Erecting control system for rocket launched on sea

Abstract

The embodiment of the invention discloses an erecting control system for a rocket launched on the sea. The erecting control system for the rocket launched on the sea comprises a control module, a tilt angle sensor, a rotary encoder and an erecting frame. The first input end of the control module is in communication connection with the output end of the tilt angle sensor; the second input end of the control module is in communication connection with the output end of the rotary encoder; the input end of the tilt angle sensor is in communication connection with the erecting frame; the input end of the rotary encoder is in communication connection with the erecting frame; the marine launching angle is adjusted through the tilt angle sensor and the rotary encoder, relying on a launching ship is not needed, the launching cost is reduced, the launching maneuverability is improved, the launching period is shortened, the device can be suitable for different types of rockets, and high marine launching flexibility, good task adaptability and high launching economical efficiency are achieved.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of rocket launching technology, and in particular to an erection control system for launching rockets at sea. Background Art

[0002] Sea-launched rockets have the advantages of strong flexibility, good mission adaptability, and launch economy. In the future, more and more low-orbit satellites will choose to be launched at sea.

[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 an erection control system for launching rockets at sea to solve the technical defects existing in the prior art.

[0007] According to a first aspect of an embodiment of this specification, there is provided an erection control system for launching a rocket at sea, comprising: Control module, inclination sensor, rotary encoder and erection frame; The first input terminal of the control module is communicatively connected with the output terminal of the tilt sensor; The second input terminal of the control module is communicatively connected to the output terminal of the rotary encoder; The input end of the tilt sensor is communicatively connected with the erection frame; The input end of the rotary encoder is communicatively connected with the erection frame; The tilt sensor is configured to obtain a relative angle to the sea level and send the relative angle to the control module; wherein the relative angle to the sea level is a tilt angle of the erection frame relative to the sea level; A rotary encoder is configured to obtain a real-time rotation angle of the erection frame and send the real-time rotation angle to the control module; The control module is configured to obtain a control command of the erection frame of the rocket, control the erection frame to be erected or leveled based on the erection frame control command and the relative angle to the sea level, and determine that the erection frame has been erected or leveled in response to a real-time rotation angle reaching a set angle; wherein the real-time rotation angle is an inclination angle of the erection frame relative to the sea level during the erection or leveling process.

[0008] In a possible implementation, it also includes a vertical cylinder; The erecting cylinder is fixedly connected to the erecting frame; The erecting cylinder is configured to lift and lower the erecting frame according to a control signal from the control module.

[0009] In a possible implementation, a proportional valve is also included; The input end of the proportional valve is communicatively connected with the output end of the control module; The output end of the proportional valve is in communication connection with the vertical lifting cylinder; The proportional valve is configured to receive a control signal from the control module and control the erection cylinder to lift the erection frame based on the control signal.

[0010] In a possible implementation, a pressure sensor is also included; The input end of the pressure sensor is communicatively connected with the erection frame; The output end of the pressure sensor is communicatively connected to the third input end of the control module; The pressure sensor is configured to obtain the pressure difference of the lifting cylinder and send the pressure difference to the control module.

[0011] In a possible implementation, a limit switch is also included; The input end of the limit switch is in communication connection with the erection frame; The output end of the limit switch is communicatively connected to the fourth input end of the control module; The limit switch is configured to generate a feedback signal when the arrow body is erected and send the feedback signal to the control module.

[0012] In a possible implementation, it also includes a travel switch; The input end of the travel switch is in communication connection with the erection frame; The output end of the travel switch is communicatively connected with the fifth input end of the control module; The travel switch is configured to obtain the contact state between the arrow body and the erection frame and send the contact state to the control module.

[0013] In a possible implementation, the control module is further configured to: 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.

[0014] In a possible implementation, the control module is further configured to: 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.

[0015] In a possible implementation, the control module is further configured to: 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.

[0016] In a possible implementation, the control module is further configured to: According to the real-time rotation angle, the control parameters of the erection frame are adjusted; wherein the relationship between the rotation angle of the erection frame and the control parameters is preset; According to the control parameters, the real-time rotation angle of the erection frame is controlled to reach the set angle.

[0017] The embodiments of the present specification disclose a control system for erecting a rocket launched at sea, which includes a control module, an inclination sensor, a rotary encoder and an erection frame; a first input end of the control module is communicatively connected to an output end of the inclination sensor; a second input end of the control module is communicatively connected to an output end of the rotary encoder; an input end of the inclination sensor is communicatively connected to the erection frame; an input end of the rotary encoder is communicatively connected to the erection frame; by adjusting the launch angle at sea through the inclination sensor and the rotary encoder, there is no need to rely on a launch ship, thus reducing the launch cost, improving the launch mobility and shortening the launch cycle, and being applicable to different types of rockets, achieving strong flexibility in sea launch, good mission adaptability and high launch economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1It is a structural schematic diagram of a sea-launched rocket erection control system provided by an embodiment of the present specification. DETAILED DESCRIPTION

[0019] 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.

[0020] 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.

[0021] 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".

[0022] In this specification, a control system for erecting and controlling a rocket for launching at sea is provided, which is described in detail in the following embodiments.

[0023] See also Figure 1 , Figure 1 A flow chart of a sea-launched rocket erection control system provided according to an embodiment of the present specification is shown, which specifically includes the following steps.

[0024] According to a first aspect of an embodiment of the present specification, there is provided a control system for erecting a rocket launched at sea, comprising: a control module, a tilt sensor, a rotary encoder and an erecting frame; a first input end of the control module is communicatively connected to an output end of the tilt sensor; a second input end of the control module is communicatively connected to an output end of the rotary encoder; an input end of the tilt sensor is communicatively connected to the erecting frame; an input end of the rotary encoder is communicatively connected to the erecting frame; the tilt sensor is configured to obtain a relative angle to sea level and send the relative angle to the control module; wherein the relative angle to sea level is an inclination angle of the erecting frame relative to sea level; the rotary encoder is configured to obtain a real-time rotation angle of the erecting frame and send the real-time rotation angle to the control module; the control module is configured to obtain a control command for the erecting frame of the rocket, control the erecting frame to be erected or leveled based on the erecting frame control command and the relative angle to sea level, and determine that the erection or leveling of the erecting frame is completed in response to the real-time rotation angle reaching a set angle; wherein the real-time rotation angle is an inclination angle of the erecting frame relative to the sea level during the erection or leveling process.

[0025] In practical applications, see Figure 1 The control module may be a display and control combination, which includes a display part and a control part, wherein the display part may be a display screen and the control part may be a computer. Each component in the erection control system may be connected to the display and control combination, such as the display and control combination receiving pressure sensor information of the oil inlet and oil outlet of the erection cylinder through A / D input, receiving information of the rotary encoder through SSI (Synchronous Serial Interface) communication, receiving information of the limit switch through K / I input, receiving information of the level sensor through RS422, and receiving information of the travel switch through K / I input.

[0026] Furthermore, the angle value can be obtained through the inclination sensor, which is the angle relative to the sea level, and is the inclination angle of the erection frame relative to the sea level. It is used to determine whether the erection process can be entered or to correct the angle value during the erection process. 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.

[0027] The embodiments of this specification adjust the sea launch angle through inclination sensors and rotary encoders without relying on launch ships, which reduces launch costs, improves launch mobility and shortens launch cycles. It can be applied to different types of rockets, achieving strong flexibility in sea launches, good mission adaptability, and high launch economy.

[0028] It should be noted that the control part may be other devices with computing functions, and the embodiments of this specification do not limit the specific implementation of the control module.

[0029] In a possible implementation, it further includes a vertical erection cylinder; the vertical erection cylinder is fixedly connected to the vertical erection frame; the vertical erection cylinder is configured to lift and lower the vertical erection frame according to a control signal of the control module.

[0030] The erecting cylinder may be an erecting oil cylinder.

[0031] In practical applications, during the process of the erecting frame being erected or leveled, the erecting frame can be supported by the erecting cylinder, so that the erecting frame can be raised or lowered according to the control signal of the control module.

[0032] Specifically, the erecting cylinder may include a first erecting cylinder and a second erecting cylinder, and the two erecting cylinders perform telescopic motion, so that the erecting frame is erected or returned to the horizontal position. Of course, more erecting cylinders may be provided to support the erecting frame, and this embodiment does not specifically limit this.

[0033] The embodiments of the present specification can realize the erection or leveling of the erection frame by setting the erection cylinder, and ensure the stability during the erection or leveling process.

[0034] In a possible implementation, a pressure sensor is further included; the input end of the pressure sensor is in communication connection with the erecting frame; the output end of the pressure sensor is in communication connection with the third input end of the control module; the pressure sensor is configured to obtain the pressure difference of the erecting cylinder and send the pressure difference to the control module. Accordingly, the control module is further configured to: when the pressure difference is less than a set pressure threshold, erect or level the erecting frame; when the pressure difference is greater than or equal to the set pressure threshold, stop erecting or leveling the erecting frame.

[0035] In practical applications, the pressure sensor is used to detect the oil inlet and outlet pressures in the hydraulic circuit during the operation of the erection cylinder, thereby ensuring the stability of the erection process and avoiding overturning due to eccentric loading.

[0036] For example, during the erection process, the pressure sensor obtains the pressure of the first erection cylinder as P1, and the pressure sensor 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.

[0037] In the embodiment of the present specification, the pressure difference between the first erection cylinder and the second erection cylinder is monitored by a pressure sensor, so as to determine whether the cylinder is in a safe state during the phase or the leveling process.

[0038] In a possible implementation, it also includes a proportional valve; the input end of the proportional valve is communicatively connected to the output end of the control module; the output end of the proportional valve is communicatively connected to the erecting cylinder; the proportional valve is configured to receive a control signal from the control module, and control the erecting cylinder to lift the erecting frame based on the control signal.

[0039] In practical applications, in order to ensure the smooth erection or return of the erection frame, the movement speed of the erection cylinder changes with the angle of the erection frame, so the voltage value of the proportional valve flow is also a changing value. The control principle is to collect the angle value of the rotary encoder, calculate the corresponding control voltage, and control the proportional valve through the D / A output to achieve the erection or return control of the erection arm.

[0040] The embodiment of the present specification collects the angle value of the rotary encoder to control the voltage value output by the proportional valve to achieve the erection or leveling of the erection arm, thereby ensuring higher control accuracy of the erection frame and making the erection or leveling process smoother.

[0041] In a possible implementation, it also includes a limit switch; the input end of the limit switch is communicatively connected to the erection frame; the output end of the limit switch is communicatively connected to the fourth input end of the control module; the limit switch is configured to generate a feedback signal when the arrow body is erected, and send the feedback signal to the control module.

[0042] 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.

[0043] 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.

[0044] In another example, during the rocket erection process, due to an error in the rotary encoder, the actual erection angle exceeds the set angle. When the actual erection angle of the erection frame has reached the set angle, the limit switch is triggered to generate a signal, and the control module determines that the erection is successful through the feedback data of the limit switch.

[0045] 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.

[0046] 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.

[0047] In a possible implementation, it also includes a travel switch; the input end of the travel switch is communicatively connected to the erection frame; the output end of the travel switch is communicatively connected to the fifth input end of the control module; the travel switch is configured to obtain the contact state between the arrow body and the erection frame, and send the contact state to the control module.

[0048] In actual applications, 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 is synchronized with the erection arm.

[0049] 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 control module controls the speed of the erection frame to ensure that the rocket body is in contact with the erection frame.

[0050] 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.

[0051] Furthermore, in a possible implementation, the control module is further configured to: adjust a control parameter of the erecting frame according to a real-time rotation angle; wherein the relationship between the rotation angle of the erecting frame and the control parameter is preset; and control the real-time rotation angle of the erecting frame to reach a set angle according to the control parameter.

[0052] In practical applications, since the sea-launched platform is always affected by waves, it is necessary to formulate a speed control curve that conforms to the erection / leveling action at sea.

[0053] Specifically, when the rocket contact state is in contact, the control module determines to control the erection frame through the rotary encoder based on the first stroke curve; when the rocket contact state is not in contact, the control module controls the erection frame through the rotary encoder and the second speed parameter based on the second stroke curve.

[0054] The embodiment of the specification sets the stroke curve and cooperates with the feedback signal of the stroke switch to control the erection of the erection frame with different stroke curves in different contact states between the arrow body and the erection frame, thereby improving safety.

[0055] In a possible implementation, the control module is further configured to: obtain a roll angle and a pitch angle of the erection frame; wherein the roll angle is a swaying 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 a swaying angle of the erection frame relative to the sea level along the length direction of the launching ship carrying the erection frame; and according to a preset roll angle threshold and a preset pitch angle threshold, determine to execute the erection frame control command 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.

[0056] 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. When the horizontal inclination sensor detects that the roll and / or pitch angle is greater than the requirement, the erection action is not performed.

[0057] 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.

[0058] 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.

[0059] In a possible implementation, the control module is further configured to: determine 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; determine a pitch angle threshold 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.

[0060] 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.

[0061] 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.

[0062] Based on the description of the above embodiments, the present solution is described below through an overall embodiment.

[0063] In one embodiment, before erection, the maximum roll and / or pitch angle of the transport and launch vehicle can be designed based on the maximum roll and / or pitch angle of the hull under sea conditions and taking into account the maximum lateral and / or longitudinal installation error of the rotating ear shaft of the erection arm of the transport and launch vehicle.

[0064] Furthermore, the launch personnel can determine the roll angle through the inclination sensor, and then judge whether to enter the erection process based on the roll angle. After the sea launch erection command is issued, the control module uses the inclination sensor to determine the roll angle multiple times at time intervals. When the multiple determined angles are all less than the requirement, the sea launch process is entered and the erection action is performed.

[0065] When erecting, the current tilt angle of the hull relative to the sea level is first obtained through the inclination sensor, and the tilt angle at this time is used as the initial erection angle. The control module performs erection by controlling the rotary encoder based on the initial erection angle.

[0066] During the erection process, the pressure information of the erection cylinder, the feedback information of the travel switch and the feedback information of the limit switch are monitored. When the pressure of the erection cylinder is too large, the erection is stopped; the erection speed is adjusted according to the feedback information of the travel switch; and the erection is completed according to the feedback information of the limit switch.

[0067] The embodiments of the present specification disclose a control system for erecting a rocket launched at sea, which includes a control module, an inclination sensor, a rotary encoder and an erection frame; a first input end of the control module is communicatively connected to an output end of the inclination sensor; a second input end of the control module is communicatively connected to an output end of the rotary encoder; an input end of the inclination sensor is communicatively connected to the erection frame; an input end of the rotary encoder is communicatively connected to the erection frame; by adjusting the launch angle at sea through the inclination sensor and the rotary encoder, there is no need to rely on a launch ship, thus reducing the launch cost, improving the launch mobility and shortening the launch cycle, and being applicable to different types of rockets, achieving strong flexibility in sea launch, good mission adaptability and high launch economy.

[0068] 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.

[0069] 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 sea-launched rocket erection control system, characterized in that: It includes a control module, an inclination sensor, a rotary encoder and an erection frame; The first input end of the control module is communicatively connected with the output end of the tilt sensor; The second input terminal of the control module is communicatively connected to the output terminal of the rotary encoder; The input end of the tilt sensor is communicatively connected with the erection frame; The input end of the rotary encoder is communicatively connected with the erection frame; A tilt sensor configured to obtain a relative angle to the sea level and send the relative angle to the control module; wherein the relative angle to the sea level is a tilt angle of the erection frame relative to the sea level; A rotary encoder configured to obtain a real-time rotation angle of the erecting frame and send the real-time rotation angle to the control module; The control module is configured to obtain a control command of the erection frame of the rocket, control the erection frame to be erected or leveled based on the erection frame control command and the relative angle to the sea level, and determine that the erection frame has been erected or leveled in response to the real-time rotation angle reaching a set angle; wherein the real-time rotation angle is an inclination angle of the erection frame relative to the sea level during the erection or leveling process.

2. The erection control system for launching a rocket at sea according to claim 1, characterized in that: It also includes a vertical cylinder; The erecting cylinder is fixedly connected to the erecting frame; The erecting cylinder is configured to lift and lower the erecting frame according to a control signal of the control module.

3. The erection control system for launching a rocket at sea according to claim 2, characterized in that: It also includes a proportional valve; The input end of the proportional valve is communicatively connected with the output end of the control module; The output end of the proportional valve is in communication connection with the vertical lifting cylinder; The proportional valve is configured to receive a control signal from the control module, and control the erection cylinder to lift and lower the erection frame based on the control signal.

4. The erection control system for launching a rocket at sea according to claim 2, characterized in that: Also included is a pressure sensor; The input end of the pressure sensor is communicatively connected with the erection frame; The output end of the pressure sensor is communicatively connected to the third input end of the control module; The pressure sensor is configured to obtain the pressure difference of the erection cylinder and send the pressure difference to the control module.

5. The erection control system for launching a rocket at sea according to claim 1, characterized in that: Also includes limit switches; The input end of the limit switch is communicatively connected with the erection frame; The output end of the limit switch is communicatively connected to the fourth input end of the control module; The limit switch is configured to generate a feedback signal when the arrow body is erected, and send the feedback signal to the control module.

6. The erection control system for launching a rocket at sea according to claim 1, characterized in that: Also includes a travel switch; The input end of the travel switch is communicatively connected with the erection frame; The output end of the travel switch is communicatively connected to the fifth input end of the control module; The travel switch is configured to obtain the contact state between the arrow body and the erection frame, and send the contact state to the control module.

7. The erection control system for launching a rocket at sea according to claim 1, characterized in that: The control module is further configured to: 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.

8. The erection control system for launching a rocket at sea according to claim 7, characterized in that: The control module is further configured to: 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.

9. The erection control system for launching a rocket at sea according to claim 4, characterized in that: The control module is further configured to: 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.

10. The erection control system for launching a rocket at sea according to claim 1, characterized in that: The control module is further configured to: According to the real-time rotation angle, adjusting the control parameter of the erecting frame; wherein the relationship between the rotation angle of the erecting frame and the control parameter is preset; According to the control parameters, the real-time rotation angle of the erecting frame is controlled to reach the set angle.

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