Multi-point automatic leveling control system and method for movable launching platform

Abstract

The invention discloses a multi-point automatic leveling system for a movable launching platform and a control method. The system comprises an upper computer, a PLC control module, a sensing module and an execution module. Firstly, all fulcrums are placed in the middle position, and data of the fulcrums are collected; then, the PLC control module and the upper computer obtain the data, and the upper computer calculates the overall perpendicularity of the rocket; preliminary adjustment is carried out through the execution module to ensure that the whole rocket is close to a horizontal state and the stress of each booster support arm is basically uniform; then, the perpendicularity of each booster is further finely adjusted through a three-point supporting method; the coarse adjustment and fine adjustment process can be continuously repeated until the overall perpendicularity of the rocket reaches a preset standard. According to the method, by establishing the perpendicularity accurate correction priority and combining with fine adjustment of the load of the supporting arm, automatic and intelligent leveling in the preparation stage before rocket launching and comprehensive improvement of safety performance are achieved through an integrated control algorithm and a closed-loop control mechanism.

Description

Technical Field

[0001] The invention belongs to the field of aerospace technology, and in particular relates to a multi-point automatic leveling control system and method for a movable launch platform. Background Art

[0002] During the launch preparation process, launch vehicles need to perform an operation - vertical adjustment. Vertical adjustment is part of the initial alignment of the rocket, and its purpose is to adjust the initial verticality of the rocket body to meet the rocket's attitude and precision control requirements. At present, rocket vertical adjustment is mainly achieved by adjusting the movements of the launch pad-related components supported at the bottom of the rocket.

[0003] Prior art, such as the patent "Automatic vertical adjustment control system and control method for mobile launch platform" (publication number CN103994697A), reports a method for vertical adjustment control for mobile launch platform. By sorting out the priority of the mutual influence between the displacement, force and horizontality of each arm, and using a logical algorithm, a "one-button" mobile launch platform automatic identification vertical adjustment control method is realized. However, this automatic vertical adjustment control method is only applicable to rockets supported at four points. The patent "Multi-point leveling control system and control method for large mobile launch platform" (publication number CN107102607A) realizes the reliable control of the vertical adjustment of the mobile launch platform with 12 fulcrums, and improves the ability of the launch platform to complete the launch mission. However, the multi-point control method of this method is a manual control method of "man in the loop". After the system collects the level meter signal, it needs to be manually judged. After calculating the lifting and lowering displacement data of each arm, the lifting height of each fulcrum is manually preset to achieve the purpose of vertical adjustment. The levelness signal and load signal collected by the system are only used for system alarm and stop action when the preset indicators are exceeded. It has the disadvantages of being step-by-step and manual, with low adjustment efficiency, and is easily affected by the operator's experience and prone to misoperation.

[0004] The 12-point verticality adjustment is a multi-point redundant constraint and multi-parameter combination optimization problem. Since the height change of any fulcrum of a multi-point supported rocket will affect the stress conditions of other fulcrums, abnormal stress conditions of the rocket or supporting device may cause structural damage. The adjustment process can be described as "a single move affects the entire body", affecting product safety. In addition to considering the total displacement of each arm when the rocket is adjusted to the verticality target value, automatic adjustment also needs to consider the adjustment implementation method to ensure that the arm will not produce abnormal tension during the adjustment process. Summary of the invention

[0005] The purpose of an embodiment of the present invention is to provide a multi-point automatic leveling control method for a mobile launch platform, to realize automatic control of a multi-point supported rocket launch platform during vertical adjustment, to avoid the inefficiency of manual control and the potential risk of misoperation, and to ensure the structural safety during the adjustment process and the precise alignment of the rocket.

[0006] A second objective of an embodiment of the present invention is to provide a multi-point automatic leveling control system for a mobile launch platform.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is a multi-point automatic leveling control system for a mobile launch platform, comprising:

[0008] The sensor module is connected to the host computer through a communication network signal. The sensor assembly of the sensor module is arranged on the rocket body and is used to collect the verticality data of the rocket body, the load data of the support arm, and the displacement data of the support arm;

[0009] The host computer is used to process the data sent by the sensor module and send instructions to the PLC control module, and is connected to the PLC control module signal through the communication network;

[0010] The PLC control module is connected to the execution module through a cable signal; the PLC control module outputs a solenoid valve signal according to the instruction of the host computer;

[0011] The execution module is arranged on the supporting arm of the movable launching platform and comprises a hydraulic valve component; the execution module controls the actions of the 12 supporting arms through the hydraulic valve component.

[0012] Furthermore, the rocket body includes four booster modules, and each booster module is supported on three arms of the movable launch platform through three fulcrums.

[0013] A multi-point automatic leveling control method for a mobile launch platform comprises the following steps:

[0014] S1. The initial positions of the supporting points of the mobile launch platform are set to the neutral state, and the sensor module collects supporting point data;

[0015] S2, the PLC control module obtains the data collected by the sensor module through the communication network;

[0016] S3. The host computer obtains the data collected by the sensor module through the communication network and calculates the comprehensive verticality of the whole arrow;

[0017] S4. Roughly adjust the overall verticality of the entire arrow through the execution module, so that the entire arrow is horizontal and the support arms of each booster module are evenly stressed;

[0018] S5. Based on the three-point support verticality adjustment method, the verticality of each booster module is locally adjusted through the execution module;

[0019] S6. Repeat S4 to S5 until the overall verticality index of the entire arrow meets the final requirements and the forces on each fulcrum are uniform and consistent.

[0020] Furthermore, the overall verticality of the arrow in S3 iszh Specifically:

[0021]

[0022] Among them, α i is the weighting coefficient, χ0 is the verticality of the first-stage module of the rocket, and χ i is the verticality of the booster module, where i = 1, 2, 3, 4, and n is the number of modules.

[0023] Furthermore, during the rough adjustment process in S4, the force magnitude of any rocket body booster module must satisfy the following formula:

[0024] | zh |≤χ zb

[0025] ∑F·20%≤εF i ≤∑F·30%, i=1~4

[0026] Among them, χ zb is the comprehensive verticality index of the whole arrow, χ zh is the overall verticality of the entire arrow, εF i is the sum of the forces on the support arms of the i-th booster module, and ∑F is the sum of the forces on all support arms.

[0027] Furthermore, the specific process of S4 is as follows:

[0028] S401, the whole arrow is divided into four quadrants in the horizontal direction, the center of each booster module is located on the center line of the quadrant, the first quadrant includes the first booster module, and the first booster module is counterclockwise fulcrum A 11 , A 12 , A 13 The second booster module is included in the second quadrant, and the second booster module is fulcrum A in the counterclockwise direction. 21 , A 22 , A 23 The third quadrant includes the third booster module, and the third booster module is counterclockwise fulcrum A. 31 , A 32 , A 33 The fourth booster module is included in the fourth quadrant, and the fourth booster module is fulcrum A in the counterclockwise direction. 41 , A 42 , A 43 Among them, A 11 , A 21 , A 31 , A 41 , located at the midpoint of each quadrant;

[0029] S402, determine the lifting direction of each fulcrum of the mobile launch platform according to the comprehensive verticality of quadrants I and III of the whole arrow, and move the corresponding support arm through the execution module according to the proportional lifting speed and displacement: when I is high and III is low, take fulcrum A as the lifting direction. 21 and pivot point A 41 is the axis, fulcrum A 31 , A 32 , A 33 , A 23 , A 42 The ratio increases, pivot point A 11 , A 12 , A 13 , A 22 , A 43 The ratio decreases, and the lifting speed and displacement of each fulcrum are proportional to the distance from the fulcrum to the axis, until the level reading meets the requirements and the lifting action stops;

[0030] S403, according to the comprehensive verticality of the II and IV quadrants of the whole arrow, determine the lifting and lowering direction of each fulcrum, and according to the proportional lifting speed and displacement, move the corresponding arm through the execution module: when II is high and IV is low, take fulcrum A as the lifting direction. 11 and pivot point A 31 is the axis, fulcrum A 41 , A 42 , A 43 , A 33 , A 12 The ratio increases, pivot point A 21 , A 22 , A 23 , A 13 , A 32 The ratio decreases, and the lifting speed and displacement of each fulcrum are proportional to the distance from the fulcrum to the axis. The lifting action will stop when the level reading meets the requirements.

[0031] Furthermore, during the process of S401 to S402, the sensor module detects the arm load data in real time. If the load of a certain arm is lower than the lower limit threshold, the action is stopped, and the arm is reversed by a single point or the other two arms of the same booster module are forwardly moved until the force on the fulcrum accounts for 25% to 40% of the sum of the forces on the three booster arms. Then the single-point action is stopped and the adjustment process of S401 to S402 is continued.

[0032] Furthermore, the specific process of S5 is as follows:

[0033] For the i-th booster module, find the two arms A with the largest and smallest forces im , A in , to determine whether its force meets the index requirements:

[0034] εF i25%≤F ij ≤εF i 40%

[0035] Among them, F ij is the force on the jth arm in the ith boost, that is, the force on each arm in a single boost accounts for 25% to 40% of the sum of the forces on the three arms of the boost; εF i is the sum of the forces on the i-th booster module support arm;

[0036] If all the index requirements are met, the load and vertical adjustment of the booster module is terminated;

[0037] If the index requirements are not met, according to the other arm A ip Force condition, lifting arm A through single point of actuator module im or A in ; Adjust the load and verticality of all booster modules until the support arms in all booster modules are evenly stressed.

[0038] Furthermore, during the adjustment process of S5, the sensor module detects the arm load data in real time. If the load of a certain arm is lower than the lower limit threshold, the action is stopped, and the arm is reversed by a single point or the other two arms of the same booster module are forwardly moved until the force on the fulcrum accounts for 25% to 40% of the sum of the forces on the three booster arms. Then the single-point action is stopped and the verticality adjustment of S5 is continued.

[0039] The beneficial effects of the present invention are as follows: the present invention establishes a hierarchical order of adjustment strategies, focusing first on the precise correction of verticality, and then fine-tuning the load distribution of the supporting arm to ensure the balance and stability of the overall structure. In this process, verticality data is used as the core decision-making basis, supplemented by load considerations, to achieve a multi-level and segmented adjustment process. Through an integrated control algorithm, the present invention decomposes the complex multi-point leveling task into a series of orderly coarse and fine adjustment steps, and uses the diagonal proportional lifting method and the classic three-point support adjustment strategy to form a closed-loop control mechanism, which significantly improves the leveling efficiency. In addition, the introduced load threshold monitoring effectively prevents excessive stress, avoids human errors, and comprehensively enhances the safety performance and intelligence level of the system, ultimately achieving automation, intelligence, and safety upgrades in the preparation stage before rocket launch. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a diagram of the quadrant distribution and fulcrum code of the multi-point supported arrow body;

[0042] Figure 2 It is a diagram of the vertical adjustment system;

[0043] Figure 3 It is the vertical adjustment change curve;

[0044] Figure 4 It is the fulcrum load adjustment change curve. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] This embodiment provides a multi-point automatic leveling control method for a mobile launch platform, and the control method is implemented by an automatic leveling control system in this embodiment; Figure 1 The multi-point automatic leveling control system mainly includes a host computer, a PLC control module, a sensor module, and an execution module.

[0047] The quadrants and fulcrum distribution of the multi-point support rocket described in this embodiment are as follows Figure 2 As shown, the whole arrow is equally divided into four quadrants in the horizontal direction, and the center of each booster module is located on the center line of the quadrant. The first quadrant includes the first booster module, and the first booster module is respectively fulcrum A in the counterclockwise direction. 11 , A 12 , A 13 The second booster module is included in the second quadrant, and the second booster module is fulcrum A in the counterclockwise direction. 21 , A 22 , A 23 The third quadrant includes the third booster module, and the third booster module is counterclockwise fulcrum A. 31 , A 32 , A 33 The fourth booster module is included in the fourth quadrant, and the fourth booster module is fulcrum A in the counterclockwise direction. 41 , A 42 , A 43 Among them, A 11 , A 21 , A 31 , A 41 Located at the midpoint of each quadrant; A ijRepresents the code number of the jth support arm under the i-th booster module of the mobile launch platform. Each booster module is supported on the mobile launch platform at three points, and there are a total of five level gauges on the booster and core stage bodies.

[0048] In some specific implementations, the host computer is signal-connected to the sensor module and the PLC control module, specifically through a communication network, and the host computer can process data collected by the sensor module; the PLC control module is also signal-connected to the execution module, specifically through a cable.

[0049] The sensor module includes a horizontal measuring instrument, and arm force and displacement sensors; it collects verticality data, arm load data, and arm displacement data of each rocket body module. The rocket arm is a mechanical structure used to support the rocket and maintain its stability during the preparation stage for rocket launch. During the verticality adjustment process, the rocket's posture can be fine-tuned by changing the height or angle of the arm to ensure that it reaches a precise vertical position; the PLC control module outputs a solenoid valve signal according to the instructions of the host computer, and controls the actions of 12 arms through the hydraulic valve components in the execution module.

[0050] The multi-point automatic leveling control method of the mobile launch platform in this embodiment includes the following steps:

[0051] S1. Set the initial position of each fulcrum of the mobile launch platform to a neutral state, that is, adjust it to the middle position within the respective motion range of each fulcrum, and the sensor module collects fulcrum data;

[0052] S2. The PLC control module obtains the data collected by the sensor module through the communication network and transmits it to the host computer, including the arm load data and arm displacement data.

[0053] S3. The host computer collects part of the data of the sensor module through the communication network, including the verticality data of each arrow body module; the comprehensive verticality data of the whole arrow is obtained by weighted average calculation. The smaller the measured verticality data of the arrow body, the better the verticality of the arrow body:

[0054]

[0055] Among them, χ zh is the overall verticality of the arrow, α i is the weighting coefficient, χ0 is the verticality of the first-stage module of the rocket, and χ i (i=1,2,3,4) is the verticality of the booster module, and n is the number of modules;

[0056] S4. Start the vertical adjustment system of the mobile launch platform;

[0057] S5. Through the diagonal proportional lifting method, the overall verticality of the whole arrow is roughly adjusted to make the whole arrow posture basically horizontal and the force of each module arm basically uniform. The overall verticality of the whole arrow is required to meet the index requirements, that is, for any boost, the force size must meet the following formula:

[0058] | zh |≤χ zb

[0059] ΣF·20%≤εF i ≤∑F·30%, i=1~4

[0060] Among them, χ zb is the comprehensive verticality index of the whole arrow, εF i is the sum of the forces on the support arms of the i-th booster module, and ∑F is the sum of the forces on all support arms. That is, the sum of the forces on the three support arms accounts for 20% to 30% of the total arrow weight (ideally 25%).

[0061] In some specific implementations, the specific process of roughly adjusting the overall verticality of the entire arrow is as follows:

[0062] Example 1

[0063] According to the comprehensive verticality data of quadrants I and III of the whole arrow (such as Figure 3 ), determine the lifting direction of each fulcrum, and move the corresponding arm through the execution module according to the proportional lifting speed and displacement.

[0064] When I is high and III is low, take pivot A 21 and pivot point A 41 is the axis, fulcrum A 31 , A 32 , A 33 , A 23 , A 42 The ratio increases, pivot point A 11 , A 12 , A 13 , A 22 , A 43 The ratio decreases, and the lifting speed and displacement of each fulcrum are proportional to the distance from the fulcrum to the axis. The lifting action will stop when the level reading meets the requirements.

[0065] Example 2

[0066] According to the comprehensive verticality data of the II and IV quadrants of the whole arrow (such as Figure 3 ), determine the lifting direction of each fulcrum, and move the corresponding arm through the execution module according to the proportional lifting speed and displacement.

[0067] When II is high and IV is low, take pivot A 11 and pivot point A 31is the axis, fulcrum A 41 , A 42 , A 43 , A 33 , A 12 The ratio increases, pivot point A 21 , A 22 , A 23 , A 13 , A 32 The ratio decreases, and the lifting speed and displacement of each fulcrum are proportional to the distance from the fulcrum to the axis. The lifting action will stop when the level reading meets the requirements.

[0068] During the adjustment process, the sensor module detects the arm load data in real time (such as Figure 4 ), if the load of a certain arm is lower than the lower limit threshold, the action is stopped, and the arm is reversed by a single point or the other two arms of the same booster module are forwardly moved until the force on the fulcrum accounts for 25% to 40% of the sum of the forces on the three arms of the booster, then the single-point action is stopped and the diagonal proportional lifting and lowering adjustment is continued.

[0069] S6. Perform local adjustment on the verticality of each booster module through the three-point support verticality adjustment method.

[0070] Example 3

[0071] For the i-th boosting module, the specific implementation steps are:

[0072] Find the two arms A with the largest and smallest forces im , A in , to determine whether its force meets the index requirements:

[0073] εF i 25%≤F ij ≤εF i 40%

[0074] Among them, F ij The force on the jth arm in the ith booster. That is, the force on each arm in a single booster accounts for 25% to 40% (33% in the most ideal case) of the sum of the forces on the three arms of the booster.

[0075] If all index requirements are met, the load and verticality adjustment of the booster module will be completed.

[0076] If the index requirements are not met, according to the other arm A ip Force conditions, lifting arm A through a single point im or A in . To achieve load distribution to the booster module. For example, if |F im -F ip ≥F ip -Fin |The single-point lowering arm A im ; If |F im -F ip |<|F ip -F in |,F im Indicates arm A im Force, F in Indicates arm A in Force, F ip Indicates arm A ip Force; then the single point rising arm A in .

[0077] Follow the same steps to adjust the load and verticality of the remaining booster modules until the arms in all booster modules are subjected to uniform force.

[0078] During the adjustment process, the sensor module detects the arm load data in real time. If the load of a certain arm is lower than the lower limit threshold, the action is stopped. The arm is reversed by a single point or the other two arms of the same booster module are forwardly moved until the force on the fulcrum accounts for 25% to 40% of the sum of the forces of the three arms of the booster. Then the single-point action is stopped and the three-point support verticality adjustment is continued.

[0079] S7, repeat S5-S6, gradually reduce χ zb , until the overall verticality index of the whole arrow meets the final requirements and the forces on each support point are uniform and consistent. zb If the appropriate one is selected, only 1 to 2 cycles are needed to ensure that the overall verticality and load distribution of the entire arrow meet the indicators.

[0080] Since the existing adjustment method is more suitable for rockets with four points of support, when facing rockets with multiple points of support, the defects of the step-by-step and manual methods make the adjustment efficiency low, and are easily affected by the operator's experience and prone to misoperation; the vertical adjustment of rockets with multiple points of support involves the coordinated action of multiple fulcrums, and it is necessary to consider multiple factors such as the verticality data of the rocket body, the load data of the support arm, and the displacement data. In each adjustment process, it is necessary to perform complex calculations and analyses on these data to determine the best adjustment strategy for the next step. In addition, during the adjustment process, the change in the height of any fulcrum will affect the force conditions of other fulcrums, which requires the system to have a high degree of dynamic adjustment capabilities to ensure the structural safety and attitude accuracy of the rocket during the entire adjustment process. In order to ensure the safety of the adjustment process, it is necessary to monitor the support arm load data in real time and make immediate adjustments when necessary, which ultimately leads to a huge amount of calculations in the leveling process. This embodiment decomposes the complex multi-point leveling task into a series of orderly rough adjustment and fine adjustment steps through an integrated control algorithm, reduces the computational complexity, and enables the system to be adjusted efficiently. The closed-loop control mechanism of this embodiment ensures the continuity and accuracy of the adjustment process. The system can make self-corrections based on real-time feedback data to ensure that each adjustment is moving towards the predetermined goal. During the readjustment process, the sensor module of this embodiment monitors the arm load data in real time. Once the arm load is lower than the lower limit threshold, the system will automatically stop the current action and take corresponding adjustment measures to ensure that each arm is evenly stressed. In addition, this embodiment establishes a hierarchical order of adjustment strategies, giving priority to the precise correction of verticality, and then fine-tuning the load distribution of the support arm to ensure the balance and stability of the overall structure.

[0081] In summary, this implementation significantly improves the leveling efficiency through an integrated control algorithm and closed-loop control mechanism, ensuring that the rocket can quickly and accurately reach the required verticality. Dynamic load monitoring and adjustment ensure the structural safety and precise alignment of the rocket during the adjustment process, avoiding the risk of structural damage caused by abnormal arm force. Finally, the automated leveling control method avoids the inefficiency of manual control and the potential risk of misoperation, improving the intelligence level of the system.

[0082] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A multi-point automatic leveling control system for a mobile launch platform, characterized in that: include: The sensor module is connected to the host computer through a communication network signal. The sensor assembly of the sensor module is arranged on the rocket body and is used to collect the verticality data of the rocket body, the load data of the support arm, and the displacement data of the support arm; The host computer is used to process the data sent by the sensor module and send instructions to the PLC control module, and is connected to the PLC control module signal through the communication network; The PLC control module is connected to the execution module through a cable signal; the PLC control module outputs a solenoid valve signal according to the instruction of the host computer; The execution module is arranged on the supporting arm of the movable launching platform and comprises a hydraulic valve component; the execution module controls the actions of the 12 supporting arms through the hydraulic valve component.

2. A multi-point automatic leveling control system for a mobile launch platform according to claim 1, characterized in that: The rocket body includes four booster modules, and each booster module is supported on three arms of the movable launch platform through three fulcrums.

3. A multi-point automatic leveling control method for a mobile launch platform, characterized in that: The following steps are involved: S1. The initial positions of the supporting points of the mobile launch platform are set to the neutral state, and the sensor module collects supporting point data; S2, the PLC control module obtains the data collected by the sensor module through the communication network; S3. The host computer obtains the data collected by the sensor module through the communication network and calculates the comprehensive verticality of the whole arrow; S4. Roughly adjust the overall verticality of the entire arrow through the execution module, so that the entire arrow is horizontal and the support arms of each booster module are evenly stressed; S5. Based on the three-point support verticality adjustment method, the verticality of each booster module is locally adjusted through the execution module; S6. Repeat S4 to S5 until the overall verticality index of the entire arrow meets the final requirements and the forces on each fulcrum are uniform and consistent.

4. A multi-point automatic leveling control method for a mobile launch platform according to claim 3, characterized in that: The overall verticality of the arrow in S3 is x zh Specifically: Among them, α i is the weighting coefficient, χ0 is the verticality of the first-stage module of the rocket, and χ i is the verticality of the booster module, where i = 1, 2, 3, 4, and n is the number of modules.

5. The method for controlling multi-point automatic leveling of a mobile launch platform according to claim 3, characterized in that: During the S4 rough adjustment process, the force magnitude of any rocket body booster module must satisfy the following formula: |x zh |≤x zb ∑F·20%≤εF i ≤∑F·30%,i=1~4 Among them, χ zb is the comprehensive verticality index of the whole arrow, χ zh is the overall verticality of the entire arrow, εF i is the sum of the forces on the support arms of the i-th booster module, and ∑F is the sum of the forces on all support arms.

6. A multi-point automatic leveling control method for a mobile launch platform according to claim 3, characterized in that: The specific process of S4 is as follows: S401, the whole arrow is divided into four quadrants in the horizontal direction, the center of each booster module is located on the center line of the quadrant, the first quadrant includes the first booster module, and the first booster module is counterclockwise fulcrum A 11 , A 12 , A 13 The second booster module is included in the second quadrant, and the second booster module is fulcrum A in the counterclockwise direction. 21 , A 22 , A 23 The third quadrant includes the third booster module, and the third booster module is counterclockwise fulcrum A. 31 , A 32 , A 33 The fourth booster module is included in the fourth quadrant, and the fourth booster module is fulcrum A in the counterclockwise direction. 41 , A 42 , A 43 ; Among them, A 11 , A 21 , A 31 , A 41 , located at the midpoint of each quadrant; S402, determine the lifting direction of each fulcrum of the mobile launch platform according to the comprehensive verticality of quadrants I and III of the whole arrow, and move the corresponding support arm through the execution module according to the proportional lifting speed and displacement: when I is high and III is low, take fulcrum A as the lifting direction. 21 and pivot point A 41 is the axis, fulcrum A 31 , A 32 , A 33 , A 23 , A 42 The ratio increases, pivot point A 11 , A 12 , A 13 , A 22 , A 43 The ratio decreases, and the lifting speed and displacement of each fulcrum are proportional to the distance from the fulcrum to the axis, until the level reading meets the requirements and the lifting action stops; S403, according to the comprehensive verticality of the II and IV quadrants of the whole arrow, determine the lifting and lowering direction of each fulcrum, and according to the proportional lifting speed and displacement, move the corresponding arm through the execution module: when II is high and IV is low, take fulcrum A as the lifting direction. 11 and pivot point A 31 is the axis, fulcrum A 41 , A 42 , A 43 , A 33 , A 12 The ratio increases, pivot point A 21 , A 22 , A 23 , A 13 , A 32 The ratio decreases, and the lifting speed and displacement of each fulcrum are proportional to the distance from the fulcrum to the axis. The lifting action will stop when the level reading meets the requirements.

7. A multi-point automatic leveling control method for a mobile launch platform according to claim 6, characterized in that: During the process of S401 to S402, the sensor module detects the arm load data in real time. If the load of a certain arm is lower than the lower limit threshold, the action is stopped, and the arm is reversed by a single point or the other two arms of the same booster module are forwardly moved until the force on the fulcrum accounts for 25% to 40% of the sum of the forces of the three booster arms. Then the single-point action is stopped and the adjustment process of S401 to S402 is continued.

8. The method for controlling multi-point automatic leveling of a mobile launch platform according to claim 3, characterized in that: The specific process of S5 is as follows: For the i-th booster module, find the two arms A with the largest and smallest forces im , A in , to determine whether its force meets the index requirements: εF i ·25%≤F ij ≤εF i ·40% Among them, F ij is the force on the jth arm in the ith boost, that is, the force on each arm in a single boost accounts for 25% to 40% of the sum of the forces on the three arms of the boost; εF i is the sum of the forces on the i-th booster module support arm; If all the index requirements are met, the load and vertical adjustment of the booster module is terminated; If the index requirements are not met, according to the other arm A ip Force condition, lifting arm A through single point of actuator module im or A in ; Adjust the load and verticality of all booster modules until the support arms in all booster modules are evenly stressed.

9. A multi-point automatic leveling control method for a mobile launch platform according to claim 8, characterized in that: During the adjustment process of S5, the sensor module detects the arm load data in real time. If the load of a certain arm is lower than the lower limit threshold, the action is stopped. The arm is reversed by a single point or the other two arms of the same booster module are forwardly moved until the force on the fulcrum accounts for 25% to 40% of the sum of the forces on the three booster arms. Then the single-point action is stopped and the verticality adjustment of S5 is continued.

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