Erecting control method and device for rocket launched on sea

Abstract

The embodiment of the invention provides an erecting control method and device for a rocket launched on the sea. The erecting control method for the rocket launched on the sea comprises the steps that an erecting frame control command of the rocket is obtained; wherein the erecting frame control command is used for controlling the erecting frame to erect or return to be flat; the initial angle of the erecting frame is obtained; wherein the initial angle is the inclination angle of the erecting frame relative to the sea level before erecting or leveling; based on the erecting frame control command and the initial angle, the erecting frame is controlled to erect or return to be flat; and monitoring the real-time rotation angle of the erecting frame in the erecting or leveling process, and determining that erecting or leveling of the erecting frame is completed when the real-time rotation angle reaches a set angle. By adjusting the marine launching angle, the launching cost is reduced, the launching maneuverability is improved, the launching period is shortened, the method can be suitable for different types of rockets, and high marine launching flexibility, good task adaptability and high launching economical efficiency are achieved without relying on an erecting system on a launching ship.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of rocket launching technology, and in particular to a method for controlling the erection of a rocket launched at sea. Background Art

[0002] Since the Long March 11 carrier rocket successfully completed the "seven satellites in one rocket" sea launch technology test in 2019, China has become the third country in the world to master sea launch technology. Sea launch has the advantages of strong flexibility, good mission adaptability, and launch economy. More and more low-orbit satellites will choose sea launch in the future.

[0003] During the sea launch, the shaking angle is large, which affects the stability of the rocket and the launch pad. Therefore, the handling of the shaking of the sea waves by the sea erection control system during the rocket erection process is an important prerequisite for the success of the sea launch, and in a sense, it also determines the success or failure of the launch mission.

[0004] Currently, the industry uses sea-based launch ships as self-propelled launch ships. The ships are equipped with a dynamic positioning system to increase positioning capabilities and a roll reduction tank to improve stability. They support cold and hot launches of solid rockets and launches of small and medium-sized liquid rockets.

[0005] The launch ship has high manufacturing costs and a long processing cycle. In order to adapt to different rockets, it is necessary to equip the launch ship with integrated launch support equipment. Before launch, the rocket needs to be docked and assembled on board, which is complicated and time-consuming. Traditional vehicle-mounted launch systems have maneuverability, but they lack the stability to perform missions at sea and the ability to resolve the impact of sea conditions. Therefore, a better solution is urgently needed. Summary of the invention

[0006] In view of this, the embodiments of this specification provide a method for controlling the erection of a sea-launched rocket. One or more embodiments of this specification also relate to a device for controlling the erection of a sea-launched rocket, a computing device, a computer-readable storage medium, and a computer program to solve the technical defects existing in the prior art.

[0007] According to a first aspect of an embodiment of this specification, a method for controlling the erection of a rocket launched at sea is provided, the method comprising: Obtaining a rocket erection frame control command; wherein the erection frame control command is used to control the erection frame to be erected or leveled; Obtaining an initial angle of the erection frame; wherein the initial angle is an inclination angle of the erection frame relative to the sea level before erection or leveling; Based on the erection frame control command and the initial angle, the erection frame is controlled to be erected or leveled; Monitor the real-time rotation angle of the erection frame during the erection or leveling process, and determine that the erection or leveling of the erection frame is completed in response to the real-time rotation angle reaching a set angle; wherein the real-time rotation angle is the inclination angle of the erection frame relative to the sea level during the erection or leveling process.

[0008] In a possible implementation, obtaining the initial angle of the erection frame includes: The horizontality of the base of the erection frame is obtained, and the erection angle of the erection frame is compensated based on the horizontality to obtain an initial angle; the horizontality is the inclination angle of the base of the erection frame relative to the sea level before erection or leveling.

[0009] In a possible implementation, based on the erection frame control command and the initial angle, controlling the erection frame to be erected or leveled includes: In response to the erection frame control command, determining a rotation direction of the erection frame; According to the rotation direction and the initial angle, and the correspondence between the preset first control parameter and the initial angle, it is determined to control the erecting frame with the first control parameter corresponding to the initial angle.

[0010] In a possible implementation, the erection frame includes at least two erection cylinders to support the erection frame during the erection or leveling process; Based on the erection frame control command and the initial angle, the erection frame is controlled to be erected or leveled, and also includes: Obtaining the pressure difference between at least two erecting cylinders; When the pressure difference is less than the set pressure threshold, the erection frame is erected or leveled; When the pressure difference is greater than or equal to the set pressure threshold, the erection or leveling of the erection frame is stopped.

[0011] In a possible implementation, monitoring the real-time rotation angle of the erection frame during the erection or leveling process, and determining that the erection or leveling of the erection frame is completed in response to the real-time rotation angle reaching a set angle, includes: Monitor the real-time rotation angle of the erecting frame during the erecting or leveling process, and adjust the second control parameter of the erecting frame according to the real-time rotation angle; wherein the relationship between the rotation angle of the erecting frame and the second control parameter is preset; According to the second control parameter, the real-time rotation angle of the erecting frame is controlled to reach the set angle.

[0012] In a possible implementation, before obtaining the control command for the erection frame of the rocket, the following is also included: Obtaining the roll angle and pitch angle of the erection frame; wherein the roll angle is the swing angle of the erection frame relative to the sea level along the width direction of the launching ship carrying the erection frame, and the pitch angle is the swing angle of the erection frame relative to the sea level along the length direction of the launching ship carrying the erection frame; According to the preset roll angle threshold and pitch angle threshold, when the roll angle is smaller than the roll angle threshold at least twice in a row and / or when the pitch angle is smaller than the pitch angle threshold at least twice in a row, it is determined to execute the erection control command.

[0013] In a possible implementation, before obtaining the control command for the erection frame of the rocket, the following is also included: Determining a roll angle threshold based on a maximum roll angle of the launch ship in the width direction of the launch ship and an installation error of the erection frame in the width direction; The pitch angle threshold is determined based on the maximum pitch angle of the launching ship in the length direction of the launching ship and the installation error of the erection frame in the length direction.

[0014] According to a second aspect of the embodiments of this specification, there is provided an erection control device for launching a rocket at sea, the device comprising: A command acquisition module is configured to acquire a control command of a rocket erection frame; wherein the erection frame control command is used to control the erection frame to be erected or leveled; An angle determination module is configured to obtain an initial angle of the erection frame; wherein the initial angle is an inclination angle of the erection frame relative to the sea level before erection or leveling; An erection control module is configured to control the erection frame to be erected or leveled based on the erection frame control command and the initial angle; The control result module is configured to monitor the real-time rotation angle of the erection frame during the erection or leveling process, and determine that the erection or leveling of the erection frame is completed in response to the real-time rotation angle reaching a set angle; wherein the real-time rotation angle is the inclination angle of the erection frame relative to the sea level during the erection or leveling process.

[0015] According to a third aspect of an embodiment of this specification, a computing device is provided, including: Memory and processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the erection control method for launching a rocket at sea are implemented.

[0016] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, which, when executed by a processor, implement the steps of the above-mentioned method for controlling the erection of a sea-launched rocket.

[0017] According to a fifth aspect of the embodiments of this specification, a computer program is provided, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned method for controlling the erection of a sea-launched rocket.

[0018] The embodiments of this specification provide a method and device for controlling the erection of a rocket launched at sea, wherein the method for controlling the erection of a rocket launched at sea includes: obtaining a control command for the erection frame of the rocket; wherein the erection frame control command is used to control the erection frame to be erected or leveled; obtaining the initial angle of the erection frame; wherein the initial angle is the inclination angle of the erection frame relative to the sea level before being erected or leveled; based on the erection frame control command and the initial angle, controlling the erection frame to be erected or leveled; monitoring the real-time rotation angle of the erection frame during the erection or leveling process, and determining that the erection or leveling of the erection frame is complete in response to the real-time rotation angle reaching a set angle. By adjusting the launch angle at sea, there is no need to rely on the erection system on the launch ship, which reduces the launch cost, improves the launch mobility and shortens the launch cycle. It can be applied to different types of rockets, and achieves strong flexibility in sea launch, good mission adaptability, and high launch economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flow chart of a method for controlling the erection of a sea-launched rocket provided by one embodiment of this specification; Figure 2 It is a communication schematic diagram of a method for controlling the erection of a sea-launched rocket provided by an embodiment of the present specification; Figure 3 It is an overall flow chart of a method for controlling the erection of a sea-launched rocket provided by an embodiment of this specification; Figure 4 It is a structural schematic diagram of an erection control device for launching a rocket at sea provided by one embodiment of the present specification; Figure 5 It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0020] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0021] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0022] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0023] In this specification, a method for controlling the erection of a sea-launched rocket is provided. This specification also relates to an erection control device for a sea-launched rocket, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0024] See also Figure 1 , Figure 1 A flow chart of a method for controlling the erection of a sea-launched rocket provided according to an embodiment of the present specification is shown, and the method specifically includes the following steps.

[0025] Step 101: Obtain a rocket erection frame control command; wherein the erection frame control command is used to control the erection frame to be erected or leveled.

[0026] The erection frame control command may be an erection command or a return command. The erection command is to control the erection frame to be erected, which can be used to erect the erection frame when launching a rocket; the return command is to control the erection frame to be returned to the level, which can be used to return the erection frame to the level when recovering a rocket.

[0027] Before erecting or leveling, it is necessary to judge the current sea surface conditions to ensure that the rocket is launched safely. For details, please refer to the following implementation method.

[0028] In a possible implementation, before obtaining the control command of the erection frame of the rocket, the method further includes: obtaining the roll angle and pitch angle of the erection frame; wherein the roll angle is the swing angle of the erection frame relative to the sea level along the width direction of the launch ship carrying the erection frame, and the pitch angle is the swing angle of the erection frame relative to the sea level along the length direction of the launch ship carrying the erection frame; according to a preset roll angle threshold and pitch angle threshold, when the roll angle is less than the roll angle threshold for at least two consecutive times, and / or when the pitch angle is less than the pitch angle threshold for at least two consecutive times, it is determined to execute the erection frame control command.

[0029] In practical applications, the maximum roll angle of the transport launch vehicle is designed according to the maximum roll and / or pitch angle of the hull under sea conditions and the maximum lateral installation error of the slewing trunnion of the erection arm of the transport launch vehicle. The roll and pitch angles can be obtained by the inclination sensor. When the inclination sensor detects that the roll and / or pitch angle is greater than the requirement, the erection action is not performed.

[0030] Specifically, after the sea launch erection command is issued, the impact of sea waves on the launch angle needs to be reduced, and the roll and / or pitch angles need to be determined to determine whether a safe launch can be performed. The program determines the roll and / or pitch angles multiple times at time intervals. When the determined angles are all less than the requirements, the sea launch process is entered to perform the erection action.

[0031] For example, the roll and / or pitch angles are acquired every minute through the inclination sensor. When the roll and / or pitch angles are less than the requirement for three consecutive times, the sea launch process is entered to perform the erection action.

[0032] It should be noted that the time interval can be set according to the requirements of the launch mission, and the embodiments of this specification do not limit this.

[0033] The embodiments of this specification set up a launch determination procedure. In the case where the roll and / or pitch angles may affect the launch, the erection process is not entered, thereby ensuring safety during the launch process.

[0034] Furthermore, in order to apply the present solution to more hulls, different roll angle thresholds and pitch angle thresholds may be set according to different hulls. For details, refer to the following method.

[0035] In a possible implementation, before obtaining the control command of the rocket's erection frame, it also includes: determining a roll angle threshold based on the maximum roll angle of the launch ship in the width direction of the launch ship and the installation error of the erection frame in the width direction; determining a pitch angle threshold based on the maximum pitch angle of the launch ship in the length direction of the launch ship and the installation error of the erection frame in the length direction.

[0036] In actual applications, since the conditions of the hull are not the same, the maximum roll and / or pitch angles of the transfer launch vehicle can be designed based on the maximum roll and / or pitch angles of the hull under sea conditions and the maximum lateral and / or longitudinal installation errors of the swivel ear shaft of the vertical arm of the transfer launch vehicle.

[0037] The embodiments of this specification set different roll angle thresholds and pitch angle thresholds according to the conditions of different hulls, which can adapt to different hulls and improve the universality of this solution.

[0038] Step 102: Acquire the initial angle of the erection frame; wherein the initial angle is the inclination angle of the erection frame relative to the sea level before erection or leveling.

[0039] After determining the above-mentioned roll angle threshold and pitch angle threshold, and determining the step of executing the erection control command, the launch process can be entered. For details, please refer to the following instructions.

[0040] In a possible implementation, obtaining the initial angle of the erection frame includes: obtaining the horizontality of the base of the erection frame, and compensating the erection angle of the erection frame based on the horizontality to obtain the initial angle; the horizontality is the inclination angle of the base of the erection frame relative to the sea level before erection or leveling.

[0041] In practical applications, the tilt sensor can be used to obtain the tilt angle of the erection frame relative to the sea level, that is, the initial angle, which is the compensation angle of the subsequent erection frame. The tilt sensor can also be a level sensor.

[0042] For example, the sea launch process is entered, the erection action is performed, the inclination angle β of the current erection frame relative to the sea level is obtained, and the angle β is used as the initial angle to perform angle compensation. The specific compensation method includes: if it is an erection process, the erection completed angle is α, then α minus β to obtain the remaining erection angle γ, that is, the erection frame is erected at angle γ.

[0043] It should be noted that during the erection process, the roll and pitch angles detected by the horizontal tilt sensor are only used for monitoring, and the erection action is not interrupted by the increase of the roll angle.

[0044] In the embodiment of the present specification, when erecting, the inclination angle of the current erection frame relative to the sea level is obtained, thereby compensating for the launch angle and improving the accuracy of rocket launch.

[0045] Step 103: Based on the erection frame control command and the initial angle, control the erection frame to erect or return to the horizontal position.

[0046] After the initial angle is obtained, the erection frame can be controlled to be erected or leveled according to the initial angle. For details, please refer to the following description.

[0047] In a possible implementation, based on the erecting frame control command and the initial angle, controlling the erecting frame to be erected or leveled includes: determining a rotation direction of the erecting frame in response to the erecting frame control command; and determining to control the erecting frame with a first control parameter corresponding to the initial angle according to the rotation direction and the initial angle, and a correspondence between a preset first control parameter and the initial angle.

[0048] The preset first control parameter may be a control parameter determined based on the travel curve. The control parameter may be a control parameter for controlling the speed, and the control parameter may also be called a control amount.

[0049] In practical applications, since the sea launch platform is always affected by waves, it is necessary to formulate a speed control curve that conforms to the erection / leveling action at sea. Different stroke curves can be formulated according to the initial angle, so that different stroke curves can be matched according to the initial angle.

[0050] For example, when the initial angle is 0° to 10°, the first stroke curve is used, and the corresponding erection or return speed is determined by the first stroke curve. When the initial angle is 11° to 20°, the second stroke curve is used, and the corresponding erection or return speed is determined by the second stroke curve. When the initial angle is 21° to 30°, the third stroke curve is used, and the corresponding erection or return speed is determined by the third stroke curve. When the angle β is used as the initial angle, it is determined to which interval the angle β belongs, thereby determining the corresponding stroke curve, and determining the corresponding erection or return speed based on the corresponding stroke curve.

[0051] Furthermore, in addition to using the initial angle to formulate different travel curves, a travel switch can also be set, which can monitor the contact state between the rocket and the bracket, and match different travel curves based on the feedback signal of the travel switch on the contact state. See the following description for details.

[0052] When recovering a rocket at sea, due to the influence of wind and waves, in order to prevent the rocket body from detaching from the erection frame and causing an unsafe situation when shaking, this solution also provides a travel switch. The travel switch is used to determine the position of the erection frame when it retracts the rocket body, ensuring that the rocket and the erection arm are in sync.

[0053] For example, when recovering the rocket body, due to strong winds and waves, the rocket body is separated from the erection frame. At this time, the travel switch generates a feedback signal. After receiving the feedback signal from the travel switch, the controller controls the speed of the erection frame to ensure that the rocket body is in contact with the erection frame.

[0054] The embodiment of the present specification determines the contact status between the arrow body and the erection frame through the travel switch, so that the contact status between the arrow body and the erection frame can be monitored, thereby avoiding the occurrence of unsafe accidents and improving safety.

[0055] During the erection or leveling process of the erection frame, this solution can be implemented by the erection cylinder, as shown in the following embodiments.

[0056] In a possible implementation, the erection frame includes at least two erection cylinders to support the erection frame during the erection or leveling process; based on the erection frame control command and the initial angle, the erection frame is controlled to be erected or leveled, and the method further includes: obtaining a pressure difference between the at least two erection cylinders; when the pressure difference is less than a set pressure threshold, the erection frame is erected or leveled; when the pressure difference is greater than or equal to the set pressure threshold, the erection frame is stopped from being erected or leveled.

[0057] In practical applications, obtaining the pressure difference between at least two erecting cylinders can be achieved through a pressure transmitter, and the pressure transmitter is used to detect the pressure of the oil inlet and the oil outlet in the hydraulic circuit during the operation of the erecting frame.

[0058] For example, during the erection process, the pressure transmitter obtains the pressure of the first erection cylinder as P1, and the pressure transmitter obtains the pressure of the second erection cylinder as P2, and the pressure difference is the difference between P1 and P2. It is determined whether the pressure difference is greater than the pressure threshold P0. If it is greater than the pressure threshold P0, the erection process is stopped, thereby ensuring a safe erection process.

[0059] It should be noted that in order to ensure the smooth erection / returning during the erection and return of the erection frame, the movement speed of the erection cylinder changes with the change of the erection frame angle, which can be achieved by controlling the proportional valve and the rotary encoder. The rotary encoder is used to detect the erection angle of the launch vehicle erection frame as a feedback signal for the closed-loop control of the erection angle. The specific control principle is to collect the angle value of the rotary encoder, calculate the corresponding control voltage, and output it to the control proportional valve through D / A to achieve the erection and return control of the erection frame.

[0060] The embodiment of the present specification monitors the pressure value of the erecting cylinders, and stops erecting or leveling the erecting frame when the pressure difference between at least two erecting cylinders is greater than or equal to a set pressure threshold, thereby ensuring the stability of the erecting process and avoiding overturning due to eccentric load.

[0061] Step 104: monitor the real-time rotation angle of the erection frame during the erection or leveling process, and determine that the erection or leveling of the erection frame is complete in response to the real-time rotation angle reaching a set angle; wherein the real-time rotation angle is the inclination angle of the erection frame relative to the sea level during the erection or leveling process.

[0062] In a possible implementation, the real-time rotation angle of the erecting frame during the erecting or leveling process is monitored, and in response to the real-time rotation angle reaching a set angle, it is determined that the erecting or leveling of the erecting frame is completed, including: monitoring the real-time rotation angle of the erecting frame during the erecting or leveling process, and adjusting a second control parameter of the erecting frame according to the real-time rotation angle; wherein the relationship between the rotation angle of the erecting frame and the second control parameter is preset; and according to the second control parameter, controlling the real-time rotation angle of the erecting frame to reach the set angle.

[0063] The second control parameter may be a control parameter for controlling the erection or leveling speed of the erection frame. Accordingly, the second control parameter may be a control parameter determined based on the travel curve.

[0064] For example, when the erection angle is less than or equal to X°, the first control amount is determined by the fourth stroke curve, and erection or leveling is performed based on the first control amount; when the erection angle is less than or equal to Y° and greater than X°, the second control amount is determined by the fourth stroke curve, and erection or leveling is performed based on the second control amount; when the erection angle is greater than Y°, the third control amount is determined by the fourth stroke curve, and erection or leveling is performed based on the third control amount.

[0065] The embodiments of this specification ensure a smooth erection or leveling process by corresponding different control amounts to different angles during the erection process, thereby improving safety.

[0066] Furthermore, in the solution of this specification, a limit switch can also be set to detect the position limit of the erection frame when it is erected and leveled, so as to ensure the safety of the erection or leveling action during the launch process.

[0067] In actual applications, after the rocket completes the erection process, it may not be erected in place due to the error of the rotary encoder. The system of this solution is also equipped with a limit switch, and the feedback data of the limit switch can be obtained to determine whether the erection is in place.

[0068] For example, when the rocket is erected to a set angle, if the rotary encoder feedback indicates that it has not been erected to the correct position, the rocket will be erected until the limit switch generates a feedback signal, and the erection process can be stopped.

[0069] In another example, during the rocket erection process, due to an error in the rotary encoder, the actual erection angle exceeded the set angle. When the actual erection angle of the erection frame reached the set angle, the limit switch was triggered to generate a signal, and the controller determined that the erection was successful through the feedback data of the limit switch.

[0070] It should be noted that, when the rocket returns to the level position, a limit switch can also be set to determine whether it has returned to the level position, thereby ensuring that the rocket body has returned to the level position.

[0071] The embodiment of this specification uses a limit switch to determine whether the rocket is erected or leveled, thereby ensuring the completion of the rocket's erection or leveling, improving control accuracy, and at the same time improving safety.

[0072] In one possible implementation, the system also includes a display control device, which is used to exchange information with various devices to control the erection system and display the status of the control process in real time to solve the problem of the impact of sea conditions on erection during sea launch.

[0073] For example, when launching at sea, the tilt sensor feedback display and control combination of the current launch system's swing angle along the ship's length direction and the absolute horizontal plane, that is, the pitch angle, serves as a reference for operators to determine whether to launch, and can also serve as a reference for the detection angle of the onboard inertial navigation equipment. The tilt sensor feedback display and control combination of the current launch system's swing angle along the ship's width direction and the absolute horizontal plane, that is, the roll angle, serves as a criterion for whether to enter the erection process.

[0074] See also Figure 2 The display control device can be a display control combination, and each component in the erection control system can be connected to the display control device. For example, the display control combination receives pressure sensor information of the oil inlet and oil outlet of the erection cylinder through A / D input, receives information of the rotary encoder through SSI (Synchronous Serial Interface) communication, receives information of the limit switch through K / I input, receives information of the horizontal sensor through RS422, and receives information of the travel switch through K / I input.

[0075] It should be noted that the display control device may also be connected to other devices, and the communication method with the devices may adopt other methods or multiple methods, which are not limited in the embodiments of this specification.

[0076] The embodiments of this specification provide a method and device for controlling the erection of a rocket launched at sea, wherein the method for controlling the erection of a rocket launched at sea includes: obtaining a control command for the erection frame of the rocket; wherein the erection frame control command is used to control the erection frame to be erected or leveled; obtaining the initial angle of the erection frame; wherein the initial angle is the inclination angle of the erection frame relative to the sea level before being erected or leveled; based on the erection frame control command and the initial angle, controlling the erection frame to be erected or leveled; monitoring the real-time rotation angle of the erection frame during the erection or leveling process, and determining that the erection or leveling of the erection frame is complete in response to the real-time rotation angle reaching a set angle. By adjusting the launch angle at sea, there is no need to rely on the erection system on the launch ship, which reduces the launch cost, improves the launch mobility and shortens the launch cycle. It can be applied to different types of rockets, and achieves strong flexibility in sea launch, good mission adaptability, and high launch economy.

[0077] In one embodiment, the overall erection process of this solution is illustrated by example, see Figure 3 Before receiving the erection frame control command, the roll and / or pitch angles are obtained every minute through the inclination sensor. When the roll and / or pitch angles are less than the requirements for three consecutive times, the sea launch process is entered and the erection action is performed. After receiving the erection frame control instruction, step 301 is executed: erecting or leveling the erection frame, firstly, step 302 is executed: the horizontal angle of the base of the erection frame and the erection angle of the erection frame are read, then step 303 is executed: the angle of the erection frame is compensated, and the corresponding stroke curve is determined according to the initial angle obtained after compensation, and the erection is performed based on the stroke curve. In the process of controlling the erection frame, step 304 is executed: when the erection angle is less than or equal to X°, a first control amount is determined, step 305 is executed: erecting or leveling is performed based on the first control amount, step 306 is executed: when the erection angle is less than or equal to Y° and greater than X°, a second control amount is determined, step 307 is executed: erecting or leveling is performed based on the second control amount, when the erection angle is greater than Y°, a third control amount is determined, and step 308 is executed: erecting or leveling is performed based on the third control amount. And in the process of erecting, the pressure of the first erecting cylinder is obtained as P1, and the pressure of the second erecting cylinder is obtained as P2, and step 309 is executed: whether the pressure difference between P1 and P2 is greater than the pressure threshold value P0 is determined, and step 311 is executed: if it is greater than the pressure threshold value P0, the erecting process is stopped, so as to ensure a safe erecting process. Step 310 is executed: if the pressure difference is less than or equal to the pressure threshold value P0, the erecting or leveling is not interrupted. Step 312 is executed: when the erecting reaches 90° or step 313 is executed: when the feedback signal of the limit switch is received, step 314 is executed: when the erecting is in place, when the return reaches 0° or the support has contacted the arrow body, step 314 is executed: when the return is in place.

[0078] The embodiments of this specification adjust the launch angle at sea, eliminating the need to rely on the erection system on the launch ship, thereby reducing launch costs, improving launch mobility and shortening launch cycles. The embodiments of this specification can be applied to different types of rockets, achieving high flexibility in sea launches, good mission adaptability, and high launch economy.

[0079] Corresponding to the above method embodiment, this specification also provides an embodiment of an erection control device for launching a rocket at sea, Figure 4 FIG. 1 is a schematic diagram showing the structure of a control device for erecting a rocket for launching at sea provided by an embodiment of the present specification. Figure 4 As shown, it is applied to the erection control system, the system includes: an inclination sensor and a rotary encoder, and the device includes: The command acquisition module 401 is configured to acquire a control command of the erection frame of the rocket; wherein the erection frame control command is used to control the erection frame to be erected or leveled; Angle determination module 402 is configured to obtain an initial angle of the erection frame; wherein the initial angle is an inclination angle of the erection frame relative to the sea level before erection or leveling; The erection control module 403 is configured to control the erection frame to be erected or leveled based on the erection frame control command and the initial angle; The control result module 404 is configured to monitor the real-time rotation angle of the erection frame during the erection or leveling process, and determine that the erection or leveling of the erection frame is completed in response to the real-time rotation angle reaching a set angle; wherein the real-time rotation angle is the inclination angle of the erection frame relative to the sea level during the erection or leveling process.

[0080] In a possible implementation, the angle determination module 402 is further configured to: The horizontality of the base of the erection frame is obtained, and the erection angle of the erection frame is compensated based on the horizontality to obtain an initial angle; the horizontality is the inclination angle of the base of the erection frame relative to the sea level before erection or leveling.

[0081] In a possible implementation, the erection control module 403 is further configured to: In response to the erection frame control command, determining a rotation direction of the erection frame; According to the rotation direction and the initial angle, and the correspondence between the preset first control parameter and the initial angle, it is determined to control the erecting frame with the first control parameter corresponding to the initial angle.

[0082] In a possible implementation, the erection control module 403 is further configured to: The erection frame includes at least two erection cylinders to support the erection frame during the erection or leveling process; Based on the erection frame control command and the initial angle, the erection frame is controlled to be erected or leveled, and also includes: Obtaining the pressure difference between at least two erecting cylinders; When the pressure difference is less than the set pressure threshold, the erection frame is erected or leveled; When the pressure difference is greater than or equal to the set pressure threshold, the erection or leveling of the erection frame is stopped.

[0083] In a possible implementation, the control result module 404 is further configured to: Monitor the real-time rotation angle of the erecting frame during the erecting or leveling process, and adjust the second control parameter of the erecting frame according to the real-time rotation angle; wherein the relationship between the rotation angle of the erecting frame and the second control parameter is preset; According to the second control parameter, the real-time rotation angle of the erecting frame is controlled to reach the set angle.

[0084] In a possible implementation, the command acquisition module 401 is further configured to: Before obtaining the rocket erection control command, it also includes: Obtaining the roll angle and pitch angle of the erection frame; wherein the roll angle is the swing angle of the erection frame relative to the sea level along the width direction of the launching ship carrying the erection frame, and the pitch angle is the swing angle of the erection frame relative to the sea level along the length direction of the launching ship carrying the erection frame; According to the preset roll angle threshold and pitch angle threshold, when the roll angle is smaller than the roll angle threshold at least twice in a row and / or when the pitch angle is smaller than the pitch angle threshold at least twice in a row, it is determined to execute the erection control command.

[0085] In a possible implementation, the command acquisition module 401 is further configured to: Before obtaining the rocket erection control command, it also includes: Determining a roll angle threshold based on a maximum roll angle of the launch ship in the width direction of the launch ship and an installation error of the erection frame in the width direction; The pitch angle threshold is determined based on the maximum pitch angle of the launching ship in the length direction of the launching ship and the installation error of the erection frame in the length direction.

[0086] The embodiments of this specification provide a method and device for controlling the erection of a sea-launched rocket, wherein the erection control device for the sea-launched rocket includes: obtaining a control command for the erection frame of the rocket; wherein the erection frame control command is used to control the erection frame to be erected or leveled; obtaining an initial angle of the erection frame; wherein the initial angle is the inclination angle of the erection frame relative to the sea level before being erected or leveled; based on the erection frame control command and the initial angle, controlling the erection frame to be erected or leveled; monitoring the real-time rotation angle of the erection frame during the erection or leveling process, and determining that the erection or leveling of the erection frame is complete in response to the real-time rotation angle reaching a set angle. By adjusting the launch angle at sea, there is no need to rely on the erection system on the launch ship, which reduces the launch cost, improves the launch mobility and shortens the launch cycle. It can be applied to different types of rockets, and achieves strong flexibility in sea launch, good mission adaptability, and high launch economy.

[0087] The above is a schematic scheme of a sea-launched rocket erection control device of this embodiment. It should be noted that the technical scheme of the sea-launched rocket erection control device and the technical scheme of the sea-launched rocket erection control method are of the same concept, and the details of the technical scheme of the sea-launched rocket erection control device that are not described in detail can be referred to the description of the technical scheme of the sea-launched rocket erection control method.

[0088] Figure 5 The structure block diagram of a computing device 500 provided according to an embodiment of the present specification is shown. The components of the computing device 500 include but are not limited to a memory 510 and a processor 520. The processor 520 is connected to the memory 510 via a bus 530, and the database 550 is used to store data.

[0089] The computing device 500 also includes an access device 540 that enables the computing device 500 to communicate via one or more networks 560. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 540 may include one or more of any type of network interface (e.g., a network interface card (NIC)) that is wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0090] In one embodiment of the present specification, the above components of the computing device 500 and Figure 5 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 5 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0091] The computing device 500 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 500 may also be a mobile or stationary server.

[0092] Among them, the processor 520 is used to execute the following computer executable instructions, which, when executed by the processor, implement the steps of the above-mentioned sea-launched rocket erection control method. The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned sea-launched rocket erection control method belong to the same concept. For details not described in detail in the technical scheme of the computing device, please refer to the description of the technical scheme of the above-mentioned sea-launched rocket erection control method.

[0093] An embodiment of the present specification also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the above-mentioned method for controlling the erection of a sea-launched rocket.

[0094] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the erection control method of the sea-launched rocket are of the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the erection control method of the sea-launched rocket.

[0095] An embodiment of the present specification also provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned method for controlling the erection of a sea-launched rocket.

[0096] The above is a schematic scheme of a computer program of this embodiment. It should be noted that the technical scheme of the computer program and the technical scheme of the erection control method of the sea-launched rocket are of the same concept, and the details not described in detail in the technical scheme of the computer program can be found in the description of the technical scheme of the erection control method of the sea-launched rocket.

[0097] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0098] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0099] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0100] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0101] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A method for controlling the erection of a rocket launched at sea, characterized in that: include: Obtaining a control command for the erection frame of the rocket; wherein the erection frame control command is used to control the erection frame to be erected or leveled; Acquire the initial angle of the erection frame; wherein the initial angle is the inclination angle of the erection frame relative to the sea level before being erected or leveled; Based on the erection frame control command and the initial angle, control the erection frame to erect or return to the horizontal position; Monitor the real-time rotation angle of the erection frame during the erection or leveling process, and determine that the erection or leveling of the erection frame is completed in response to the real-time rotation angle reaching a set angle; wherein the real-time rotation angle is the inclination angle of the erection frame relative to the sea level during the erection or leveling process.

2. The method according to claim 1, characterized in that The obtaining of the initial angle of the erecting frame comprises: The horizontality of the base of the erecting frame is obtained, and the erecting angle of the erecting frame is compensated based on the horizontality to obtain an initial angle; the horizontality is the inclination angle of the base of the erecting frame relative to the sea level before erection or leveling.

3. The method according to claim 1, characterized in that The step of controlling the erection frame to erect or return to the horizontal position based on the erection frame control command and the initial angle includes: In response to the erection frame control command, determining a rotation direction of the erection frame; According to the rotation direction and the initial angle, and the correspondence between the preset first control parameter and the initial angle, it is determined to control the erecting frame with the first control parameter corresponding to the initial angle.

4. The method according to claim 1, characterized in that The erection frame includes at least two erection cylinders to support the erection frame during the erection or leveling process; The controlling the erection frame to erect or return to the horizontal position based on the erection frame control command and the initial angle further includes: Obtaining the pressure difference between the at least two erecting cylinders; When the pressure difference is less than a set pressure threshold, the erecting frame is erected or leveled; When the pressure difference is greater than or equal to the set pressure threshold, the erecting or leveling of the erecting frame is stopped.

5. The method according to claim 1, characterized in that The monitoring of the real-time rotation angle of the erecting frame during the erection or leveling process, and determining that the erection or leveling of the erecting frame is completed in response to the real-time rotation angle reaching a set angle, includes: Monitoring the real-time rotation angle of the erecting frame during the erecting or leveling process, and adjusting the second control parameter of the erecting frame according to the real-time rotation angle; wherein the relationship between the rotation angle of the erecting frame and the second control parameter is preset; According to the second control parameter, the real-time rotation angle of the erecting frame is controlled to reach the set angle.

6. The method according to claim 1, characterized in that Before obtaining the control command of the erection frame of the rocket, the method further includes: Acquire the roll angle and pitch angle of the erection frame; wherein the roll angle is the swing angle of the erection frame relative to the sea level along the width direction of the launching ship carrying the erection frame, and the pitch angle is the swing angle of the erection frame relative to the sea level along the length direction of the launching ship carrying the erection frame; According to a preset roll angle threshold and pitch angle threshold, when the roll angle is smaller than the roll angle threshold at least twice in a row, and / or when the pitch angle is smaller than the pitch angle threshold at least twice in a row, it is determined to execute the erection frame control command.

7. The method according to claim 6, characterized in that Before obtaining the control command for the erection frame of the rocket, the method further comprises: Determining the roll angle threshold based on the maximum roll angle of the launch ship in the width direction of the launch ship and the installation error of the erection frame in the width direction; The pitch angle threshold is determined based on a maximum pitch angle of the launch ship in the length direction of the launch ship and an installation error of the erection frame in the length direction.

8. A control device for erecting a rocket launched at sea, characterized in that: The device comprises: A command acquisition module is configured to acquire a control command of the erection frame of the rocket; wherein the erection frame control command is used to control the erection frame to be erected or leveled; An angle determination module is configured to obtain an initial angle of the erection frame; wherein the initial angle is an inclination angle of the erection frame relative to the sea level before erection or leveling; an erection control module, configured to control the erection frame to be erected or leveled based on the erection frame control command and the initial angle; The control result module is configured to monitor the real-time rotation angle of the erection frame during the erection or leveling process, and determine that the erection or leveling of the erection frame is completed in response to the real-time rotation angle reaching a set angle; wherein the real-time rotation angle is the inclination angle of the erection frame relative to the sea level during the erection or leveling process.

9. A computing device, characterized in that include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the erection control method for launching a rocket at sea as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the erection control method for sea-launched rockets as described in any one of claims 1 to 7.

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