A launch vehicle erect control method and control system

Abstract

This application discloses a method and control system for erecting a launch vehicle. The method determines optimal erection control parameters for the launch vehicle based on environmental information and the launch vehicle's own state information. While controlling the erection of the launch vehicle according to the optimal erection control parameters, real-time action parameters of the launch vehicle are acquired. PID control is then applied to the erection of the launch vehicle based on the real-time action parameters and the optimal erection control parameters. This achieves adaptive intelligent control of the launch vehicle's erection by selecting the optimal control action based on the external environment and the launch vehicle's own state, effectively ensuring the speed, accuracy, stability, and safety of the launch vehicle's erection.

Description

Technical Field

[0001] This application relates to the field of aircraft launch vehicle erection control technology, and in particular to an erection control method and control system for a launch vehicle. Background Technology

[0002] With the development of technology, higher demands are placed on the maneuverability and rapid response capabilities of aircraft. Vehicle-mounted launchers, due to their ability to launch without physical support, greatly enhance the maneuverability of aircraft. To improve the rapid response capability of aircraft in complex operating environments, it is essential to shorten the preparation time for launch. Since the launch vehicle erection time accounts for 1 / 5 to 1 / 3 of the deployment time in the various stages of the vehicle-mounted launcher preparation process, reducing the launch vehicle erection time has become a crucial means to improve the maneuverability and rapid response capability of aircraft.

[0003] Furthermore, the erection of the launch vehicle is crucial to the high precision and efficiency of all tasks during the spacecraft launch. At the same time, the increasingly complex operating environment of spacecraft significantly impacts the speed, accuracy, stability, and safety of the erection control. Traditional control algorithms are insufficient to meet these ever-growing control requirements.

[0004] Therefore, how to control the erection of the aircraft launch vehicle to ensure its speed, accuracy, stability and safety is a technical problem that needs to be solved. Summary of the Invention

[0005] The main purpose of this application is to provide a method and control system for the erection of a launch vehicle, aiming to solve the technical problem of how to ensure the speed, accuracy and stability of the launch vehicle's erection.

[0006] In a first aspect, this application provides a method for controlling the erection of a launch vehicle, the method comprising the following steps:

[0007] Based on environmental information and the launch vehicle's own status information, determine the optimal erection control parameters for the launch vehicle;

[0008] When the launch vehicle is raised according to the optimal raising control parameters, the real-time action parameters of the launch vehicle are obtained.

[0009] The erection of the launch vehicle is controlled by PID based on the real-time action parameters and the optimal erection control parameters.

[0010] In some embodiments, determining the optimal erection control parameters of the launch vehicle based on environmental information and the launch vehicle's own state information includes:

[0011] Based on the ambient temperature and the hydraulic oil temperature of the erection cylinder of the launch vehicle, the curves showing the changes of the optimal erection angle, the optimal stroke speed of the erection cylinder, the optimal opening degree of the proportional directional valve, and the optimal hydraulic oil flow rate of the erection cylinder over time are determined.

[0012] In some embodiments, acquiring the real-time motion parameters of the launch vehicle when controlling the launch vehicle to be erected according to the optimal erection control parameters includes:

[0013] When the launch vehicle is raised according to the optimal raising control parameters, the real-time raising angle of the launch vehicle is obtained.

[0014] In some embodiments, the step of performing PID control on the erection of the launch vehicle based on the real-time action parameters and the optimal erection control parameters includes:

[0015] PID control is performed based on the real-time erection angle and the corresponding optimal erection angle to obtain the ideal erection cylinder stroke speed, wherein the erection cylinder stroke is used to control the erection angle of the launch vehicle.

[0016] The real-time erection cylinder stroke speed of the launch vehicle is determined based on the real-time erection angle.

[0017] PID control is performed based on the real-time stroke speed of the erecting cylinder and the ideal stroke speed of the erecting cylinder to obtain the ideal proportional directional valve opening and the ideal hydraulic oil flow rate of the erecting cylinder. The proportional directional valve opening and the hydraulic oil flow rate of the erecting cylinder are used to control the stroke speed of the erecting cylinder.

[0018] Control the opening degree of the proportional directional valve to reach the ideal opening degree, and control the hydraulic oil flow of the erecting cylinder to reach the ideal flow rate.

[0019] In some embodiments,

[0020] Before performing PID control based on the current real-time erection angle and the corresponding optimal erection angle, the following steps are also included:

[0021] The difference between the current real-time erection angle and the corresponding optimal erection angle is used to obtain the erection angle error value.

[0022] If the absolute value of the erection angle error is less than the preset erection angle error threshold, then PID control is determined based on the real-time erection angle at the current moment and the corresponding optimal erection angle.

[0023] If the absolute value of the erection angle error is greater than or equal to the erection angle error threshold, then PD control is determined based on the real-time erection angle at the current moment and the corresponding optimal erection angle.

[0024] In some embodiments, before performing PID control based on the real-time lifting cylinder stroke speed at the current moment and the ideal lifting cylinder stroke speed, the following steps are also included:

[0025] The difference between the current real-time lifting cylinder stroke speed and the ideal lifting cylinder stroke speed is used to obtain the lifting cylinder stroke speed error value.

[0026] If the error value of the lifting cylinder stroke speed is less than the preset lifting cylinder stroke speed error threshold, then PID control is determined based on the real-time lifting cylinder stroke speed at the current moment and the ideal lifting cylinder stroke speed.

[0027] If the error value of the hydraulic cylinder stroke speed is greater than or equal to the error threshold of the lifting hydraulic cylinder stroke speed, then PD control is determined based on the real-time lifting hydraulic cylinder stroke speed at the current moment and the ideal lifting hydraulic cylinder stroke speed.

[0028] In some embodiments, the method further includes:

[0029] The maximum stroke speed of the erecting cylinder of the launch vehicle is determined based on the maximum value of the hydraulic pressure of the erecting cylinder, the maximum value of the hydraulic oil flow of the erecting cylinder, and the safety impact limit value of the launch vehicle.

[0030] The optimal lifting cylinder stroke speed is less than or equal to the maximum value of the preset ratio of the lifting cylinder stroke speed.

[0031] Secondly, this application also provides an erection control system for a launch vehicle, the system comprising:

[0032] The calculation module is used to determine the optimal erection control parameters of the launch vehicle based on environmental information and the launch vehicle's own status information;

[0033] The acquisition module is used to acquire the real-time motion parameters of the launch vehicle when the launch vehicle is controlled to be erected according to the optimal erection control parameters;

[0034] The control module is used to perform PID control on the erection of the launch vehicle based on the real-time action parameters and the optimal erection control parameters.

[0035] In some embodiments, the determining module is further configured to:

[0036] Based on the ambient temperature and the hydraulic oil temperature of the erection cylinder of the launch vehicle, the curves showing the changes of the optimal erection angle, the optimal stroke speed of the erection cylinder, the optimal opening degree of the proportional directional valve, and the optimal hydraulic oil flow rate of the erection cylinder over time are determined.

[0037] In some embodiments, the acquisition module is further configured to:

[0038] When the launch vehicle is raised according to the optimal raising control parameters, the real-time raising angle of the launch vehicle is obtained.

[0039] In some embodiments, the control module is further configured to:

[0040] PID control is performed based on the real-time erection angle and the corresponding optimal erection angle to obtain the ideal erection cylinder stroke speed, wherein the erection cylinder stroke is used to control the erection angle of the launch vehicle.

[0041] The real-time erection cylinder stroke speed of the launch vehicle is determined based on the real-time erection angle.

[0042] PID control is performed based on the real-time stroke speed of the erecting cylinder and the ideal stroke speed of the erecting cylinder to obtain the ideal proportional directional valve opening and the ideal hydraulic oil flow rate of the erecting cylinder. The proportional directional valve opening and the hydraulic oil flow rate of the erecting cylinder are used to control the stroke speed of the erecting cylinder.

[0043] Control the opening degree of the proportional directional valve to reach the ideal opening degree, and control the hydraulic oil flow of the erecting cylinder to reach the ideal flow rate.

[0044] In some embodiments, the control module is further configured to:

[0045] The difference between the current real-time erection angle and the corresponding optimal erection angle is used to obtain the erection angle error value.

[0046] If the absolute value of the erection angle error is less than the preset erection angle error threshold, then PID control is determined based on the real-time erection angle at the current moment and the corresponding optimal erection angle.

[0047] If the absolute value of the erection angle error is greater than or equal to the erection angle error threshold, then PD control is determined based on the real-time erection angle at the current moment and the corresponding optimal erection angle.

[0048] In some embodiments, the control module is further configured to:

[0049] The difference between the current real-time lifting cylinder stroke speed and the ideal lifting cylinder stroke speed is used to obtain the lifting cylinder stroke speed error value.

[0050] If the error value of the lifting cylinder stroke speed is less than the preset lifting cylinder stroke speed error threshold, then PID control is determined based on the real-time lifting cylinder stroke speed at the current moment and the ideal lifting cylinder stroke speed.

[0051] If the error value of the hydraulic cylinder stroke speed is greater than or equal to the error threshold of the lifting hydraulic cylinder stroke speed, then PD control is determined based on the real-time lifting hydraulic cylinder stroke speed at the current moment and the ideal lifting hydraulic cylinder stroke speed.

[0052] In some embodiments, the computing module is further configured to:

[0053] The maximum stroke speed of the erecting cylinder of the launch vehicle is determined based on the maximum value of the hydraulic pressure of the erecting cylinder, the maximum value of the hydraulic oil flow of the erecting cylinder, and the safety impact limit value of the launch vehicle.

[0054] The optimal lifting cylinder stroke speed is less than or equal to the maximum value of the preset ratio of the lifting cylinder stroke speed.

[0055] This application provides a method and control system for erecting a launch vehicle. The method determines optimal erection control parameters for the launch vehicle based on environmental information and the launch vehicle's own state information. While controlling the erection of the launch vehicle according to the optimal erection control parameters, real-time action parameters of the launch vehicle are acquired. PID control is then applied to the erection of the launch vehicle based on the real-time action parameters and the optimal erection control parameters. This achieves adaptive intelligent control of the launch vehicle's erection by selecting the optimal control action based on the external environment and the launch vehicle's own state, effectively ensuring the speed, accuracy, stability, and safety of the launch vehicle's erection. Attached Figure Description

[0056] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 A flowchart illustrating a launch vehicle erection control method provided in an embodiment of this application;

[0058] Figure 2 The curve showing the change in the opening degree of the optimal proportional directional valve over time;

[0059] Figure 3 The curve showing the change of hydraulic oil flow rate of the optimal erecting cylinder over time;

[0060] Figure 4 The curve showing the optimal cylinder stroke speed as a function of time;

[0061] Figure 5 The curve showing how the optimal erection angle changes over time;

[0062] Figure 6 This is a simplified flowchart of PID control.

[0063] Figure 7 This is a schematic diagram of the specific process of PID control;

[0064] Figure 8 A schematic diagram illustrating the specific process of the launch vehicle's erection control method;

[0065] Figure 9 This is a schematic block diagram of a launch vehicle erection control system provided in an embodiment of this application.

[0066] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0067] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0068] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0069] This application provides a method and system for controlling the erection of a launch vehicle.

[0070] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0071] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a launch vehicle erection control method provided for an embodiment of this application.

[0072] like Figure 1 As shown, the method includes steps S1 to S3.

[0073] Step S1: Determine the optimal erection control parameters for the launch vehicle based on environmental information and the launch vehicle's own status information.

[0074] Specifically, based on the ambient temperature and the hydraulic oil temperature of the erection cylinder of the launch vehicle, the curves showing the changes of the optimal erection angle, the optimal stroke speed of the erection cylinder, the optimal opening degree of the proportional directional valve, and the optimal hydraulic oil flow rate of the erection cylinder over time are determined.

[0075] It is worth noting that the environmental information in this embodiment includes the ambient temperature, and the launch vehicle's own status information includes the oil temperature of the hydraulic oil in the launch vehicle's erection cylinder. In the launch vehicle, the proportional directional valve and the erection cylinder are the power mechanisms controlling the erection of the launch vehicle. The opening degree of the proportional directional valve and the hydraulic oil flow rate in the erection cylinder can control the stroke speed of the erection cylinder. The stroke of the erection cylinder is equivalent to the length of the piston rod supporting the erection of the launch vehicle; therefore, the stroke of the erection cylinder determines the erection angle of the launch vehicle, and the stroke speed of the erection cylinder determines the erection speed of the launch vehicle. Therefore, in this embodiment, when controlling the erection of the launch vehicle, the opening degree of the proportional directional valve, the hydraulic oil flow rate in the erection cylinder, the cylinder stroke speed, and the erection angle are used as the control parameters for the erection of the launch vehicle.

[0076] Because ambient temperature and the hydraulic oil temperature of the erecting cylinder can affect the erection of the launch vehicle, during the testing phase, the launch vehicle can be placed in environments with different temperatures and different hydraulic oil temperatures set for the erecting cylinder. Then, based on the erection requirements, the launch vehicle can be erected using different erection control parameters. The erection control parameters with the best results at each temperature are recorded as the optimal erection control parameters for that temperature, and these optimal parameters are pre-loaded into the launch vehicle's erection control algorithm. Specifically, the optimal control parameters can be selected as those that result in the fastest and most stable erection speed under the given temperature conditions.

[0077] Because the erection state of the launch vehicle changes over time during the erection process, the optimal erection parameters are represented by a curve that varies with time. For example... Figure 2 As shown, Figure 2 This is a curve showing the change in the opening degree of a proportional directional valve over time within a given temperature range. Figure 3 The curve showing the change in hydraulic oil flow rate of the optimal erecting cylinder over time. Figure 4 The curve showing the optimal cylinder stroke speed versus time. Figure 5 The curve represents the optimal erection angle over time. It is worth noting that this embodiment employs a multi-stage erection cylinder mechanism to meet the vertical launch requirements of the aircraft. Therefore, there are multiple curves showing the change in directional valve opening over time and multiple curves showing the change in hydraulic oil flow rate of the erection cylinders over time.

[0078] In one embodiment, the process of obtaining the curve of the optimal erection control parameters changing over time is as follows:

[0079] The relationship between the launch vehicle's erection angle and the stroke of the erection cylinder is determined as follows:

[0080]

[0081] Where θ is the lifting angle, ∠ACB is the initial lifting angle, AB, AC, and BC are the triangle sides of the lifting motion mechanism, and L is the stroke of the lifting cylinder.

[0082] The launch vehicle erection mechanism in this embodiment is a three-stage erection cylinder structure. The area of ​​the first-stage cylinder is A1 = 0.0596 m², the area of ​​the second-stage cylinder is A2 = 0.0383 dm², and the area of ​​the third-stage cylinder is A3 = 0.0224 dm². The maximum speed of the first-stage cylinder is V1 = 0.089 m / s, the maximum speed of the second-stage cylinder is V2 = 0.139 m / s, and the maximum speed of the third-stage cylinder is V3 = 0.238 m / s. The maximum flow rate of the two flow valves is Qmax = 160 + 160 = 320 L / min.

[0083] Based on the lifting angle, the stroke of the lifting cylinder is calculated as follows:

[0084]

[0085] Substituting the relevant data of the launch vehicle structure in this embodiment, we can obtain:

[0086]

[0087] According to the above formula, when the launch vehicle is erected to 90°, the total stroke of the erection cylinder is 3.262m.

[0088] The strokes of the three-stage lifting cylinders are set as follows: the stroke of the first-stage cylinder is 1.051m, the stroke of the second-stage cylinder is 1.105m, and the stroke of the third-stage cylinder is 1.127m.

[0089] This allows us to plot the curve of the vertical cylinder's stroke speed changing over time, such as... Figure 4 As shown:

[0090] From 0 to 4 seconds, the lifting cylinder's stroke speed accelerates, with the first-stage cylinder's stroke speed increasing from 0 to 0.081 m / s, and the first-stage cylinder extending 0.162 m. From 4 to 15 seconds, the lifting cylinder's stroke speed remains constant at 0.081 m / s, with the first-stage cylinder extending 0.891 m, raising the cylinder to 30.92°. The corresponding directional valve opening is 0.081 / 0.089 = 91%. From 15 to 24 seconds, the lifting cylinder's stroke speed remains constant. The second-stage cylinder's stroke speed accelerates to 0.128 m / s in the first 2 seconds, raising the lifting cylinder's angle to 35.26°, and extending 0.209 m. It then maintains this constant speed, extending 0.896 m, raising the cylinder to 58.5°. The corresponding directional valve opening is 0.128 / 0.139 = 92%. From 24 to 27 seconds, the lifting cylinder maintains a constant speed during its stroke. The third-stage cylinder continues to extend at a constant speed of 0.128 m / s, reaching an extension of 0.384 m. The corresponding directional valve opening is approximately 53.8% (0.128 / 0.238 ≈ 53.8%), and the lifting cylinder reaches an elevation of 68.7°. From 27 to 37 seconds, the lifting cylinder experiences a deceleration during its stroke. The third-stage cylinder's stroke speed decreases to 0.128–0.01 m / s, and it extends 0.69 m, reaching an elevation angle of 89°. From 37 to 40 seconds, the lifting cylinder maintains a constant speed during its stroke. The third-stage cylinder maintains a constant speed of 0.01 m / s, extending 0.03 m, and reaching an elevation angle of 89.9°. Therefore, we can derive... Figure 2 The curve showing the change in the opening degree of the proportional directional valve over time, as shown in the figure... Figure 3 The curve showing the change of hydraulic oil flow rate of the erecting cylinder over time is shown, and as follows: Figure 5 The curve shown illustrates how the erection angle changes over time.

[0091] As an example, during the erection control of the launch vehicle, the ambient temperature can be collected using an ambient temperature sensor, and the hydraulic oil temperature of the erection cylinder can be collected using a hydraulic oil temperature sensor. The ambient temperature and hydraulic oil temperature are then fused and analyzed. In this embodiment, the fused temperature can be divided into three ranges: low temperature, normal temperature, and high temperature. Optimal erection control parameters are configured for each temperature range. Therefore, the optimal erection control parameters can be selected based on the fused ambient temperature and hydraulic oil temperature. Selecting the optimal erection control parameters based on the collected ambient temperature and hydraulic oil temperature enables rapid and accurate environmental adaptive control of the launch vehicle.

[0092] In a preferred embodiment, when setting the optimal erection control parameters, the maximum value of the erection cylinder stroke speed is determined based on the maximum value of the hydraulic pressure of the erection cylinder, the maximum value of the hydraulic oil flow rate of the erection cylinder, and the safety impact limit of the launch vehicle. The optimal erection cylinder stroke speed is less than or equal to a preset proportion of the maximum value of the erection cylinder stroke speed. It is worth noting that the hydraulic pressure and flow rate of the erection cylinder determine the maximum stroke speed of the erection cylinder, and the safety impact limit determines the maximum stroke speed of the erection cylinder. Based on the maximum stroke speed, an upper limit of no more than 80% of the maximum value is set as the optimal erection cylinder stroke speed, with the remaining 20% ​​used as an adjustment amount for disturbances encountered during the erection process. This allows for optimal time planning of the launch vehicle's erection trajectory. The safety impact refers to the need for deceleration during stage changes in the erection cylinder to avoid erection jitter.

[0093] Step S2: When controlling the launch vehicle to be erected according to the optimal erection control parameters, obtain the real-time action parameters of the launch vehicle.

[0094] Specifically, when controlling the launch vehicle to be erected according to the optimal erection control parameters, the real-time erection angle of the launch vehicle is acquired. In this embodiment, during the process of controlling the launch vehicle to be erected according to the optimal erection control parameters, the erection angle of the launch vehicle is collected in real time by an angle sensor to determine the current erection state of the launch vehicle.

[0095] Step S3: Perform PID control on the erection of the launch vehicle based on the real-time action parameters and the optimal erection control parameters.

[0096] In some embodiments, the step of performing PID control on the erection of the launch vehicle based on the real-time action parameters and the optimal erection control parameters includes:

[0097] Step S301: Perform PID control based on the real-time erection angle and the corresponding optimal erection angle at the current moment to obtain the ideal erection cylinder stroke speed, wherein the erection cylinder stroke is used to control the erection angle of the launch vehicle.

[0098] As a preferred real-time method, before performing PID control based on the current real-time erection angle and the corresponding optimal erection angle, the method further includes: subtracting the current real-time erection angle from the corresponding optimal erection angle to obtain an erection angle error value; if the absolute value of the erection angle error value is less than a preset erection angle error threshold, then PID control is determined to be performed based on the current real-time erection angle and the corresponding optimal erection angle; if the absolute value of the erection angle error value is greater than or equal to the erection angle error threshold, then PD control is determined to be performed based on the current real-time erection angle and the corresponding optimal erection angle.

[0099] It is worth noting that this embodiment employs integral-separated PID control. When the deviation between the real-time erection angle and the optimal erection angle is large, PD control is applied to the launch vehicle's erection angle based on the real-time erection angle and the corresponding optimal erection angle, eliminating the integral effect to avoid reduced system stability and increased overshoot due to integral action. When the deviation between the real-time erection angle and the optimal erection angle is small, PID control is applied based on the real-time erection angle and the corresponding optimal erection angle, introducing integral control to eliminate steady-state error and improve the control accuracy of the erection angle.

[0100] Exemplary, such as Figure 6 As shown, the algorithm presets a threshold ε for the erection angle error, and ε > 0. The difference between the real-time erection angle at the current moment and the corresponding optimal erection angle is used to obtain the erection angle error value e(k).

[0101] When |e(k)| > ε, PD control is used to avoid excessive overshoot and to ensure a faster system response; when |e(k)| ≤ ε, PID control is used to ensure the control accuracy of the system.

[0102] The integral separation control algorithm can be expressed as:

[0103]

[0104] In the formula, T is the sampling time, β is the switching coefficient of the integral term, and k p For proportional gain, k i For integral gain, k d This is the differential gain.

[0105] β can be expressed as:

[0106]

[0107] That is, when |e(k)| ≤ ε, β is 1 and PID control is used; when |e(k)| > ε, β is 0 and PD control is used.

[0108] Step S302: Determine the real-time erection cylinder stroke speed of the launch vehicle based on the real-time erection angle.

[0109] In one embodiment, the stroke speed of the erecting cylinder can be calculated based on the principle of obtaining the erecting control parameters described above, so as to obtain the real-time stroke speed of the erecting cylinder of the launch vehicle.

[0110] Step S303: Perform PID control based on the real-time stroke speed of the lifting cylinder at the current moment and the ideal stroke speed of the lifting cylinder to obtain the ideal proportional directional valve opening and the ideal hydraulic oil flow rate of the lifting cylinder. The proportional directional valve opening and the hydraulic oil flow rate of the lifting cylinder are used to control the stroke speed of the lifting cylinder.

[0111] Before performing PID control based on the real-time lifting cylinder stroke speed and the ideal lifting cylinder stroke speed, the following steps are included: Calculating the difference between the real-time lifting cylinder stroke speed and the ideal lifting cylinder stroke speed to obtain an lifting cylinder stroke speed error value; if the lifting cylinder stroke speed error value is less than a preset lifting cylinder stroke speed error threshold, then PID control is determined to be performed based on the real-time lifting cylinder stroke speed and the ideal lifting cylinder stroke speed; if the cylinder stroke speed error value is greater than or equal to the lifting cylinder stroke speed error threshold, then PD control is determined to be performed based on the real-time lifting cylinder stroke speed and the ideal lifting cylinder stroke speed. The principle is the same as the principle of PID or PD control based on the real-time lifting angle and the corresponding optimal lifting angle, and will not be repeated here.

[0112] Exemplary, such as Figure 7 As shown, after the angle sensor acquires the real-time erection angle, the optimal erection angle at the corresponding moment and the real-time erection angle are used as the input to PID control, the stroke speed of the erection cylinder is used as the control variable, and the output is used as the ideal stroke speed of the erection cylinder. Then, the speed calculation module calculates the real-time stroke speed of the erection cylinder of the launch vehicle based on the acquired real-time erection angle and filters the calculated real-time stroke speed. Next, the real-time stroke speed and the ideal stroke speed of the erection cylinder are used as the input to PID control, the opening degree of the proportional directional valve and the hydraulic oil flow rate of the erection cylinder are used as the control variables, and the output is used as the ideal opening degree of the proportional directional valve and the ideal hydraulic oil flow rate of the erection cylinder.

[0113] Step S304: Control the proportional directional valve opening to the ideal opening degree and control the hydraulic oil flow rate of the erection cylinder to the ideal flow rate. By controlling the proportional directional valve opening to the ideal opening degree and the hydraulic oil flow rate of the erection cylinder to the ideal flow rate, the erection control of the launch vehicle can be in an ideal state.

[0114] In one embodiment, such as Figure 8As shown, the launch vehicle erection control method in this embodiment specifically includes the following steps: After the launch vehicle's power supply equipment starts normally, the control system starts; the ambient temperature and the hydraulic oil temperature of the launch vehicle's erection cylinder are detected to determine the ambient temperature range; based on the temperature range, the optimal erection control parameters are selected; the real-time erection angle is collected, and the control error is calculated; it is determined whether the error exceeds the threshold. If it does not exceed the threshold, the integral term of the control parameter is not set to zero, and PID control is performed; if it exceeds the threshold, the integral term of the control parameter is set to zero, and PD control is performed; the controller outputs the control proportional directional valve opening; the erection actuator performs the erection movement according to the control. The launch vehicle erection control method of this application realizes the selection of the optimal control action based on the external environment and the launch vehicle's own state, and performs environmental interactive adaptive intelligent control of the launch vehicle's erection, effectively ensuring the speed, accuracy, stability, and safety of the launch vehicle's erection.

[0115] like Figure 9 As shown in the figure, this application embodiment also provides an erection control system for a launch vehicle, the system comprising:

[0116] The calculation module is used to determine the optimal erection control parameters of the launch vehicle based on environmental information and the launch vehicle's own status information;

[0117] The acquisition module is used to acquire the real-time motion parameters of the launch vehicle when the launch vehicle is controlled to be erected according to the optimal erection control parameters;

[0118] The control module is used to perform PID control on the erection of the launch vehicle based on the real-time action parameters and the optimal erection control parameters.

[0119] The determining module is further configured to:

[0120] Based on the ambient temperature and the hydraulic oil temperature of the erection cylinder of the launch vehicle, the curves showing the changes of the optimal erection angle, the optimal stroke speed of the erection cylinder, the optimal opening degree of the proportional directional valve, and the optimal hydraulic oil flow rate of the erection cylinder over time are determined.

[0121] The acquisition module is further configured to:

[0122] When the launch vehicle is raised according to the optimal raising control parameters, the real-time raising angle of the launch vehicle is obtained.

[0123] The control module is further used for:

[0124] PID control is performed based on the real-time erection angle and the corresponding optimal erection angle to obtain the ideal erection cylinder stroke speed, wherein the erection cylinder stroke is used to control the erection angle of the launch vehicle.

[0125] The real-time erection cylinder stroke speed of the launch vehicle is determined based on the real-time erection angle.

[0126] PID control is performed based on the real-time stroke speed of the erecting cylinder and the ideal stroke speed of the erecting cylinder to obtain the ideal proportional directional valve opening and the ideal hydraulic oil flow rate of the erecting cylinder. The proportional directional valve opening and the hydraulic oil flow rate of the erecting cylinder are used to control the stroke speed of the erecting cylinder.

[0127] Control the opening degree of the proportional directional valve to reach the ideal opening degree, and control the hydraulic oil flow of the erecting cylinder to reach the ideal flow rate.

[0128] The control module is further used for:

[0129] The difference between the current real-time erection angle and the corresponding optimal erection angle is used to obtain the erection angle error value.

[0130] If the absolute value of the erection angle error is less than the preset erection angle error threshold, then PID control is determined based on the real-time erection angle at the current moment and the corresponding optimal erection angle.

[0131] If the absolute value of the erection angle error is greater than or equal to the erection angle error threshold, then PD control is determined based on the real-time erection angle at the current moment and the corresponding optimal erection angle.

[0132] The control module is further used for:

[0133] The difference between the current real-time lifting cylinder stroke speed and the ideal lifting cylinder stroke speed is used to obtain the lifting cylinder stroke speed error value.

[0134] If the error value of the lifting cylinder stroke speed is less than the preset lifting cylinder stroke speed error threshold, then PID control is determined based on the real-time lifting cylinder stroke speed at the current moment and the ideal lifting cylinder stroke speed.

[0135] If the error value of the hydraulic cylinder stroke speed is greater than or equal to the error threshold of the lifting hydraulic cylinder stroke speed, then PD control is determined based on the real-time lifting hydraulic cylinder stroke speed at the current moment and the ideal lifting hydraulic cylinder stroke speed.

[0136] The calculation module is further used for:

[0137] The maximum stroke speed of the erecting cylinder of the launch vehicle is determined based on the maximum value of the hydraulic pressure of the erecting cylinder, the maximum value of the hydraulic oil flow of the erecting cylinder, and the safety impact limit value of the launch vehicle.

[0138] The optimal lifting cylinder stroke speed is less than or equal to the maximum value of the preset ratio of the lifting cylinder stroke speed.

[0139] It is worth noting that the hardware system of the launch vehicle in this embodiment consists of an erection hydraulic system, a control system, and a power supply system. The erection hydraulic system converts the chassis engine power into hydraulic power output to drive the launch vehicle's erection actuator to complete the missile erection function.

[0140] The erection hydraulic system of the launch vehicle includes: a hydraulic pump, a main hydraulic valve group, an erection arm valve group, an erection cylinder, a hydraulic oil tank, a small valve block, hydraulic accessories, and hydraulic pipelines. The output pressure of the hydraulic pump acts on the pump variable mechanism, thereby making the pump output flow rate consistent with the opening of the proportional flow valve. During the movement of the erection mechanism, the pump outputs the same flow rate as the movement of the erection actuator. The system has no overflow loss, and with a constant speed regulating valve opening, the movement speed of the actuator is constant.

[0141] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the above-described device and its modules and units can be referred to the corresponding processes in the foregoing embodiments, and will not be repeated here.

[0142] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0143] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A launch vehicle's erecting control method, characterized by, Includes the following steps: Based on environmental information and the launch vehicle's own status information, the optimal erection control parameters for the launch vehicle are determined; When the launch vehicle is erected according to the optimal erection control parameters, the real-time action parameters of the launch vehicle are obtained. The erection of the launch vehicle is controlled by PID based on the real-time action parameters and the optimal erection control parameters. The step of determining the optimal erection control parameters of the launch vehicle based on environmental information and the launch vehicle's own status information includes: Based on the ambient temperature and the oil temperature of the hydraulic oil in the erection cylinder of the launch vehicle, the curves showing the changes of the optimal erection angle, the optimal stroke speed of the erection cylinder, the optimal opening degree of the proportional directional valve, and the optimal hydraulic oil flow rate of the erection cylinder over time are determined. The step of acquiring real-time motion parameters of the launch vehicle when controlling the launch vehicle to be erected according to the optimal erection control parameters includes: When the launch vehicle is raised according to the optimal raising control parameters, the real-time raising angle of the launch vehicle is obtained. The step of performing PID control on the erection of the launch vehicle based on the real-time action parameters and the optimal erection control parameters includes: PID control is performed based on the real-time erection angle and the corresponding optimal erection angle to obtain the ideal erection cylinder stroke speed, wherein the erection cylinder stroke is used to control the erection angle of the launch vehicle. The real-time erection cylinder stroke speed of the launch vehicle is determined based on the real-time erection angle. PID control is performed based on the real-time stroke speed of the erecting cylinder and the ideal stroke speed of the erecting cylinder to obtain the ideal proportional directional valve opening and the ideal hydraulic oil flow rate of the erecting cylinder. The proportional directional valve opening and the hydraulic oil flow rate of the erecting cylinder are used to control the stroke speed of the erecting cylinder. Control the opening degree of the proportional directional valve to reach the ideal opening degree, and control the hydraulic oil flow of the erecting cylinder to reach the ideal flow rate.

2. The erecting control method of a launcher vehicle according to claim 1, characterized by, Before performing PID control based on the current real-time erection angle and the corresponding optimal erection angle, the following steps are also included: The difference between the current real-time erection angle and the corresponding optimal erection angle is used to obtain the erection angle error value. If the absolute value of the erection angle error is less than the preset erection angle error threshold, then PID control is determined based on the real-time erection angle at the current moment and the corresponding optimal erection angle. If the absolute value of the erection angle error is greater than or equal to the erection angle error threshold, then PD control is determined based on the real-time erection angle at the current moment and the corresponding optimal erection angle.

3. The erecting control method of a launcher vehicle according to claim 2, characterized by, Before performing PID control based on the real-time lifting cylinder stroke speed and the ideal lifting cylinder stroke speed, the following steps are also included: The difference between the current real-time lifting cylinder stroke speed and the ideal lifting cylinder stroke speed is used to obtain the lifting cylinder stroke speed error value. If the error value of the lifting cylinder stroke speed is less than the preset lifting cylinder stroke speed error threshold, then PID control is determined based on the real-time lifting cylinder stroke speed at the current moment and the ideal lifting cylinder stroke speed. If the error value of the hydraulic cylinder stroke speed is greater than or equal to the error threshold of the lifting hydraulic cylinder stroke speed, then PD control is determined based on the real-time lifting hydraulic cylinder stroke speed at the current moment and the ideal lifting hydraulic cylinder stroke speed.

4. The method for controlling the erection of a launch vehicle according to claim 1, characterized in that: The maximum stroke speed of the erecting cylinder of the launch vehicle is determined based on the maximum value of the hydraulic pressure of the erecting cylinder, the maximum value of the hydraulic oil flow of the erecting cylinder, and the safety impact limit value of the launch vehicle. The optimal lifting cylinder stroke speed is less than or equal to the maximum value of the preset ratio of the lifting cylinder stroke speed.

5. A launch vehicle's erect control system characterized by, include: The calculation module is used to determine the optimal erection control parameters of the launch vehicle based on environmental information and the launch vehicle's own status information; The acquisition module is used to acquire the real-time motion parameters of the launch vehicle when the launch vehicle is controlled to be erected according to the optimal erection control parameters; The control module is used to perform PID control on the erection of the launch vehicle based on the real-time action parameters and the optimal erection control parameters; The calculation module is further used for: Based on the ambient temperature and the oil temperature of the hydraulic oil in the erection cylinder of the launch vehicle, the curves showing the changes of the optimal erection angle, the optimal stroke speed of the erection cylinder, the optimal opening degree of the proportional directional valve, and the optimal hydraulic oil flow rate of the erection cylinder over time are determined. The acquisition module is also used for: When the launch vehicle is raised according to the optimal raising control parameters, the real-time raising angle of the launch vehicle is obtained; The control module is further used for: PID control is performed based on the real-time erection angle and the corresponding optimal erection angle to obtain the ideal erection cylinder stroke speed, wherein the erection cylinder stroke is used to control the erection angle of the launch vehicle. The real-time erection cylinder stroke speed of the launch vehicle is determined based on the real-time erection angle. PID control is performed based on the real-time stroke speed of the erecting cylinder and the ideal stroke speed of the erecting cylinder to obtain the ideal proportional directional valve opening and the ideal hydraulic oil flow rate of the erecting cylinder. The proportional directional valve opening and the hydraulic oil flow rate of the erecting cylinder are used to control the stroke speed of the erecting cylinder. Control the opening degree of the proportional directional valve to reach the ideal opening degree, and control the hydraulic oil flow of the erecting cylinder to reach the ideal flow rate.

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