Rocket adaptive docking and synchronous landing platform control system and method

Abstract

This invention belongs to the field of aerospace ground launch technology, and particularly relates to a rocket adaptive receiving and synchronous landing control system and method. The system includes several receiving mechanisms; it drives the support plates of these mechanisms to rise synchronously, acquiring the load values ​​of each force sensor and the height values ​​of each displacement sensor in real time; based on the load values ​​of each force sensor, it determines that the support plates of the receiving mechanisms have completed the adaptive receiving of the rocket; based on the height values ​​of each displacement sensor, it calculates the current maximum height difference in real time, and determines whether to perform coordinated leveling on the support plates of the receiving mechanisms; if coordinated leveling is performed, after leveling, it controls the support plates of the receiving mechanisms to synchronously descend to a preset target position; otherwise, it directly controls the support plates of the receiving mechanisms to synchronously descend to the preset target position to complete the synchronous landing of the rocket. This invention effectively solves the problems of low rocket receiving intelligence and insufficient synchronous landing control accuracy.

Description

Technical Field

[0001] This invention belongs to the field of aerospace ground launch support and control technology, and particularly relates to a rocket adaptive launch and synchronous landing control system and method. Background Technology

[0002] Currently in the commercial space industry, large launch vehicles using the "three-level" launch test mode require a receiving mechanism to receive and guide them smoothly down onto the launch pad support after they are erected to a vertical position by the erector vehicle at the launch site. This process places extremely high demands on safety, synchronization accuracy, and reliability.

[0003] The main technical problems currently existing in this field are as follows: 1. Low level of intelligence in rocket connection process: It relies heavily on preset positions as the criteria for rocket connection completion, lacks real-time perception of the actual contact state and load distribution between the rocket and the support mechanism, which can easily lead to risks of "virtual connection" (incomplete load) or "impact connection" (excessive pushing). The safety and reliability of the process are highly dependent on the experience of the operators.

[0004] 2. Insufficient accuracy of multi-support point coupling synchronous control: During the leveling and descent phases, independent control strategies for each support point are usually adopted, which makes it difficult to overcome mechanical errors, uneven loads, and coupling interference between systems. This results in low accuracy of multi-support point synchronous motion, which can easily cause the rocket to tilt when landing, affecting the final verticality and generating additional stress on the rocket body structure.

[0005] 3. Weak system self-adaptation and state management capabilities: The control process fails to fully utilize multi-source sensor information such as force and displacement for fusion decision-making. The system cannot adaptively adjust the control strategy according to real-time working conditions (such as load distribution and support surface height deviation), and lacks real-time state monitoring and safety interlocking mechanisms throughout the entire process, resulting in limited ability to cope with complex working conditions and abnormal situations.

[0006] Therefore, there is an urgent need for a method, system, and device for launching rockets onto a landing platform that can deeply integrate real-time state perception, intelligent decision-making, and high-precision coupled synchronous control. Summary of the Invention

[0007] The purpose of this invention is to provide a rocket adaptive launch and synchronous landing control system and method to solve the above-mentioned technical defects in the current rocket launch field.

[0008] The first aspect of the present invention provides a rocket adaptive rocket receiving and synchronous landing platform control system, including a plurality of rocket receiving mechanisms, each of the rocket receiving mechanisms including a support plate, a displacement sensor, a force sensor and a drive device for driving the support plate to rise and fall; The drive device drives the support plates of the several arrow receiving mechanisms to rise synchronously, and the load values ​​of each force sensor and the height values ​​of each displacement sensor are acquired in real time. During the ascent of all support plates, the load values ​​of each force sensor determine that the support plates of the several rocket receiving mechanisms have completed the adaptive acceptance of the rocket. After the rocket adaptive receiving is completed, the support plates of the plurality of rocket receiving mechanisms are coordinated and / or synchronously lowered based on the height values ​​of the displacement sensors, including: The current maximum height difference is calculated in real time based on the height values ​​of each displacement sensor, and it is determined whether to perform coordinated leveling on the support plates of the several arrow receiving mechanisms based on the current maximum height difference. If coordinated leveling is performed, the support plates of the several rocket receiving mechanisms will be controlled to descend synchronously to the preset target position after leveling is completed; otherwise, the support plates of the several rocket receiving mechanisms will be controlled to descend synchronously to the preset target position to complete the synchronous landing of the rocket.

[0009] In some embodiments, the plurality of rocket receiving mechanisms includes at least four rocket receiving mechanisms with identical structures, respectively arranged in the four quadrants of the launch pad; the support plate, displacement sensor, force sensor and drive device for driving the support plate to rise and fall of each rocket receiving mechanism are respectively located at the fulcrum of each quadrant.

[0010] In some embodiments, the fulcrums of the four quadrants include the diagonal quadrant fulcrums in the constrained direction after the rocket is erected and the diagonal quadrant fulcrums in the free direction after the rocket is erected. The diagonal quadrant supports of the constraint direction after the rocket is erected are the first main load-bearing support and the second main load-bearing support, respectively. The diagonal quadrant fulcrums in the free direction after the rocket is erected are the first auxiliary contact fulcrum and the second auxiliary contact point, respectively.

[0011] In some embodiments, determining that the support plates of the plurality of rocket receiving mechanisms have completed adaptive rocket receiving based on the load values ​​of the force sensors includes: Based on the load values ​​of each force sensor, the load values ​​of the first main bearing support, the second main bearing support, the first auxiliary contact support, and the second auxiliary contact support are obtained respectively. When the load values ​​of the first main bearing support and the second main bearing support are both greater than a preset first threshold, and the load values ​​of the first auxiliary contact support and the second auxiliary contact support are both greater than or equal to a preset second threshold, it is determined that the support plate of the plurality of rocket receiving mechanisms has completed rocket receiving.

[0012] In some embodiments, the formula for calculating the current maximum height difference in real time based on the height values ​​of each displacement sensor is as follows: ΔH_max = max(|Hi - Hj|); Where ΔH_max is the current maximum height difference, Hi is the current height value of the i-th displacement sensor, Hj is the current height value of the j-th displacement sensor, and j ≠ i.

[0013] In some embodiments, determining whether to perform coordinated leveling on the support plates of the plurality of arrow-receiving mechanisms based on the current maximum height difference includes: If the current maximum height difference is less than the preset first judgment threshold, then the support plates of the plurality of arrow receiving mechanisms will not be coordinated for leveling. Otherwise, the coupling synchronization control quantity is calculated for each fulcrum in real time, and based on the coupling synchronization control quantity, it is determined whether each fulcrum waits or generates a control command to lower each fulcrum in order to perform coordinated leveling. Based on the coupled synchronous control quantity, the coordinated leveling is continuously performed until the current maximum height difference remains stable within the preset leveling convergence threshold for a preset time. At this point, the coordinated leveling of the support plates of the plurality of arrow receiving mechanisms is completed.

[0014] In some embodiments, the real-time calculation of the coupling synchronization control quantity for each fulcrum is expressed by the following formula: Vi = Σ ( Gij * (Hi - Hj) ); Where Vi is the coupling synchronization control quantity of the current i-th fulcrum, Gij is the preset coupling synchronization drive coefficient including branch difference compensation, Hi is the height value of the current i-th displacement sensor, Hj is the height value of the current j-th displacement sensor, and j ≠ i.

[0015] In some embodiments, determining whether each pivot point waits for or generates a control command to cause each pivot point to descend based on the coupling synchronization control quantity includes: If the coupling synchronization control value Vi of the current i-th fulcrum is greater than the preset action threshold, then the current i-th fulcrum waits; otherwise, a control command is generated based on the coupling synchronization control value Vi of the current i-th fulcrum to cause the current i-th fulcrum to descend.

[0016] In some embodiments, controlling the support plates of the plurality of arrow-receiving mechanisms to simultaneously descend to a preset target position includes: During the descent of all the rocket receiving mechanisms, the coupling synchronization control quantity and the current synchronization error are continuously calculated in real time for each fulcrum. Based on the current synchronization error, determine whether to drive all arrow receiving mechanisms to descend based on the coupled synchronization control quantity: If the current synchronization error is less than or equal to the preset synchronization descent accuracy threshold, the descent control command is adjusted based on the coupled synchronization control quantity to drive all arrow receiving mechanisms to descend until all support plates descend synchronously to the preset target position; otherwise, the descent of all arrow receiving mechanisms is paused and the abnormal protection program is activated. A second aspect of the present invention provides a rocket adaptive launch and synchronous landing control method, comprising: The drive device drives the support plates of the several arrow receiving mechanisms to rise synchronously, and the load values ​​of each force sensor and the height values ​​of each displacement sensor are acquired in real time. During the ascent of all support plates, the load values ​​of each force sensor determine that the support plates of the several rocket receiving mechanisms have completed the adaptive acceptance of the rocket. After the rocket adaptive receiving is completed, the support plates of the plurality of rocket receiving mechanisms are coordinated and / or synchronously lowered based on the height values ​​of the displacement sensors, including: The current maximum height difference is calculated in real time based on the height values ​​of each displacement sensor, and it is determined whether to perform coordinated leveling on the support plates of the several arrow receiving mechanisms based on the current maximum height difference. If coordinated leveling is performed, the support plates of the several rocket receiving mechanisms will be controlled to descend synchronously to the preset target position after leveling is completed; otherwise, the support plates of the several rocket receiving mechanisms will be controlled to descend synchronously to the preset target position to complete the synchronous landing of the rocket.

[0017] This invention provides a rocket adaptive receiving and synchronous landing control system and method. The system includes several receiving mechanisms, each of which includes a support plate, a displacement sensor, a force sensor, and a drive device for raising and lowering the support plate. The system performs adaptive rocket receiving based on the load value of the force sensor and performs cooperative leveling or synchronous landing based on the height value of the displacement sensor. This achieves a high degree of intelligence in safe receiving, precise leveling, and smooth landing, as well as high precision in synchronous control. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the arrow receiving mechanism according to an embodiment of the present invention; Figure 2 This is a diagram showing the arrangement of the rocket receiving mechanism on the launch pad according to an embodiment of the present invention; Figure 3 This is a schematic diagram showing the relative position of the rocket and the rocket receiving system after the rocket is erected, according to an embodiment of the present invention. Figure 4 This is a flowchart of the rocket adaptive launch and synchronous landing control method according to an embodiment of the present invention. Detailed Implementation

[0019] Various embodiments and features of this application are described herein with reference to the accompanying drawings.

[0020] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of this application will be apparent to those skilled in the art.

[0021] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0022] These and other features of this application will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0023] It should also be understood that although this application has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this application.

[0024] This invention provides a rocket adaptive launcher and synchronous landing platform control system, which includes several launcher receiving mechanisms, such as... Figure 1 The diagram shows the structure of each arrow receiving mechanism. Each arrow receiving mechanism 1 includes a support plate 101, a displacement sensor 102, a force sensor 103, and a drive device 104 for driving the support plate to rise and fall. The drive device 104 drives the support plates 101 of the plurality of arrow receiving mechanisms to rise synchronously, and obtains the load values ​​of each force sensor 103 and the height values ​​of each displacement sensor 102 in real time. During the ascent of all support disks 101, the load values ​​of each force sensor 103 are used to determine that the support disks 101 of the several rocket receiving mechanisms have completed the adaptive acceptance of the rocket. After the rocket adaptive receiving is completed, the support plates 101 of the plurality of rocket receiving mechanisms are coordinated and / or synchronously lowered based on the height values ​​of the displacement sensors 102, including: The current maximum height difference is calculated in real time based on the height values ​​of each displacement sensor 102, and it is determined whether to perform coordinated leveling on the support plates 101 of the several arrow receiving mechanisms based on the current maximum height difference. If coordinated leveling is performed, the support plates 101 of the several rocket receiving mechanisms are controlled to descend synchronously to the preset target position after leveling is completed; otherwise, the support plates 101 of the several rocket receiving mechanisms are directly controlled to descend synchronously to the preset target position to complete the synchronous landing of the rocket.

[0025] Compared with existing technologies, the technical solution of this invention completes the rocket landing platform by deeply integrating real-time status perception, intelligent decision-making and high-precision coupled synchronous control, achieving a high degree of intelligence in safe receiving, precise leveling and smooth landing, as well as high precision in synchronous control.

[0026] Based on the above embodiments, such as Figure 2 As shown, the plurality of rocket receiving mechanisms includes at least four rocket receiving mechanisms 1 with identical structures, respectively arranged in the four quadrants of the launch pad 2; as Figure 2 As shown, the four quadrants include quadrants I, II, III, and IV. The system includes four identical rocket receiving mechanisms 1, which are respectively arranged in quadrants I, II, III, and IV of the launch pad 2. That is, the system includes at least four rocket receiving mechanisms 1 arranged in the four quadrants (I, II, III, and IV) of the launch pad.

[0027] Combination Figure 1 Each of the arrow-receiving mechanisms 1 has a support plate 101, a displacement sensor 102, a force sensor 103, and a drive device 104 for raising and lowering the support plate, all located at a fulcrum in each quadrant. That is, each arrow-receiving mechanism 1 includes a support plate 101, a displacement sensor 102 for real-time detection of the height of the support plate, a force sensor 103 for real-time detection of the load on the support plate, and a drive device 104 for raising and lowering the support plate 101.

[0028] In other words, this technical solution is applied to a system including at least four arrow receiving mechanisms. Each arrow receiving mechanism 1 is equipped with an independent liftable support plate 101, a force sensor 103, a displacement sensor 102, and a drive device 104. The output signals of the displacement sensor 102 and the force sensor 103 are collected in real time and used to generate drive commands according to the control method to control the action of the drive device.

[0029] Based on the above embodiments, the fulcrums in the four quadrants include the diagonal quadrant fulcrums in the constrained direction after the rocket is erected and the diagonal quadrant fulcrums in the free direction after the rocket is erected. like Figure 3 As shown, after the rocket 3 is erected by the erection system 4, it stands upright above the launch pad, and its body is constrained by the erection constraint mechanisms 41 and 42 in certain directions (e.g., quadrants II and IV).

[0030] The diagonal quadrant supports of the constraint direction after the rocket is erected are the first main load-bearing support and the second main load-bearing support, respectively. The diagonal quadrant fulcrums in the free direction after the rocket is erected are the first auxiliary contact fulcrum and the second auxiliary contact point, respectively.

[0031] Specifically, when the load-sensing adaptive rocket connection control starts the load determination logic, for the diagonal pivot points in the constrained direction after the rocket is erected (e.g., quadrants II and IV), the load is required to exceed the first threshold (e.g., it can be set to 40% of the total weight G of the rocket); at the same time, for the diagonal pivot points in the relatively free direction (e.g., quadrants I and III), the load is required to reach or exceed the second threshold (e.g., a minimum force value used to confirm contact, such as 1 ton of force).

[0032] In some embodiments, such as Figure 2 As shown, quadrants II and IV are set as the main load-bearing points, and the first threshold T1 is set to 40% of the total weight G of the rocket; quadrants I and III are set as auxiliary contact points, and the second threshold T2 is set to 1 ton of force.

[0033] Based on the above embodiments, the step of determining that the support plates of the plurality of rocket receiving mechanisms have completed the adaptive acceptance of the rocket based on the load values ​​of the force sensors includes: Based on the load values ​​of each force sensor, the load values ​​of the first main bearing support, the second main bearing support, the first auxiliary contact support, and the second auxiliary contact support are obtained respectively. When the load values ​​of the first main bearing support and the second main bearing support are both greater than a preset first threshold, and the load values ​​of the first auxiliary contact support and the second auxiliary contact support are both greater than or equal to a preset second threshold, it is determined that the support plate of the plurality of rocket receiving mechanisms has completed rocket receiving.

[0034] Specifically, the above embodiment is the adaptive arrow-receiving stage, combined with Figure 1 The load values ​​F_I, F_II, F_III, and F_IV of each force sensor 103 are acquired in real time, and then a load determination is made. In some embodiments, such as Figure 2 As shown, quadrants II and IV are designated as primary load-bearing points, with the first threshold T1 set to 40% of the rocket's total weight G. Quadrants I and III are designated as auxiliary contact points, with the second threshold T2 set to 1 ton of force. The rocket is considered reliably supported if and only if the following conditions are met simultaneously: F_II>T1 and F_IV>T1, and F_I ≥ T2 and F_III ≥ T2.

[0035] In response to the determination result, the above embodiment controls all support plates to stop rising. For example... Figure 3 As shown, once the determination is complete, it means that the weight of the rocket body 3 has been reliably transferred to the four rocket receiving mechanisms 1 through the constraint mechanisms 41 in quadrants II and IV. At this time, all constraints of the erection system 4 can be safely released, and the weight of the rocket is fully borne by the four rocket receiving mechanisms.

[0036] Based on the above embodiments, the formula for calculating the current maximum height difference in real time based on the height values ​​of each displacement sensor is as follows: ΔH_max = max(|Hi - Hj|); Where ΔH_max is the current maximum height difference, Hi is the current height value of the i-th displacement sensor, Hj is the current height value of the j-th displacement sensor, and j ≠ i.

[0037] In some embodiments, the height values ​​H_I, H_II, H_III, H_IV of each displacement sensor 12 are acquired in real time, and the current maximum height difference ΔH_max = max(|Hi - Hj|) is calculated.

[0038] Based on the above embodiments, the step of determining whether to perform coordinated leveling on the support plates of the plurality of arrow receiving mechanisms based on the current maximum height difference includes: If the current maximum height difference is less than the preset first judgment threshold, then the support plates of the plurality of arrow receiving mechanisms will not be coordinated for leveling. Otherwise, the coupling synchronization control quantity is calculated for each fulcrum in real time, and based on the coupling synchronization control quantity, it is determined whether each fulcrum waits or generates a control command to cause each fulcrum to descend (i.e., each fulcrum individually waits or descends according to the coupling synchronization control quantity) in order to perform coordinated leveling. Based on the coupled synchronous control quantity, the coordinated leveling is continuously performed until the current maximum height difference remains stable within the preset leveling convergence threshold for a preset time. At this point, the coordinated leveling of the support plates of the plurality of arrow receiving mechanisms is completed.

[0039] Specifically, the above embodiment is the precise leveling stage, which includes the following steps: Step (1): Acquire the height values ​​H_I, H_II, H_III, and H_IV of each displacement sensor in real time.

[0040] Step (2): Calculate the current maximum height difference ΔH_max = max(|Hi - Hj|).

[0041] Step (3): Determine whether ΔH_max ≤ δ1 (where δ1 is the first judgment threshold, for example, 1.5mm). If yes, proceed to the synchronous descent stage in the following embodiment; if no, perform coordinated leveling.

[0042] Step (4): Coordinated leveling control: For each fulcrum i, calculate the coupling synchronization amount Vi = Σ ( Gij * (Hi - Hj) ), j ≠ i. Where Gij is a preset coupling synchronization driving coefficient that includes branch difference compensation.

[0043] Decisions are made based on the Vi value: if Vi is greater than the action threshold δ2 (indicating that the point is relatively low), then the point is left to wait; otherwise (indicating that the point is relatively high), a control command is generated based on Vi to make it decrease.

[0044] Step (5): Repeat steps (1) to (4) until ΔH_max remains stable within δ3 (δ3 is the leveling convergence threshold, for example, 1.2mm) for more than a preset time (e.g., 3 seconds), and then determine that the leveling is complete.

[0045] Based on the above embodiments, the real-time calculation of the coupling synchronization control quantity for each fulcrum is expressed by the following formula: Vi = Σ ( Gij * (Hi - Hj) ); Where Vi is the coupling synchronization control quantity of the current i-th fulcrum, Gij is the preset coupling synchronization drive coefficient including branch difference compensation, Hi is the height value of the current i-th displacement sensor, Hj is the height value of the current j-th displacement sensor, and j ≠ i.

[0046] It should be noted that the coordinated leveling control first calculates the coupling synchronization amount Vi = Σ ( Gij*(Hi- Hj) ), j ≠ i, for each fulcrum i. Here, Gij is a preset coupling synchronization drive coefficient that includes fulcrum difference compensation.

[0047] Based on the above embodiments, the step of determining whether each fulcrum waits or generates control commands to cause each fulcrum to descend based on the coupling synchronization control quantity includes: If the coupling synchronization control value Vi of the current i-th fulcrum is greater than the preset action threshold, then the current i-th fulcrum waits; otherwise, a control command is generated based on the coupling synchronization control value Vi of the current i-th fulcrum to cause the current i-th fulcrum to descend.

[0048] In other words, the decision is based on the Vi value: if Vi is greater than the action threshold δ2 (indicating that the point is relatively low), then the point waits; otherwise (indicating that the point is relatively high), a control command is generated based on Vi to make it decrease.

[0049] Based on the above embodiments, the step of controlling the support plates of the plurality of arrow-receiving mechanisms to simultaneously descend to a preset target position includes: During the descent of all the rocket receiving mechanisms, the coupling synchronization control quantity and the current synchronization error are continuously calculated in real time for each fulcrum. Based on the current synchronization error, determine whether to drive all arrow receiving mechanisms to descend based on the coupled synchronization control quantity: If the current synchronization error is less than or equal to the preset synchronization descent accuracy threshold, the descent control command is adjusted based on the coupled synchronization control quantity to drive all arrow receiving mechanisms to descend until all support plates descend synchronously to the preset target position; otherwise, the descent of all arrow receiving mechanisms is paused and the abnormal protection program is activated.

[0050] Specifically, the above embodiment is the synchronous descent phase, which includes the following steps: Step 1: All arrow receiving mechanisms descend synchronously.

[0051] Step 2: During the descent, continuously calculate the coupling synchronization amount Vi and the current synchronization error ΔH_max_current at each fulcrum in real time.

[0052] Step 3: Normal synchronization judgment. If ΔH_max_current ≤ δ4 (δ4 is the synchronization descent accuracy threshold, for example, 1.5mm), then the descent control command is fine-tuned based on Vi to drive each mechanism to descend and maintain synchronization.

[0053] Step 4: Abnormal Protection. If ΔH_max_current > δ4, the descent will be immediately paused, and protection procedures will be triggered (such as alarm, maintaining the current state, or executing a safety recovery process).

[0054] Step 5: When all support plates have descended to the preset target height H_target and the load is stable, the platform lowering is considered complete.

[0055] Figure 4 A flowchart of a rocket adaptive launch and synchronous landing control method provided in an embodiment of the present invention is shown below. Figure 4 As shown, a rocket adaptive launch and synchronous landing control method includes: S401, through the drive device, drives the support plates of several arrow receiving mechanisms to rise synchronously, and obtains the load value of each force sensor and the height value of each displacement sensor in real time. S402, during the ascent of all support plates, based on the load values ​​of each force sensor, it is determined that the support plates of the several rocket receiving mechanisms have completed the adaptive acceptance of the rocket. S403, after the rocket adaptive receiving is completed, based on the height values ​​of each displacement sensor, the support plates of the plurality of rocket receiving mechanisms are coordinated and / or synchronously lowered, including: The current maximum height difference is calculated in real time based on the height values ​​of each displacement sensor, and it is determined whether to perform coordinated leveling on the support plates of the several arrow receiving mechanisms based on the current maximum height difference. If coordinated leveling is performed, the support plates of the several rocket receiving mechanisms will be controlled to descend synchronously to the preset target position after leveling is completed; otherwise, the support plates of the several rocket receiving mechanisms will be controlled to descend synchronously to the preset target position to complete the synchronous landing of the rocket.

[0056] Specifically, the core technical solution of this invention adopts a three-stage intelligent control method, including three control stages executed sequentially: Phase 1: Adaptive arrow control based on load perception.

[0057] The system controls the synchronous ascent of all support plates in the rocket receiving mechanism; it monitors the load data of each force sensor in real time; and based on a preset load determination logic, it immediately terminates the ascent when it is confirmed that the rocket has been stably and reliably supported by all support plates. This invention is based on an adaptive rocket receiving determination method using real-time load sensing, replacing criteria that rely on preset positions, ensuring that the rocket is stably and completely received, and eliminating the risks of incomplete connection and hard impact.

[0058] It should be noted that the load determination logic is as follows: for the diagonal support points in the constrained direction after rocket erection (e.g., quadrants II and IV), the load must exceed a first threshold (e.g., set to 40% of the total rocket weight G); simultaneously, for the diagonal support points in the relatively free direction (e.g., quadrants I and III), the load must reach or exceed a second threshold (e.g., a minimum force value used to confirm contact, such as 1 ton). The rocket is considered reliably supported only when both sets of diagonal support points simultaneously meet their respective conditions. Furthermore, the load determination logic can be adaptively adjusted according to the actual constrained direction after rocket erection, while the core framework of its dual-threshold differential judgment remains unchanged.

[0059] Furthermore, the load determination logic can be adapted as follows: if the constraint state changes after the rocket is erected (e.g., constrained in quadrants I and III), the "main load-bearing judgment point" in the determination logic is adjusted accordingly to the diagonal mechanism in the constrained direction, and the "contact confirmation point" is adjusted to the mechanism in the original movable direction. The core framework of the determination logic (dual thresholds, differentiated judgment) remains unchanged.

[0060] If the constraint state changes after the rocket is erected (e.g., constrained in quadrants I and III), the "main load-bearing judgment point" in the decision logic will be adjusted accordingly to the diagonal mechanism in the constrained direction, and the "contact confirmation point" will be adjusted to the mechanism in the original movable direction. The core framework of the decision logic (dual thresholds, differentiated judgment) remains unchanged.

[0061] Phase 2: Precise leveling control based on multi-channel collaboration.

[0062] After the rocket is successfully connected, the height values ​​fed back by each displacement sensor are used as input, and a multi-channel coupled synchronous control algorithm is employed to perform closed-loop adjustment of the height of all rocket-connecting mechanisms. The coupled synchronous control algorithm calculates the weighted sum of the height differences between each support point and other support points, generating a coupled synchronous control quantity that drives the higher support points downwards until the height differences between all support plates converge to within a first accuracy threshold (leveling convergence threshold, e.g., 1.2 mm). This invention, based on a high-precision multi-support point coupled synchronous control method, solves the synchronization error problem caused by independent control, achieving attitude stability and smooth motion of the rocket during leveling and descent.

[0063] Here, alternative and optimization schemes for the control algorithm are proposed: other multi-channel coupled synchronous control algorithms such as "master-slave synchronous control" or "adjacent coupling control" can be used to replace the deviation coupled synchronous control, while still aiming to achieve a high degree of coordination between the fulcrums.

[0064] It should be noted that the multi-channel coupling synchronization control algorithm generates a coupling synchronization control quantity by calculating the weighted sum of the height differences between each support point and other support points, which is used to drive the movement of each support point; wherein, the coupling synchronization drive coefficient used is determined by system identification and calibration, and includes compensation for the response differences of each branch drive system.

[0065] The third stage: smooth landing control based on high-precision synchronization.

[0066] Control all arrow receiving mechanisms to descend synchronously; during the descent, continuously perform real-time synchronous control based on the feedback of displacement sensors to ensure that the real-time height difference between each arrow receiving mechanism is always maintained within the allowable range of the second accuracy threshold (synchronous descent accuracy threshold, such as 1.5mm) until all mechanisms descend to the preset target position.

[0067] As can be seen, the technical solution of this invention possesses intelligence and adaptability. Through multi-sensor information fusion and real-time decision-making, it dynamically adjusts according to actual working conditions and has full-process status monitoring and safety assurance functions. Furthermore, it can be expanded and integrated with tilt sensors or vision measurement systems to fuse data with existing force and displacement sensors, further enhancing status perception capabilities.

[0068] Compared with the prior art, the core innovation of the technical solution of this invention lies in: 1. This invention, based on an adaptive arrow-joining method with dual-threshold load determination, abandons the traditional fixed-program triggering method that relies on preset positions. It innovatively designs differentiated load determination logic for different functional support points (main load-bearing points and auxiliary contact points). This method senses the load at each support point in real time and only determines that the arrow-joining is complete when all support points meet their preset force threshold conditions (e.g., the main load-bearing point bears the main weight, and the auxiliary contact point ensures reliable contact). This method transforms the criterion for arrow-joining completion from "position" to a measurable "physical contact state," achieving autonomous, precise, and safe confirmation of the arrow-joining process.

[0069] 2. This invention designs a multi-pivot synchronous control strategy that integrates weighted collaborative feedback and actuator calibration compensation. To overcome the synchronization error caused by independent control of multiple pivots, this invention designs a coupled synchronous control algorithm based on the weighted sum of height differences between pivots. During the leveling and descent phases, this algorithm continuously calculates and utilizes the relative height difference information between each pivot to generate coupled synchronous control quantities, actively suppressing asynchronous trends. More importantly, through prior system identification and parameter calibration, a static response compensation coefficient is preset for the drive system of each pivot, embedded in the collaborative algorithm. This offsets the inherent response differences of each actuator at the control source, providing both algorithmic and engineering-level guarantees for achieving sub-millimeter-level high-precision synchronization.

[0070] 3. This invention constructs a status monitoring and closed-loop control architecture for the entire operation process, integrating the three independent stages of arrow receiving, leveling, and platform landing into a continuous automatic control process based on real-time feedback of multi-sensor (force, displacement) information. This architecture not only achieves intelligent switching and seamless connection between each stage, but also incorporates real-time status monitoring and safety interlocking logic (such as synchronization error exceeding limits and load anomaly monitoring), enabling the system to have fault diagnosis and protective response capabilities, thereby improving the overall system reliability, automation level, and robustness in handling complex working conditions.

[0071] To facilitate understanding, the beneficial effects of the technical solution of this invention will be explained in further detail below.

[0072] Compared with the prior art, the present invention has the following beneficial effects: 1. Fundamental improvement in safety: By using intelligent judgment logic based on dual load thresholds, the condition for releasing the rocket erection constraint is changed from relying on experience or preset position to being based on the real-time load state of precise measurement. This realizes the transformation from "position triggering" to "state triggering", completely eliminating the risk of "virtual connection" and ensuring a smooth and reliable rocket connection process.

[0073] 2. Control precision reaches a new level: The proposed multi-channel coupled synchronous control algorithm, combined with system-level actuator calibration compensation, effectively solves the problem of inconsistent response between multiple support points, and achieves sub-millimeter-level leveling accuracy and high-precision synchronous descent, ensuring that the rocket body, weighing tens of tons, maintains stable attitude and descends without twisting throughout the process, providing core assurance for the rocket's precise positioning.

[0074] 3. Significantly Enhanced System Intelligence: A closed-loop intelligent operation system integrating "perception-decision-control-protection" has been constructed. The system can make decisions based on real-time operating conditions according to the judgment logic set according to the actual constraint state of the rocket, and can quickly identify and provide protective intervention for abnormal operating conditions such as overload and synchronization deviation. This represents a leap from fixed program execution to full-state adaptive management, improving operational efficiency and reliability.

[0075] Those skilled in the art will understand that all or part of the steps of the methods described above can be implemented by a program instructing related hardware. The program can be stored in a readable storage medium, and when executed, the program includes one or a combination of the steps of the method implementation.

[0076] In the various embodiments of this application, the functional units can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a readable storage medium. The storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0077] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. Furthermore, the described specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments / modes or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0078] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0079] Those skilled in the art should understand that the above embodiments are merely for illustrative purposes and are not intended to limit the scope of this application. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of this application.

Claims

1. A rocket adaptive launch and synchronous landing platform control system, characterized in that, It includes several arrow receiving mechanisms, each of which includes a support plate, a displacement sensor, a force sensor, and a drive device for driving the support plate to rise and fall; The drive device drives the support plates of the several arrow receiving mechanisms to rise synchronously, and the load values ​​of each force sensor and the height values ​​of each displacement sensor are acquired in real time. During the ascent of all support plates, the load values ​​of each force sensor determine that the support plates of the several rocket receiving mechanisms have completed the adaptive acceptance of the rocket. After the rocket adaptive receiving is completed, the support plates of the plurality of rocket receiving mechanisms are coordinated and / or synchronously lowered based on the height values ​​of the displacement sensors, including: The current maximum height difference is calculated in real time based on the height values ​​of each displacement sensor, and it is determined whether to perform coordinated leveling on the support plates of the several arrow receiving mechanisms based on the current maximum height difference. If coordinated leveling is performed, the support plates of the several rocket receiving mechanisms will be controlled to descend synchronously to the preset target position after leveling is completed; otherwise, the support plates of the several rocket receiving mechanisms will be controlled to descend synchronously to the preset target position to complete the synchronous landing of the rocket.

2. The system according to claim 1, characterized in that, The plurality of rocket receiving mechanisms includes at least four rocket receiving mechanisms with identical structures, which are respectively arranged in the four quadrants of the launch pad; the support plate, displacement sensor, force sensor and driving device for driving the support plate to rise and fall of each rocket receiving mechanism are respectively located at the fulcrum of each quadrant.

3. The system according to claim 2, characterized in that, The fulcrums in the four quadrants include the diagonal quadrant fulcrums in the constrained direction after the rocket is erected and the diagonal quadrant fulcrums in the free direction after the rocket is erected. The diagonal quadrant supports of the constraint direction after the rocket is erected are the first main load-bearing support and the second main load-bearing support, respectively. The diagonal quadrant fulcrums in the free direction after the rocket is erected are the first auxiliary contact fulcrum and the second auxiliary contact point, respectively.

4. The system according to claim 3, characterized in that, The determination that the support plates of the plurality of rocket receiving mechanisms have completed the adaptive acceptance of the rocket based on the load values ​​of the force sensors includes: Based on the load values ​​of each force sensor, the load values ​​of the first main bearing support, the second main bearing support, the first auxiliary contact support, and the second auxiliary contact support are obtained respectively. When the load values ​​of the first main bearing support and the second main bearing support are both greater than a preset first threshold, and the load values ​​of the first auxiliary contact support and the second auxiliary contact support are both greater than or equal to a preset second threshold, it is determined that the support plate of the plurality of rocket receiving mechanisms has completed rocket receiving.

5. The system according to claim 1, characterized in that, The formula for calculating the current maximum height difference in real time based on the height values ​​of each displacement sensor is as follows: ΔH_max = max(|Hi - Hj|); Where ΔH_max is the current maximum height difference, Hi is the current height value of the i-th displacement sensor, Hj is the current height value of the j-th displacement sensor, and j ≠ i.

6. The system according to claim 1 or 5, characterized in that, The step of determining whether to perform coordinated leveling on the support plates of the plurality of arrow-receiving mechanisms based on the current maximum height difference includes: If the current maximum height difference is less than the preset first judgment threshold, then the support plates of the plurality of arrow receiving mechanisms will not be coordinated for leveling. Otherwise, the coupling synchronization control quantity is calculated for each fulcrum in real time, and based on the coupling synchronization control quantity, it is determined whether each fulcrum waits or generates a control command to lower each fulcrum in order to perform coordinated leveling. Based on the coupled synchronous control quantity, the coordinated leveling is continuously performed until the current maximum height difference remains stable within the preset leveling convergence threshold for a preset time. At this point, the coordinated leveling of the support plates of the plurality of arrow receiving mechanisms is completed.

7. The system according to claim 6, characterized in that, The real-time calculation of the coupling synchronization control quantity for each fulcrum is expressed by the following formula: Vi = Σ ( Gij * (Hi - Hj) ); Where Vi is the coupling synchronization control quantity of the current i-th fulcrum, Gij is the preset coupling synchronization drive coefficient including branch difference compensation, Hi is the height value of the current i-th displacement sensor, Hj is the height value of the current j-th displacement sensor, and j ≠ i.

8. The system according to claim 7, characterized in that, The step of determining whether each pivot point should wait for or generate a control command to cause each pivot point to descend based on the coupled synchronization control quantity includes: If the coupling synchronization control value Vi of the current i-th fulcrum is greater than the preset action threshold, then the current i-th fulcrum waits; otherwise, a control command is generated based on the coupling synchronization control value Vi of the current i-th fulcrum to cause the current i-th fulcrum to descend.

9. The system according to claim 6, characterized in that, The control of the support plates of the plurality of arrow-receiving mechanisms to synchronously descend to the preset target position includes: During the descent of all the rocket receiving mechanisms, the coupling synchronization control quantity and the current synchronization error are continuously calculated in real time for each fulcrum. Based on the current synchronization error, determine whether to drive all arrow receiving mechanisms to descend based on the coupled synchronization control quantity: If the current synchronization error is less than or equal to the preset synchronization descent accuracy threshold, the descent control command is adjusted based on the coupled synchronization control quantity to drive all arrow receiving mechanisms to descend until all support plates descend synchronously to the preset target position; otherwise, the descent of all arrow receiving mechanisms is paused and the abnormal protection program is activated.

10. A rocket adaptive launch and synchronous landing control method, characterized in that, include: The drive device drives the support plates of several arrow receiving mechanisms to rise synchronously, and the load values ​​of each force sensor and the height values ​​of each displacement sensor are acquired in real time. During the ascent of all support plates, the load values ​​of each force sensor determine that the support plates of the several rocket receiving mechanisms have completed the adaptive acceptance of the rocket. After the rocket adaptive receiving is completed, the support plates of the plurality of rocket receiving mechanisms are coordinated and / or synchronously lowered based on the height values ​​of the displacement sensors, including: The current maximum height difference is calculated in real time based on the height values ​​of each displacement sensor, and it is determined whether to perform coordinated leveling on the support plates of the several arrow receiving mechanisms based on the current maximum height difference. If coordinated leveling is performed, the support plates of the several rocket receiving mechanisms will be controlled to descend synchronously to the preset target position after leveling is completed; otherwise, the support plates of the several rocket receiving mechanisms will be controlled to descend synchronously to the preset target position to complete the synchronous landing of the rocket.

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