An erecting device control system and control method

Abstract

The application discloses a vertical lifting device control system and a control method, which adopts a transverse inclination detection device, a vertical angle detection device, an azimuth angle detection device, a central control device, a left driver, a right driver and an electromagnetic reversing valve group. The central control device sends control instructions to the left driver, the right driver and the electromagnetic reversing valve group according to the transverse inclination of the vertical lifting frame assembly, the vertical angle of the vertical lifting frame assembly and the azimuth angle of the rotating assembly after the left rotating oil cylinder and the right rotating oil cylinder drive the rotating assembly to rotate, which are detected by the transverse inclination detection device, the vertical angle detection device and the azimuth angle detection device. The left vertical lifting cylinder, the right vertical lifting cylinder, the rotating oil cylinder and the right rotating oil cylinder are driven to act. The vertical lifting device has high vertical lifting precision, can keep the vertical lifting state for a long time and has strong working condition adaptability.

Description

Technical Field

[0001] This invention relates to the field of erection device technology, and in particular discloses an erection device control system and control method. Background Technology

[0002] Currently, traditional erection devices use two erection cylinders as the power actuators for erection. One end of the cylinder is hinged to the base, and the other end is hinged to the erection frame. The two erection cylinders extend and retract synchronously to drive the erection frame, thereby raising the launcher to the specified angle.

[0003] Traditional erection devices and control schemes have the following shortcomings:

[0004] 1. Low erection accuracy. The erection cylinder operates by controlling the opening and closing of the oil circuit and its direction through a solenoid valve. Due to the long response time of the solenoid valve, hydraulic shock during reversal, and the compressibility of hydraulic oil, erection accuracy is difficult to guarantee.

[0005] 2. Inability to maintain the erected position for extended periods. The cylinder barrel and piston rod of the erecting cylinder are a cylindrical pair with a certain clearance, resulting in internal oil leakage between the rod-side and rodless sides. Additionally, other hydraulic components such as the directional valve also exhibit internal leakage. When under prolonged stress during the erecting process, the erecting cylinder will gradually sink.

[0006] 3. Poor adaptability to working conditions. Traditional erection devices do not have a slewing mechanism, so they cannot make rapid adjustments to the azimuth angle.

[0007] Therefore, the low erection accuracy, inability to maintain the erection state for a long time, and poor adaptability of existing erection devices are technical problems that urgently need to be solved. Summary of the Invention

[0008] This invention provides a control system and control method for an erection device, aiming to solve the technical problems of low erection accuracy, inability to maintain the erection state for a long time, and poor adaptability to working conditions in existing erection devices.

[0009] One aspect of the present invention relates to a control system for an erecting device, applied in an erecting device. The erecting device includes a base assembly, an erecting frame assembly, a left erecting electric cylinder, a right erecting electric cylinder, a left slewing cylinder, a right slewing cylinder, and a slewing assembly. The slewing assembly is mounted on the base assembly, and a slewing pair is formed between the slewing assembly and the base assembly via a slewing support. One end of each of the left and right erecting electric cylinders is hinged to the slewing assembly, and the other end of each is hinged to the erecting frame assembly. The left and right slewing cylinders... One end of each cylinder is hinged to the slewing assembly, and the other ends of the left and right slewing cylinders are hinged to the base assembly. The end of the erecting frame assembly is hinged to the slewing assembly and the rear hinge point. The left and right erecting electric cylinders drive the erecting frame assembly to perform the erecting action, and the left and right slewing cylinders drive the slewing assembly to perform the slewing action. The erecting device control system includes a lateral tilt angle detection device, an erection angle detection device, an azimuth angle detection device, a central control device, a left drive, a right drive, and an electromagnetic reversing valve group.

[0010] Lateral tilt angle detection device, used to detect the lateral tilt angle of the erector assembly;

[0011] The erection angle detection device is used to detect the erection angle of the erection frame assembly;

[0012] An azimuth angle detection device is used to detect the azimuth angle after the left and right slewing cylinders drive the slewing assembly to rotate.

[0013] The central control unit is connected to the lateral tilt angle detection device, the erection angle detection device, the azimuth angle detection device, the left drive, the right drive, and the solenoid directional valve group, respectively. It is used to send control commands to the left drive, the right drive, and the solenoid directional valve group based on the lateral tilt angle of the erecting frame assembly, the erection angle of the erecting frame assembly, and the azimuth angle after the left and right slewing cylinders drive the slewing assembly to rotate, based on the lateral tilt angle detection device, the erection angle detection device, and the azimuth angle detection device.

[0014] The left drive unit is connected to the central control unit and the left vertical electric cylinder respectively, and is used to receive control commands sent by the central control unit and drive the left vertical electric cylinder to move.

[0015] The right drive unit is connected to the central control unit and the right vertical cylinder respectively, and is used to receive control commands sent by the central control unit and drive the right vertical cylinder to move.

[0016] The electromagnetic directional valve assembly is connected to the central control unit, the left rotary cylinder, and the right rotary cylinder respectively. It is used to receive control commands sent by the central control unit and drive the left rotary cylinder and the right rotary cylinder to move.

[0017] Furthermore, the erection device control system includes a first proportional electromagnetic coil and a second proportional electromagnetic coil. The first proportional electromagnetic coil is connected to the central control device and the left slewing cylinder respectively, and is used to control the left slewing cylinder to move under the control of the central control device. The second proportional electromagnetic coil is connected to the central control device and the right slewing cylinder respectively, and is used to control the right slewing cylinder to move under the control of the central control device.

[0018] Furthermore, the central control unit includes a central controller, model EPEC3724.

[0019] Furthermore, the control terminals of both the first and second proportional electromagnetic coils are connected to the PWM output port of the central controller.

[0020] Furthermore, the lateral tilt detection device, the vertical tilt detection device, and the azimuth detection device are all connected to the CAN port of the central controller via the CAN bus.

[0021] Furthermore, the erection device control system also includes a left motor driver, a right motor driver, a left electric cylinder, and a right electric cylinder. The left motor driver is connected to the central controller and the left electric cylinder respectively, and is used to receive control commands sent by the central controller to drive the left electric cylinder to move. The right motor driver is connected to the central controller and the right electric cylinder respectively, and is used to receive control commands sent by the central controller to drive the right electric cylinder to move.

[0022] Another aspect of the present invention relates to a method for controlling an erecting device, applied in the aforementioned erecting device control system. The method for controlling the erecting device includes the following steps:

[0023] The central controller performs a self-check of the local area network status;

[0024] The central controller determines whether the self-test status is normal.

[0025] If the self-test status is detected as normal, then determine whether to perform the erection action;

[0026] If an erection action is required, determine whether the feedback value from the lateral tilt monitoring device is within the control range.

[0027] If the feedback value is within the control range, the central controller will drive the left and right vertical electric cylinders to extend by controlling the left electric cylinder controller and the right electric cylinder controller, respectively.

[0028] The central controller determines whether the preset vertical angle value has been reached.

[0029] If the preset starting angle is detected, a rotation action will be performed;

[0030] The central controller determines whether to perform a left turn maneuver.

[0031] If a leftward slewing action is detected, oil is supplied to the rod chamber of the left slewing cylinder and oil is supplied to the rodless chamber of the right slewing cylinder.

[0032] Determine whether the rotation has reached the specified azimuth angle;

[0033] The action ends when it is detected that the target azimuth has been reached.

[0034] Furthermore, after the central controller determines whether the self-test status is normal, it also includes:

[0035] If a self-test status error is detected, the control node will be restarted until the self-test status returns to normal.

[0036] Furthermore, if an erection action is required, the step of determining whether the feedback value from the lateral tilt monitoring device is within the control range also includes:

[0037] The central controller performs synchronous leveling of the electric cylinders based on the feedback signal from the lateral tilt monitoring device.

[0038] Furthermore, if an erection action is required, the step of determining whether the feedback value from the lateral tilt monitoring device is within the control range also includes:

[0039] If it is determined that a leftward slewing action is not required, then control the oil supply to the rod chamber of the right slewing cylinder and the rodless chamber of the left slewing cylinder.

[0040] Determine whether the rotation has reached the specified azimuth angle;

[0041] The action ends when it is detected that the target azimuth has been reached.

[0042] The beneficial effects achieved by this invention are as follows:

[0043] This invention provides a control system and method for an erecting device. It employs a lateral tilt angle detection device, an erection angle detection device, an azimuth angle detection device, a central control device, a left actuator, a right actuator, and an electromagnetic reversing valve group. The central control device sends control commands to the left actuator, right actuator, and electromagnetic reversing valve group based on the lateral tilt angle of the erecting frame assembly, the erection angle of the erecting frame assembly, and the azimuth angle after the left and right slewing cylinders drive the slewing assembly to rotate, thereby driving the left and right erecting electric cylinders, the slewing cylinder, and the right slewing cylinder to operate. The erecting device control system and method provided by this invention offer the following advantages: 1. High erection accuracy. By using electric cylinders instead of the original erecting cylinders, problems such as low erection accuracy caused by uncertainties such as hydraulic compressibility and electromagnetic valve reversing impact are avoided. Furthermore, the solution provided by this invention employs closed-loop control for each actuator, significantly improving control accuracy and operational efficiency; 2. The erected state can be maintained for extended periods. In the erected and extended state, the electric cylinder bears the impact load transmitted by the erecting frame, avoiding the gradual sinking of the erecting cylinder caused by internal oil leakage in hydraulic components such as oil cylinders and solenoid valves; 3. Strong adaptability to working conditions. By controlling the sliding device, the requirement for rapid landing of the catapult is met, thereby releasing the impact of the catapult carrier on the erecting device at the moment of launch. At the same time, by controlling the slewing mechanism, the azimuth angle of the erecting device can be quickly adjusted to improve work efficiency. Attached Figure Description

[0044] Figure 1 This is a three-dimensional structural diagram of an embodiment of the erecting device provided by the present invention;

[0045] Figure 2 A functional block diagram of an embodiment of the erection device control system provided by the present invention;

[0046] Figure 3 This is a flowchart illustrating an embodiment of the erection device control system provided by the present invention.

[0047] Figure 4 This is a schematic diagram of the initial state of an embodiment of the erecting device provided by the present invention;

[0048] Figure 5 A schematic diagram of the left-turning action of an embodiment of the erecting device provided by the present invention;

[0049] Figure 6 A schematic diagram of the right-turning action of an embodiment of the erecting device provided by the present invention;

[0050] Figure 7 A schematic diagram of the erection and extension operation of an embodiment of the erection device provided by the present invention;

[0051] Figure 8A flowchart illustrating an embodiment of the erection device control method provided by the present invention;

[0052] Figure 9 A synchronous dimension relationship diagram of an embodiment of the erecting device provided by the present invention;

[0053] Figure 10 A flowchart illustrating an embodiment of the rotation control method for the erecting device provided by the present invention;

[0054] Figure 11 A schematic diagram showing the leftward rotation and retraction of the erection device provided by the present invention;

[0055] Figure 12 A schematic diagram illustrating the right-turn extension and contraction changes of the erection device provided by the present invention;

[0056] Figure 13 The electrical system control diagram of the erection device provided by the present invention.

[0057] Explanation of icon numbers:

[0058] 101. Base assembly; 102. Erection frame assembly; 103. Left erection electric cylinder; 104. Right erection electric cylinder; 105. Left slewing cylinder; 106. Right slewing cylinder; 107. Slewing assembly; 10. Lateral tilt angle detection device; 20. Erection angle detection device; 30. Azimuth angle detection device; 40. Central control device; 50. Left driver; 60. Right driver; 70. Electromagnetic reversing valve assembly; 91. Left motor driver; 92. Right motor driver; 93. Left electric cylinder; 94. Right electric cylinder. Detailed Implementation

[0059] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0060] like Figure 1 and Figure 2As shown, the first embodiment of the present invention proposes a control system for an erecting device, which is applied to an erecting device. The erecting device includes a base assembly 101, an erecting frame assembly 102, a left erecting electric cylinder 103, a right erecting electric cylinder 104, a left slewing cylinder 105, a right slewing cylinder 106, and a slewing assembly 107. The slewing assembly 107 is mounted on the base assembly 101, and a slewing pair is formed between the slewing assembly 107 and the base assembly 101 through a slewing support. One end of the left erecting electric cylinder 103 and the right erecting electric cylinder 104 are respectively hinged to the slewing assembly 107, and the other end of the left erecting electric cylinder 103 and the right erecting electric cylinder 104 are respectively hinged to the erecting frame assembly 102. One end of the left slewing cylinder 105 and the right slewing cylinder 106 are respectively hinged to the slewing assembly 107. The assembly 107 is hinged together, and the other ends of the left slewing cylinder 105 and the right slewing cylinder 106 are respectively hinged to the base assembly 101; the end of the erecting frame assembly 102 is hinged to the slewing assembly 107 and the rear hinge point; the left erecting electric cylinder 103 and the right erecting electric cylinder 104 drive the erecting frame assembly 102 to perform the erecting action, and the left slewing cylinder 105 and the right slewing cylinder 106 are used to drive the slewing assembly 107 to perform the slewing action. The erecting device control system includes a lateral tilt angle detection device 10, an erection angle detection device 20, an azimuth angle detection device 30, a central control device 40, a left drive 50, a right drive 60, and an electromagnetic reversing valve group 70. Among them, the lateral tilt angle detection device 10 is used to detect the lateral tilt angle of the erecting frame assembly 102; The vertical angle detection device 20 is used to detect the erection angle of the erector assembly 102; the azimuth angle detection device 30 is used to detect the azimuth angle after the left slewing cylinder 105 and the right slewing cylinder 106 drive the slewing assembly 107 to rotate; the central control device 40 is connected to the lateral tilt angle detection device 10, the erection angle detection device 20, the azimuth angle detection device 30, the left drive 50, the right drive 60, and the electromagnetic reversing valve group 70, respectively, and is used to adjust the lateral tilt angle, the erection angle of the erector assembly 102, and the azimuth angle after the left slewing cylinder 105 and the right slewing cylinder 106 drive the slewing assembly 107 to rotate based on the lateral tilt angle detection device 10, the erection angle detection device 20, and the azimuth angle detected by the azimuth angle detection device 10, the erection angle detection device 20, and the azimuth angle detected by the azimuth angle detection device 30, and to... The left drive 50, right drive 60, and solenoid directional valve assembly 70 send control commands. The left drive 50 is connected to the central control device 40 and the left erecting electric cylinder 103, respectively, and is used to receive the control commands sent by the central control device 40 and drive the left erecting electric cylinder 103 to operate. The right drive 60 is connected to the central control device 40 and the right erecting electric cylinder 104, respectively, and is used to receive the control commands sent by the central control device 40 and drive the right erecting electric cylinder 104 to operate. The solenoid directional valve assembly 70 is connected to the central control device 40, the left slewing cylinder 105, and the right slewing cylinder 106, respectively, and is used to receive the control commands sent by the central control device 40 and drive the left slewing cylinder 105 and the right slewing cylinder 106 to operate.In this embodiment, the central control device 40 includes a central controller, which is an EPEC3724.

[0061] In the above structure, please see Figures 1 to 13 The erection device control system provided in this embodiment includes a first proportional electromagnetic coil Y1 / Y2 and a second proportional electromagnetic coil Y3 / Y4. The first proportional electromagnetic coil Y1 / Y2 is connected to the central control device 40 and the left slewing cylinder 105, respectively, and is used to control the operation of the left slewing cylinder 105 under the control of the central control device 40. The second proportional electromagnetic coil Y3 / Y4 is connected to the central control device 40 and the right slewing cylinder 106, respectively, and is used to control the operation of the right slewing cylinder 106 under the control of the central control device 40. Specifically, the control terminals of the first proportional electromagnetic coil Y1 / Y2 and the second proportional electromagnetic coil Y3 / Y4 are all connected to the PWM (Pulse Width Modulation) output port of the central controller. The lateral tilt angle detection device 10, the erection angle detection device 20, and the azimuth angle detection device 30 are all connected to the CAN port of the central controller via the CAN (Controller Area Network) bus. The erection device control system also includes a left motor driver 91, a right motor driver 92, a left electric cylinder 93, and a right electric cylinder 94. The left motor driver 91 is connected to both the central controller and the left electric cylinder 93, and is used to receive control commands from the central controller to drive the left electric cylinder 93 to operate. The right motor driver 92 is connected to both the central controller and the right electric cylinder 94, and is used to receive control commands from the central controller to drive the right electric cylinder 94 to operate. The erection device control system provided in this embodiment has high erection accuracy. By using electric cylinders instead of the original hydraulic cylinders, problems such as low erection accuracy caused by uncertainties such as the compressibility of hydraulic fluid and the impact of solenoid valve reversing are avoided. Control accuracy and operating efficiency are greatly improved. Closed-loop control is adopted for each actuator, resulting in significantly improved control accuracy and operating efficiency. The erected state can be maintained for a long time. In the erected and extended state, the electric cylinder bears the impact load transmitted by the erection frame, avoiding the gradual sinking of the hydraulic cylinder due to internal leakage of hydraulic fluid in hydraulic components such as hydraulic cylinders and solenoid valves. It has strong adaptability to working conditions. By controlling the sliding mechanism, the rapid landing of the catapult is achieved, thus mitigating the impact of the catapult carrier on the erecting device at the moment of launch. Simultaneously, by controlling the slewing mechanism, the azimuth angle of the erecting device can be quickly adjusted to improve work efficiency.

[0062] like Figures 1 to 12 As shown, the present invention provides a control method for an erecting device, which is applied in the above-mentioned control system for an erecting device. The flowchart of the control method is as follows. Figure 3 As shown. For better understanding Figure 3 Please refer to the flowchart of the control method for the erection device. Figure 4 , Figure 5 , Figure 6 , Figure 7 Diagram of each action state. The control method for the erection device includes the following steps:

[0063] Step 100: The central controller performs a self-check on the status of the local area network.

[0064] Step 200: The central controller determines whether the self-test status is normal.

[0065] Step 300: If the self-test status is detected as normal, determine whether to perform the erection action.

[0066] Step 400: If an erection action is required, determine whether the feedback value of the lateral tilt angle monitoring device is within the control range.

[0067] Step 500: If the feedback value is within the control range, the central controller drives the left and right vertical electric cylinders to extend by controlling the left electric cylinder controller and the right electric cylinder controller, respectively.

[0068] Step 600: The central controller determines whether the preset value of the vertical angle has been reached.

[0069] Step 700: If the preset value of the starting angle is detected, a rotation action is performed.

[0070] Step 800: The central controller determines whether to perform a left turn.

[0071] Step 900: If it is detected that a left turn is required, control the rod chamber of the left turn cylinder to receive oil and the rodless chamber of the right turn cylinder to receive oil.

[0072] Step 1000: Determine whether the rotation has reached the specified azimuth angle.

[0073] Step 1100: If it is detected that the target azimuth has been reached, the action ends.

[0074] Further, please see Figures 1 to 12 The erection device control method provided in this embodiment further includes the following after step 200:

[0075] Step 200A: If a self-test status error is detected, restart the control node until the self-test status is normal.

[0076] If a self-test status error is detected, the control node will be restarted to perform a self-test on the local area network status until the self-test status is normal.

[0077] Preferably, see Figures 1 to 12 The erection device control method provided in this embodiment further includes the following after step 400:

[0078] Step 400A: The central controller performs synchronous leveling of the electric cylinders based on the feedback signal from the lateral tilt angle monitoring device.

[0079] Further, please see Figures 1 to 12 The erection device control method provided in this embodiment further includes the following after step 800:

[0080] Step 810: If it is detected that a leftward slewing action is not required, control the oil supply to the rod chamber of the right slewing cylinder and the rodless chamber of the left slewing cylinder.

[0081] Step 820: Determine whether the rotation has reached the specified azimuth angle.

[0082] Step 830: If it is detected that the target azimuth angle has been reached, the action ends.

[0083] The erection device control method provided in this embodiment offers high erection accuracy. By replacing the original hydraulic erection cylinder with an electric cylinder, it avoids problems such as low erection accuracy caused by uncertainties in hydraulic fluid compressibility and solenoid valve reversing impact. Simultaneously, closed-loop control is adopted for each actuator, significantly improving control accuracy and operational efficiency; the erected state can be maintained for extended periods. In the erected and extended state, the electric cylinder bears the impact load transmitted from the erection frame, avoiding the gradual sinking of the hydraulic cylinder due to internal fluid leakage in hydraulic components such as the hydraulic cylinder and solenoid valve; it also exhibits strong adaptability to various working conditions. The sliding device is controlled to meet the requirement of rapid landing of the catapult, thus releasing the impact of the catapult carrier on the erection device at the moment of launch. Furthermore, by controlling the slewing mechanism, the azimuth angle of the erection device can be quickly adjusted to improve work efficiency.

[0084] like Figures 1 to 13 The working principle of the erection device control system and control method provided in this embodiment is as follows:

[0085] This embodiment provides a control system for an erecting device, the structural diagram of which is shown in Figure 2. A lateral tilt angle detection device is used to detect the lateral tilt angle of the erecting frame assembly 102 to prevent motion jamming caused by asynchronous driving of the left erecting electric cylinder 103 and the right erecting electric cylinder 104. An erecting angle detection device 20 is used to detect the erecting angle of the erecting frame assembly 102 in real time to improve the accuracy of the erecting device. An azimuth angle detection device 30 is used to detect the azimuth angle after the left slewing cylinder 105 and the right slewing cylinder 106 drive the slewing assembly 107. The central controller sends control commands to the left driver 50, the right driver 60, and the electromagnetic reversing valve group 70. The left driver 50, the right driver 60, and the electromagnetic reversing valve group 70 receive the control commands and respectively drive the left erecting electric cylinder 103, the right erecting electric cylinder 104, each slewing cylinder, and the sliding cylinder. The lateral tilt angle detection device 10, the vertical angle detection device 20, and the azimuth angle detection device 30 feed back the detected values ​​to the central controller. The central controller calculates and processes the information and then controls the left drive 50, the right drive 60, and the electromagnetic reversing valve group 70. All actuators adopt closed-loop control, resulting in high action accuracy.

[0086] To further explain Figure 3 The aforementioned erection device control method provides a synchronous action control method for the erection device, the flowchart of which is shown below. Figure 9 As shown. After entering the synchronization control program, the lateral tilt angle detection device performs tilt angle detection to obtain the current lateral tilt angle value α. Based on the trigonometric function relationship between the lateral tilt angle value α and the width L of the erecting lateral hinge point, ΔS can be obtained, i.e., ΔS = L * tan|α|, as shown. Figure 9 As shown. The extension displacement values ​​of the left-starting vertical electric cylinder are S1 and the right-starting vertical electric cylinder are S2. When the extension displacement value of the left-starting vertical electric cylinder S1 is greater than that of the right-starting vertical electric cylinder S2, then ΔS=L*tan|α|=S1-S2. The left-starting vertical electric cylinder extends at the reference speed Vs, and the right-starting vertical electric cylinder extends at the speed Vβ, where Vβ=Vs(1+β), and β is the speed ratio coefficient used to adjust the synchronization time of the vertical electric cylinders. When the extension displacement value of the vertical electric cylinder S2 is greater than that of the left-starting vertical electric cylinder S1, then ΔS=L*tan|α|=S2-S1. The right-starting vertical electric cylinder extends at the reference speed Vs, and the left-starting vertical electric cylinder extends at the speed Vβ. When the synchronous adjustment is controlled within the set threshold △Sz, i.e., the lateral tilt angle |α|≤arctan(△Sz / L), the time t taken for the displacement difference △S of the erecting electric cylinder to decrease to △Sz can be obtained as t=(△S-△Sz) / (β*Vs). When the displacement difference of the erecting electric cylinder is less than the set threshold △Sz, the synchronous adjustment action ends; otherwise, the program loop begins.

[0087] To further explain Figure 3 The aforementioned erection device control method provides a method for controlling the rotation of the erection device, the flowchart of which is shown below. Figure 10As shown. After entering the slewing control program, the azimuth angle detection device 30 detects the current azimuth angle, obtains the current azimuth angle value Z, and then calculates the extension / retraction change ΔL1 of the left slewing cylinder and the extension / retraction change ΔL2 of the right slewing cylinder based on the current azimuth angle value and the target azimuth angle Zs. When performing the left slewing action, as... Figure 11 As shown, the initial extension / retraction length of the right slewing cylinder is L11, and that of the left slewing cylinder is L21. When rotating to the target azimuth angle, the initial extension / retraction lengths of the right slewing cylinder are L12 and those of the left slewing cylinder are L22. Therefore, the extension / retraction change of the left slewing cylinder is ΔL1 = L12 - L11, and the extension / retraction change of the right slewing cylinder is ΔL2 = L21 - L22. The speed ratio coefficient of the slewing cylinder is taken as η = ΔL2 / ΔL1. Setting the speed of the left slewing cylinder as the reference speed Vz, the speed of the right slewing cylinder is Vr = Vz(1 + η). The adjustment time is:

[0088] t=△L2 / (Vz(1+η)) (1)

[0089] In formula (1), t is the adjustment time, △L2 is the extension and retraction of the right rotary cylinder, and η is the speed ratio coefficient of the rotary cylinder.

[0090] like Figure 12 As shown, from the trigonometric function relationships, we know that:

[0091] Θ1=arccos(((L3) 2 +(L21)2-(L11) 2 ) / (2*L3*L21)) (2)

[0092] Θ2=arccos(((L3) 2 +(L22) 2 -(L12) 2 ) / (2*L3*L22)) (3)

[0093] In formulas (2) and (3), during the left turn, Θ1 is the angle between the axis of the left turn cylinder and the line connecting the center of the hinge point of the left and right turn cylinders at the initial position, Θ2 is the angle between the axis of the left turn cylinder and the line connecting the center of the hinge point of the left and right turn cylinders after the left turn, L11 is the initial extension / retraction length of the right turn cylinder, L3 is the center distance between the hinge points of the left and right turn cylinders, L21 is the initial extension / retraction length of the left turn cylinder, L22 is the extension / retraction length of the left turn cylinder after the left turn, and L12 is the extension / retraction length of the right turn cylinder after the left turn.

[0094] The change in azimuth angle is ΔZ = Θ2 - Θ1. When ΔZ is less than the azimuth angle adjustment threshold, the azimuth angle adjustment action ends; otherwise, the azimuth angle adjustment program loop begins.

[0095] When performing a right turn, such as Figure 12 As shown, the initial extension / retraction length of the right rotary cylinder is L11, and the initial extension / retraction length of the left rotary cylinder is L21. When rotating to the target azimuth angle, the extension / retraction length of the right rotary cylinder is L13, and the extension / retraction length of the left rotary cylinder is L23. Therefore, the extension / retraction change of the left rotary cylinder is ΔL1 = L13 - L11, and the extension / retraction change of the right rotary cylinder is ΔL2 = L21 - L23. The rotary cylinder speed ratio coefficient η is taken as ΔL2 / ΔL1. Setting the speed of the right rotary cylinder as the reference speed Vz, the speed of the left rotary cylinder is Vr = Vz(1 + η). The adjustment time is:

[0096] t=△L1 / / (Vz(1+η)) (4)

[0097] In formula (4), t is the adjustment time, △L1 is the extension and retraction of the left rotary cylinder, and η is the speed ratio coefficient of the rotary cylinder.

[0098] like Figure 13 As shown, from the trigonometric function relationships, we know that:

[0099] Θ1=arccos(((L3) 2 +(L21) 2 -(L11) 2 ) / (2*L3*L21)) (5)

[0100] Θ3=arccos(((L3) 2 +(L23) 2 -(L13) 2 ) / (2*L3*L23)) (6)

[0101] In formulas (5) and (6), during the right turn, Θ1 is the angle between the axis of the left turn cylinder and the line connecting the center of the hinge point of the left and right turn cylinders at the initial position, Θ3 is the angle between the axis of the right turn cylinder and the line connecting the center of the hinge point of the left and right turn cylinders after the right turn, L3 is the center distance between the hinge points of the left and right turn cylinders, L21 is the initial extension / retraction length of the left turn cylinder, L23 is the extension / retraction length of the left turn cylinder after the right turn, L11 is the initial extension / retraction length of the right turn cylinder, and L13 is the extension / retraction length of the right turn cylinder after the right turn.

[0102] The change in azimuth angle is ΔZ = Θ1 - Θ3. When ΔZ is less than the azimuth angle adjustment threshold, the azimuth angle adjustment action ends; otherwise, the azimuth angle adjustment program loop begins.

[0103] To further explain Figure 3 The present invention provides a control diagram of the electrical system of the erecting device, as described in the erecting device control method. Figure 13 As shown.

[0104] like Figure 13 As shown, the first proportional electromagnetic coil Y1 / Y2 is used to control the left slewing cylinder 105, and the second proportional electromagnetic coil Y3 / Y4 is used to control the right slewing cylinder 106. The control terminals of each proportional electromagnetic coil are connected to the PWM output port of the central controller. The azimuth angle detection device 30, the erection angle detection device 20, and the lateral tilt angle detection device 10 are connected to the CAN1 port of the central controller via the CAN bus. The XM2.5 and XM2.6 of the central controller send displacement and direction control commands for the left electric cylinder position to the left motor driver 91, respectively. At the same time, the left motor driver 91 is connected to the (A+ / A-, B+ / B-) ports of the left electric cylinder 93 through two sets of (A+ / A-, B+ / B-) ports to drive the left electric cylinder 93 to move. The central controller's XM2.18 and XM2.19 send displacement and direction control commands for the right electric cylinder position to the right motor driver 92, respectively. At the same time, the right motor driver 92 connects to the right electric cylinder 94's (A+ / A-, B+ / B-) ports through two sets of (A+ / A-, B+ / B-) ports to drive the right electric cylinder 94 to move.

[0105] Compared with the prior art, the erection device control system and control method provided in this embodiment have the following beneficial effects:

[0106] 1. High lifting accuracy. The use of an electric cylinder instead of the original hydraulic lifting cylinder avoids problems such as low lifting accuracy caused by uncertainties in hydraulic compressibility and solenoid valve switching impact. Furthermore, the solution provided in this embodiment employs closed-loop control for all actuators, significantly improving control accuracy and operational efficiency.

[0107] 2. The erected position can be maintained for a long time. In the erected and extended position, the electric cylinder bears the impact load transmitted by the erecting frame, avoiding the gradual sinking of the erecting cylinder caused by internal leakage of oil in hydraulic components such as the hydraulic cylinder and solenoid valve.

[0108] 3. High adaptability to working conditions. The sliding mechanism is controlled to meet the requirement of rapid landing of the catapult, thus mitigating the impact of the catapult carrier on the erecting device at the moment of launch. Simultaneously, the azimuth angle of the erecting device can be quickly adjusted by controlling the slewing mechanism, thereby improving work efficiency.

[0109] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if these modifications and modifications of the invention fall within the scope of the claims and their equivalents, the invention is also intended to include these modifications and modifications.

Claims

1. A control system for an erecting device, applied in an erecting device, characterized in that, The erecting device includes a base assembly (101), an erecting frame assembly (102), a left erecting electric cylinder (103), a right erecting electric cylinder (104), a left slewing cylinder (105), a right slewing cylinder (106), and a slewing assembly (107). The slewing assembly (107) is mounted on the base assembly (101), and the slewing assembly (107) and the base assembly (101) form a slewing pair through a slewing support. One end of the left erecting electric cylinder (103) and the right erecting electric cylinder (104) are respectively hinged to the slewing assembly (107), and the other end of the left erecting electric cylinder (103) and the right erecting electric cylinder (104) are respectively hinged to the erecting frame assembly (102). One end of the left slewing cylinder (105) and the right slewing cylinder (106) are respectively hinged to the slewing assembly. (107) Hinged together, the other ends of the left rotary cylinder (105) and the right rotary cylinder (106) are respectively hinged to the base assembly (101); the end of the erecting frame assembly (102) is hinged to the rotary assembly (107) and the rear hinge point; the left erecting electric cylinder (103) and the right erecting electric cylinder (104) drive the erecting frame assembly (102) to perform the erecting action, the left rotary cylinder (105) and the right rotary cylinder (106) are used to drive the rotary assembly (107) to perform the rotation, the erecting device control system includes a lateral tilt angle detection device (10), an erection angle detection device (20), an azimuth angle detection device (30), a central control device (40), a left driver (50), a right driver (60) and an electromagnetic reversing valve group (70), wherein, The lateral tilt angle detection device (10) is used to detect the lateral tilt angle α of the erecting frame assembly (102); The erection angle detection device (20) is used to detect the erection angle of the erection frame assembly (102); The azimuth angle detection device (30) is used to detect the azimuth angle after the left rotary cylinder (105) and the right rotary cylinder (106) drive the rotary assembly 107 to rotate. The central control device (40) is connected to the lateral tilt angle detection device (10), the erection angle detection device (20), the azimuth angle detection device (30), the left driver (50), the right driver (60), and the electromagnetic reversing valve group (70) respectively. It is used to send control commands to the left driver (50), the right driver (60), and the electromagnetic reversing valve group (70) based on the lateral tilt angle of the erection frame assembly (102), the erection angle detection device (20), and the azimuth angle detection device (30) of the erection frame assembly (102), the erection angle of the erection frame assembly (102), and the azimuth angle after the left slewing cylinder (105) and the right slewing cylinder (106) drive the slewing assembly 107 to rotate. The left actuator (50) is connected to the central control device (40) and the left vertical electric cylinder (103) respectively, and is used to receive the control command sent by the central control device (40) and drive the left vertical electric cylinder (103) to move. The right actuator (60) is connected to the central control device (40) and the right vertical electric cylinder (104) respectively, and is used to receive the control command sent by the central control device (40) and drive the right vertical electric cylinder (104) to move. Based on the lateral tilt angle α detected by the lateral tilt angle detection device (10), the displacement difference ΔS between the left vertical electric cylinder (103) and the right vertical electric cylinder (104) is calculated according to the formula ΔS=L·tan|α|, where L is the width of the horizontal hinge point of the vertical frame assembly; when the extension displacement of one electric cylinder is greater than that of the other electric cylinder, the one with the larger extension displacement extends at the reference speed Vs, and the one with the smaller extension displacement extends at the speed Vβ=Vs(1+β), where β is the speed ratio coefficient, until ΔS is less than the preset threshold ΔSz, at which point the synchronous leveling ends; The electromagnetic reversing valve group (70) is connected to the central control device (40), the left rotary cylinder (105) and the right rotary cylinder (106) respectively, and is used to receive the control command sent by the central control device (40) and drive the left rotary cylinder (105) and the right rotary cylinder (106) to move. During the slewing motion, the central control device (40) calculates the extension and retraction changes of the left slewing cylinder ΔL1 and the right slewing cylinder ΔL2 based on the current azimuth angle Z and the target azimuth angle Zs detected by the azimuth angle detection device (30), takes the slewing cylinder speed ratio coefficient η = ΔL2 / ΔL1, sets the speed of the slewing cylinder corresponding to the slewing direction as the reference speed Vz, and then the speed of the other slewing cylinder is Vr = Vz(1+η), calculates the azimuth angle change ΔZ, and ends the slewing adjustment when ΔZ is less than the azimuth angle adjustment threshold.

2. The erection device control system as described in claim 1, characterized in that, The erection device control system includes a first proportional electromagnetic coil and a second proportional electromagnetic coil. The first proportional electromagnetic coil is connected to the central control device (40) and the left slewing cylinder (105) respectively, and is used to control the left slewing cylinder (105) to move under the control of the central control device (40). The second proportional electromagnetic coil is connected to the central control device (40) and the right slewing cylinder (106) respectively, and is used to control the right slewing cylinder (106) to move under the control of the central control device (40).

3. The erection device control system as described in claim 2, characterized in that, The central control device (40) includes a central controller, the model of which is EPEC3724.

4. The erection device control system as described in claim 3, characterized in that, The control terminals of both the first and second proportional electromagnetic coils are connected to the PWM output port of the central controller.

5. The erection device control system as described in claim 3, characterized in that, The lateral tilt detection device (10), the vertical tilt detection device (20), and the azimuth detection device (30) are all connected to the CAN port of the central controller via the CAN bus.

6. The erection device control system as described in claim 3, characterized in that, The erection device control system also includes a left motor driver (91), a right motor driver (92), a left electric cylinder (93), and a right electric cylinder (94). The left motor driver (91) is connected to the central controller and the left electric cylinder (93) respectively, and is used to receive control commands sent by the central controller and drive the left electric cylinder (93) to move. The right motor driver (92) is connected to the central controller and the right electric cylinder (94) respectively, and is used to receive control commands sent by the central controller and drive the right electric cylinder (94) to move.

7. A method for controlling an erecting device, applied in the control system of an erecting device as described in any one of claims 1 to 6, characterized in that, The method for controlling the erection device includes the following steps: The central controller performs a self-check of the local area network status; The central controller determines whether the self-test status is normal. If the self-test status is detected as normal, then determine whether to perform the erection action; If an erection action is required, determine whether the feedback value from the lateral tilt angle monitoring device is within the control threshold. If the feedback value is within the control threshold, the central controller will drive the left and right vertical electric cylinders to extend by controlling the left electric cylinder controller and the right electric cylinder controller, respectively. The central controller determines whether the preset vertical angle value has been reached. If the preset starting angle is detected, a rotation action will be performed; The central controller determines whether to perform a left turn maneuver. If a leftward slewing action is detected, oil is supplied to the rod chamber of the left slewing cylinder and oil is supplied to the rodless chamber of the right slewing cylinder. Determine whether the rotation has reached the specified azimuth angle; The action ends when it is detected that the target azimuth has been reached.

8. The erection device control method as described in claim 7, characterized in that, After the central controller determines whether the self-test status is normal, the following steps are also included: If an abnormal self-test status is detected, the control node will be restarted until the self-test status returns to normal.

9. The erection device control method as described in claim 7, characterized in that, The step of determining whether the feedback value of the lateral tilt angle monitoring device is within the control threshold when an erection action is required also includes: The central controller performs synchronous leveling of the electric cylinders based on the feedback signal from the lateral tilt monitoring device.

10. The erection device control method as described in claim 7, characterized in that, After the central controller determines whether to perform a left turn, the following steps are also included: If it is determined that a leftward slewing action is not required, then control the oil supply to the rod chamber of the right slewing cylinder and the rodless chamber of the left slewing cylinder. Determine whether the rotation has reached the specified azimuth angle; The action ends when it is detected that the target azimuth has been reached.

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