Twelve-point support based vertical launching platform attitude leveling control method

Abstract

The invention discloses a twelve-point support based vertical launching platform attitude leveling control method. The method comprises the steps of firstly building a mathematical model of a twelve-point supported vertical launching platform attitude leveling system, adjusting the position through a position error control based attitude leveling method, adjusting the angle through an angle error control based attitude leveling method, and finally carrying out joint simulation on the vertical launching platform attitude leveling system. According to the invention, a control algorithm applicable to twelve-point leveling is explored on the basis of four-point leveling. The algorithm adopts an idea of block leveling and converts complex multi-point leveling into three-point or four-point leveling which is easy to implement, ideal simulation effects in both leveling precision and leveling time are acquired, and excellent servo control performance of a launching platform is ensured.

Description

technical field [0001] The invention belongs to the technical field of electro-hydraulic servo control, in particular to a control method for attitude leveling of a vertical launch platform based on twelve points of support. Background technique [0002] Leveling devices play an important role in military weapons and equipment. For example, land-based mobile radars and missile launch vehicles are required to be erected after arriving at the predetermined combat position to obtain an accurate horizontal benchmark, and withdraw from the position after the combat mission is over. [0003] At present, the systems that realize automatic leveling mostly use 3-point, 4-point, and 6-point support methods, and there are special multi-point types such as 8, 10, and 12 (four leveling legs + eight auxiliary legs) leg platforms. The advantage of the 3-point support is that the control method is simple and there is no over-constraint problem, but the stiffness and anti-overturning ability...

AI Technical Summary

Problems solved by technology

The advantage of 3-point support is that the control method is simple and there is no over-constraint problem, but the stiffness and anti-overturning ability are relatively poor

4-point, 6-point and more support points have good rigidity and strong anti-overturning ability, but there are problems of super static indetermination and complex control

However, when the electromechanical automatic leveling system is working, there are problems such as strong electromagnetic interference and insufficient memory of the controller. These problems have a great impact on the leveling accuracy of the system and the stability of the leveling process platform. The key to the research of automatic leveling system

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