发明的一个发明，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 an invention 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 the four analog rising arms 104 on the proximity switch analog board 106, which are the vertical position proximity switch and the return switch. Flat in-position proximity switch, pre-reverse in-position proximity switch and quick-reverse in-position proximity switch.
根据本发明的一个发明，设置模拟起竖臂104为水平状态，抬起模拟起竖臂104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 invention of the present invention, the simulated vertical boom 104 is set to be in a horizontal state. When the vertical angle of the simulated vertical boom 104 is greater than 1 degree, the signal output of the proximity switch is monitored when the simulated vertical boom 104 is lifted. When the erection angle is greater than 89.5 degrees, monitor the signal output of the erection position proximity switch. When the simulated vertical arm 104 is set to the horizontal state, the return-to-level proximity switch is closed, and when the simulated vertical-lift arm 104 is raised, when the vertical angle is greater than 1 degree, the return-to-position proximity switch is open. When the simulated vertical arm is raised When the vertical angle of 104 is greater than 89.5 degrees, the vertical position proximity switch is closed.
根据本发明的一个发明，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 an invention of the present invention, the control system includes a take-off simulation button for simulating the take-off signal of the launch vehicle. The test method also includes: pressing the take-off simulation button and sending out the launch vehicle take-off signal, and the control device starts the simulation after receiving the take-off signal. The vertical arm 104 quickly reverses the command, and monitors the signal output of the proximity switch when the rapid reverse is in place. The simulated vertical boom 104 starts at 90 degrees and is pre-reversed to 87 degrees. The pre-reversed-position proximity switch is closed. After receiving the take-off signal, the simulated vertical boom 104 continues to start at 87 degrees, rewinds quickly to 75 degrees, and rewinds quickly. Proximity switch closed in place
根据本发明的一个发明，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 an invention 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 the two upper clamps on the proximity switch analog board 106, which are the upper clamp open proximity switch and the upper clamp respectively. The clamp holds the proximity switch tightly.
根据本发明的一个发明，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。According to an invention of the present invention, the control device turns on the upper clamp unlock command and monitors the signal output of the upper clamp unlocking in-position proximity switch; the control device turns on the upper clamp holding command to monitor the signal output of the upper clamp clamping in-position proximity switch .
根据本发明的一个发明，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 invention of the present invention, monitoring the signal output of the proximity switch on the proximity switch simulation board 106 includes: monitoring the proximity switches of two windproof devices on the proximity switch simulation board 106, namely the windproof device unlocked in place, the proximity switch and the windproof device lock Close to the switch in place.
根据本发明的一个发明，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。According to an invention of the present invention, the control device opens the wind-proof device unlocking command to monitor the signal output of the wind-proof device unlocking proximity switch; the control device opens the wind-proof device locking command and monitors the signal output of the wind-proof device locking proximity switch.
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 launch vehicle launch support equivalent test method includes five simulation 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 specific erection process of the simulated erection 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 vertical arm 104, and adjust the level 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 vertical arm 104 to the closed position;
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 an erection instruction, slowly raises the simulated erection arm 104, and monitors the real-time and accuracy of 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 return-to-level proximity switch still displays a closed state, check whether the control device gives a warning that the simulated erection arm returns to the level-to-position proximity switch failure;
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 return-to-level proximity switch is normal, and monitor whether the erection control command output disappears when the analog erection arm 104 is closed;
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, and monitor whether the control device gives an alarm message and closes the erection control instruction.
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 specifically 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 analog launch platform 101 so that the second inclination sensor displays an angle 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 issues the leveling of the simulated launching platform 101, that is, the rocket verticality adjustment instruction, to monitor the leveling of the simulated launching 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 movement of the movable leg 102 of the simulated launching platform 101 is consistent with the control output instruction of the movable leg 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 the rocket verticality adjustment is not completed within the specified time is an error prompt;
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 ends normally, the horizontality of the simulated launch platform 101, that is, whether the verticality result 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 an instruction 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 clamp clamping command output 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 upper clamp clamp close proximity switch is closed, monitor whether the upper clamp clamp 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 held tightly in place and the proximity switch is set to the closed state;
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 clamp opening command output 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 in place 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 wind-proof device is as follows:
S401：防风装置解锁到位接近开关置闭合状态；S401: The wind protection device is unlocked in place and the proximity switch is set to the closed state;
S402：控制装置发出防风装置锁紧指令；S402: The control device issues a wind protection 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 lock command output 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 wind protection device is locked in place and the proximity switch is closed, monitor whether the output of the wind protection device lock command 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 set to 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 command of 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: Monitoring whether the output of the unlocking command of the wind protection 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 wind protection device unlocked in place is closed, monitor whether the output of the wind protection device unlock command 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 rewinding process of the vertical boom 104:
S501：按下起飞模拟按钮201；S501: Press the takeoff 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 quick reverse command of the simulated vertical arm 104;
S503：监测控制装置起竖臂快倒指令是否输出；S503: monitor whether the quick reverse command of the vertical arm of the monitoring control device 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 takeoff simulation button 201 is pressed, monitor whether the fast reverse command of the control device is output;
S505：考核控制装置接收起飞信号的反应时间；S505: Check the response time of the control device to receive the take-off signal;
S506：快倒起控反应时间及快倒过程反应时间；S506: the response time of fast reverse start-up and the reaction time of fast reverse process;
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 reverse end proximity switch is closed, monitor whether the fast reverse command in the control device disappears.
本发明中的运载火箭发射支持等效装置，与实际运载火箭发射支持系统设备接口完全一致，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，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 控制系统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 carrier rocket launch support equivalent device in the present invention is completely consistent with the actual carrier rocket launch support system equipment interface. After the actual carrier rocket launch support system plan is initially determined, the control system development and overall equipment of the actual carrier rocket launch support system are guaranteed The research and development of the carrier are carried out at the same time, which greatly shortens the development cycle, saves the time for debugging the actual launch support system of the carrier rocket, and greatly saves the development cost. The launch vehicle launch support equivalent control system can easily complete the debugging, comprehensive test, factory acceptance and system failure separation of the control sub-system of the actual launch support system of the actual launch vehicle, which is the synchronous development and advancement of the control system of the actual launch support system. The factory provides protection.
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 the 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 (9)

  1. 一种运载火箭发射支持等效装置，其特征在于，包括：An equivalent device for launching support of a carrier rocket, which is characterized in that it includes:
    模拟发射平台，设置在至少三个可活动支腿上，在所述模拟发射平台上安装第一倾角传感器；An analog launch platform is set on at least three movable legs, and a first inclination sensor is installed on the analog launch platform;
    模拟起竖臂，设置在所述模拟发射平台的一端并通过可旋转绞点连接，在所述模拟起竖臂上安装第二倾角传感器；The simulated vertical arm is arranged at one end of the simulated launch platform and is connected by a rotatable hinge point, and a second inclination angle sensor is installed on the simulated vertical arm;
    接近开关模拟板，用于安装所述模拟起竖臂、上夹钳和防风装置的接近开关，所述接近开关模拟板设置多个安装孔，用于固定所述接近开关；Proximity switch simulation board for installing the proximity switch that simulates the vertical arm, upper clamp and windproof device, the proximity switch simulation board is provided with a plurality of mounting holes for fixing the proximity switch;
    所述接近开关模拟板设置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。The proximity switch simulation board is provided with four types of proximity switches for simulating the vertical arm, which are the vertical in-position proximity switch, the flattened-in-position proximity switch, the pre-reverse in-position proximity switch and the quick-reverse in-position proximity switch.
  2. 根据权利要求1所述的运载火箭发射支持等效装置，其特征在于，还包括：The launch vehicle launch support equivalent device according to claim 1, characterized in that it further comprises:
    起飞模拟按钮，设置在所述模拟发射平台的另一端，用于模拟所述运载火箭的起飞信号。The take-off simulation button is set at the other end of the simulation launch platform and is used to simulate the take-off signal of the launch vehicle.
  3. 根据权利要求1所述的运载火箭发射支持等效装置，其特征在于，还包括：The launch vehicle launch support equivalent device according to claim 1, characterized in that it further comprises:
    位移传感器，所述位移传感器的一端安装在所述模拟发射平台的底面，另一端安装于所述可活动支腿，用于反馈所述可活动支腿的长度。Displacement sensor, one end of the displacement sensor is installed on the bottom surface of the analog launching platform, and the other end is installed on the movable leg for feedback of the length of the movable leg.
  4. 根据权利要求1所述的运载火箭发射支持等效装置，其特征在于，所述接近开关模拟板设置两种所述上夹钳的接近开关，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。The launch vehicle launch support equivalent device according to claim 1, wherein the proximity switch simulation board is provided with two types of proximity switches of the upper clamp, namely the upper clamp open in place proximity switch and the upper clamp Hold the proximity switch tightly.
  5. 根据权利要求1所述的运载火箭发射支持等效装置，其特征在于，所述接近开关模拟板设置两种所述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。The launch vehicle launch support equivalent device according to claim 1, wherein the proximity switch simulation board is provided with two proximity switches of the wind protection device, namely, the wind protection device is unlocked in place, and the wind protection device is locked in place. Proximity switch.
  6. 根据权利要求1所述的运载火箭发射支持等效装置，其特征在于，所述模拟起竖臂能够实现-2度至92度的限位，并具有锁紧功能。The launching support equivalent device of a launch vehicle according to claim 1, wherein the simulated erecting arm can realize a limit of -2 degrees to 92 degrees, and has a locking function.
  7. 根据权利要求1所述的运载火箭发射支持等效装置，其特征在于，所述可活动支腿为伺服电动支腿或者液压动力支腿。The launching support equivalent device of a launch vehicle according to claim 1, wherein the movable leg is a servo electric leg or a hydraulic power leg.
  8. 根据权利要求1所述的运载火箭发射支持等效装置，其特征在于，所述接近开关模拟板还包括输出指示灯，所述输出指示灯与对应的接近开关控制输出信号并联。The launch vehicle launch support equivalent device according to claim 1, wherein the proximity switch simulation board further comprises an output indicator light, and the output indicator light is connected in parallel with the corresponding proximity switch control output signal.
  9. 一种运载火箭发射支持等效控制系统，其特征在于，包括如权利要求1-8任一项所述的运载火箭发射支持等效装置，以及，A launch vehicle launch support equivalent control system, characterized by comprising the launch vehicle launch support equivalent device according to any one of claims 1-8, and,
    控制装置，电连接于所述模拟发射平台、所述模拟起竖臂以及接近开关模拟板，用于控制所述模拟发射平台、所述模拟起竖臂以及接近开关模拟板的动作。The control device is electrically connected to the simulated launching platform, the simulated erecting arm and the proximity switch simulation board, and is used to control the actions of the simulated launching platform, the simulated erecting arm and the proximity switch simulation board.
PCT/CN2021/093409 2020-05-13 2021-05-12 Carrier rocket launching support equivalent device and control system WO2021228155A1 (en)

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