Hydraulic system and method for controlling erecting in-place stability of rocket

Abstract

The invention provides a hydraulic system and method for controlling the erecting in-place stability of a rocket. The system comprises an erecting oil cylinder used for erecting the rocket, an oil source, a first direction control valve set and a second direction control valve set. The erecting oil cylinder is communicated with an oil source through a first direction control valve group to form a first hydraulic loop; the first hydraulic loop is used for controlling the rocket to quickly erect in the erecting process; the erecting oil cylinder is communicated with the oil source through a second direction control valve group to form a second hydraulic loop; the second hydraulic loop is used for controlling oil return throttling of a reverse cavity of the erecting oil cylinder and controlling a telescopic rod of the erecting oil cylinder to stretch out stably at a low speed; and in the process that the erecting oil cylinder erects the rocket, the first hydraulic loop and the second hydraulic loop are automatically switched. By controlling the flow and pressure of the hydraulic system in the process of erecting the rocket in place, stable and low-speed control operation of the oil cylinder is achieved, and the erecting in-place precision and the erecting stability and reliability of the rocket are improved when the rocket is launched.

Description

Technical Field

[0001] This application relates to the technical field of rocket erection control, and particularly to a hydraulic system and method for controlling the stability of a rocket in the erected position. Background Art

[0002] Currently, most new liquid rockets adopt the "three-level horizontal and one-level vertical" test and launch mode, and the requirements for the stability and reliability of the rocket erection hydraulic system are getting higher and higher. Among them, the stability of rocket erection directly affects the initial angle after the rocket is erected. The accuracy of the rocket's initial attitude poses high requirements for the erection accuracy of the rocket. If the erection accuracy of the rocket is insufficient and there are deviations in the initial pitch angle, yaw angle, and roll angle of the rocket, it will not be able to fly along the preset orbit.

[0003] Therefore, when the rocket is erected in place, ensuring sufficient smoothness and slowness can ensure accurate erection accuracy. Precise erection can ensure that at the moment of rocket launch, the deviation between the axis of the rocket body and the designed launch direction is controlled within a very small range.

[0004] For large erection cylinders, when the rocket erection frame rotates around the return rotation axis to the center of mass position, the component force of gravity along the direction of the cylinder gradually decreases to 0, that is, the cylinder thrust is 0. After passing through the center of mass point, the load on the cylinder (i.e., the tension of the rocket on the cylinder) has a tendency for the cylinder piston to extend upward. Through anti-chamber throttling control, the rocket can reach the preset erection angle smoothly.

[0005] Therefore, at the end state of rocket erection, due to the conversion from positive load to negative load, this stage poses high requirements for the operating speed and stability of the cylinder, directly affecting the accuracy of the rocket in the erected position. Existing erection hydraulic system circuits usually use large-diameter proportional directional valves in parallel with multiple balance valves to achieve large-flow operation because the required flow is relatively large. However, when the large-diameter proportional directional valve is used in low-speed operating conditions such as in the erected position, flow crawling will occur due to flow fluctuations.

[0006] Therefore, the technical problem that needs to be solved urgently at present is: how to provide a hydraulic system and method for controlling the stability of a rocket in the erected position, and by controlling the flow and pressure of the hydraulic system during the process of the rocket being erected in place, achieve smooth and slow control operation of the cylinder, and improve the accuracy of the rocket in the erected position, the smoothness and reliability of rocket erection during rocket launch. Summary of the Invention

[0007] The purpose of this application is to provide a hydraulic system and method for controlling the stability of a rocket in the erected position, and by controlling the flow and pressure of the hydraulic system during the process of the rocket being erected in place, achieve smooth and slow control operation of the cylinder, and improve the accuracy of the rocket in the erected position, the smoothness and reliability of rocket erection.

[0008] To achieve the above object, as the first aspect of the present application, the present application provides a hydraulic system for controlling the stability of a rocket in the erected position, including: an erection oil cylinder for erecting the rocket, an oil source, a first direction control valve group, and a second direction control valve group; the erection oil cylinder is communicated with the oil source through the first direction control valve group to form a first hydraulic circuit; the first hydraulic circuit is used to control the rapid erection of the rocket during the erection process; the erection oil cylinder is communicated with the oil source through the second direction control valve group to form a second hydraulic circuit; the second hydraulic circuit is used to control the throttling of the oil return in the reverse chamber of the erection oil cylinder and control the slow and stable extension of the telescopic rod of the erection oil cylinder; during the process of the erection oil cylinder erecting the rocket, the first hydraulic circuit and the second hydraulic circuit are automatically switched.

[0009] The hydraulic system for controlling the stability of a rocket in the erected position as described above, wherein the first direction control valve group includes a first proportional reversing valve and a first balance valve; the second direction control valve group includes a second proportional reversing valve and a second balance valve.

[0010] The hydraulic system for controlling the stability of a rocket in the erected position as described above, wherein the first proportional reversing valve and the second proportional reversing valve have different diameters; the first balance valve and the second balance valve have different diameters.

[0011] The hydraulic system for controlling the stability of a rocket in the erected position as described above, wherein the diameter of the second proportional reversing valve is smaller than that of the first proportional reversing valve; the diameter of the second balance valve is smaller than that of the first balance valve.

[0012] The hydraulic system for controlling the stability of a rocket in the erected position as described above, wherein the diameter of the first proportional reversing valve is 32 mm, and the diameter of the second proportional reversing valve is 6 mm.

[0013] The hydraulic system for controlling the stability of a rocket in the erected position as described above, wherein the diameter of the first balance valve is 40 mm, and the diameter of the second balance valve is 6 mm.

[0014] The hydraulic system for controlling the stability of a rocket in the erected position as described above, wherein there are two first balance valves, and the diameters of the two first balance valves are the same; there are two second balance valves, and the diameters of the two second balance valves are the same.

[0015] The hydraulic system for controlling the stability of a rocket in the erected position as described above, wherein the oil source is a proportional variable pump.

[0016] As the second aspect of the present application, the present application provides a method for controlling the stability of a rocket in the erected position, which is applied to the hydraulic system for controlling the stability of the rocket in the erected position. The method includes: before the rocket starts to be erected and reaches the center-of-mass point, the first proportional directional valve and the first balance valve of the first hydraulic circuit are turned on to work, controlling the speed and stability of the rocket erection; when the rocket is erected to pass the center-of-mass point, the first proportional directional valve is closed, and the first balance valve performs reverse throttling adjustment on the erection cylinder; when the rocket is erected from passing the center-of-mass point to approaching 90 degrees, the second proportional directional valve and the second balance valve of the second hydraulic circuit work to perform reverse throttling control on the erection cylinder, so that the telescopic rod of the erection cylinder extends out stably at a low speed.

[0017] The beneficial effects achieved by the present application are as follows:

[0018] (1) During the rocket erection process of the present application, by setting proportional directional valves and balance valves with different passage diameters in the first hydraulic circuit and the second hydraulic circuit, and controlling the switching between the first hydraulic circuit and the second hydraulic circuit, the rocket can be erected quickly and the stability of the rocket erection at a low speed can be ensured.

[0019] (2) During the process of the rocket being erected to 90 degrees in the present application, due to the pulling force of the rocket on the erection cylinder, the balance valve with a small passage diameter in the reverse chamber circuit can adjust its opening degree along with the control oil pressure, and through oil return throttling, the low-speed crawling of the erection cylinder can be avoided. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present application. For those skilled in the art, other drawings can also be obtained according to these drawings.

[0021] Figure 1 It is the schematic diagram of the hydraulic circuit of the embodiment of the present application.

[0022] Figure 2 It is the schematic diagram of a hydraulic system for controlling the stability of a rocket in the erected position according to an embodiment of the present application.

[0023] Reference numerals: 1 - erection cylinder; 2 - first direction control valve group; 3 - second direction control valve group; 4 - oil source; 21 - first proportional directional valve; 22 - first balance valve; 31 - second proportional directional valve; 32 - second balance valve. Detailed Embodiments

[0024] Combined with the accompanying drawings in the embodiments of the present application, the technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0025] Embodiment 1

[0026] As Figure 1 and Figure 2 As shown, the present application provides a hydraulic system for controlling the stability of a rocket in the vertical position, including: a vertical cylinder 1 for erecting the rocket, an oil source 4, a first direction control valve group 2, and a second direction control valve group 3; the oil source 4 is a proportional variable pump. The vertical cylinder 1 is connected to the oil source 4 through the first direction control valve group 2 to form a first hydraulic circuit; the first hydraulic circuit is used to control the rapid erection of the rocket during the erection process; the vertical cylinder 1 is connected to the oil source 4 through the second direction control valve group 3 to form a second hydraulic circuit; the second hydraulic circuit is used to control the throttling of the oil return in the reverse chamber of the vertical cylinder 1 and control the slow and stable extension of the telescopic rod of the vertical cylinder 1; during the process of the vertical cylinder 1 erecting the rocket, the first hydraulic circuit and the second hydraulic circuit are automatically switched.

[0027] During the rocket erection process of the present application, the first direction control valve group 2 and the second direction control valve group 3 control the flow rate and pressure of the hydraulic system during the rocket erection to the vertical position, realizing the stable and slow control operation of the vertical cylinder 1 and meeting the erection accuracy required during rocket launch.

[0028] As a specific embodiment of the present application, the oil source 4 is indirectly connected to the vertical cylinder 1 through the first direction control valve group 2 or the second direction control valve group 3. The hydraulic oil provided by the oil source 4 enters the vertical cylinder 4 after being regulated by the first direction control valve group 2 or the second direction control valve group 3, thereby controlling the movement of the vertical cylinder 4 and enabling the rocket to perform the erection operation according to requirements.

[0029] As a specific embodiment of the present application, in the first hydraulic circuit, the high-pressure oil port of the oil source 4 is connected to the high-pressure oil port of the first direction control valve group 2 to provide pressure oil for the system to drive the vertical cylinder 1 to work, and the drain port of the first direction control valve group 2 is connected to the oil source 4 to recycle the excess oil in the system back to the oil source 4.

[0030] As a specific embodiment of the present application, in the second hydraulic circuit, the high-pressure oil port of the oil source 4 is connected to the high-pressure oil port of the second direction control valve group 3 to provide pressure oil for the system to drive the vertical cylinder 1 to work, and the drain port of the second direction control valve group 3 is connected to the oil source 4 to recycle the excess oil in the system back to the oil source 4.

[0031] It can be understood that the first hydraulic circuit and the second hydraulic circuit can work independently of each other without affecting each other.

[0032] As a specific embodiment of the present invention, the erection cylinder 4 includes an oil inlet, an oil return port, a rodless cavity, a rod cavity, a piston and a telescopic rod; the two sides of the piston are respectively a rodless cavity and a rod cavity, the telescopic rod is connected to the piston, the telescopic rod extends out of the rod cavity, the oil inlet is communicated with the rodless cavity, hydraulic oil enters the rodless cavity from the oil inlet, the piston moves towards the rod cavity side, the telescopic rod extends out, and the hydraulic oil in the rod cavity returns to the fuel tank.

[0033] Such as Figure 1 and 2 As shown, the first direction control valve group 2 includes a first proportional reversing valve 21 and a first balance valve 22; the second direction control valve group 3 includes a second proportional reversing valve 31 and a second balance valve 32.

[0034] As a specific embodiment of the present invention, the first hydraulic circuit includes an oil inlet circuit and an oil return circuit; one end of the oil inlet circuit of the first hydraulic circuit is connected to the oil source 4, and the other end is connected to the oil inlet of the erection cylinder 1. One end of the oil return circuit of the first hydraulic circuit is connected to the oil source 4, and the other end is connected to the oil return port of the erection cylinder 1. The second hydraulic circuit includes an oil inlet circuit and an oil return circuit; one end of the oil inlet circuit of the second hydraulic circuit is connected to the oil source 4, and the other end is connected to the oil inlet of the erection cylinder 1. One end of the oil return circuit of the second hydraulic circuit is connected to the oil source 4, and the other end is connected to the oil return port of the erection cylinder 1.

[0035] As a specific embodiment of the present invention, the first proportional reversing valve 21 and the first balance valve 22 are arranged in the oil inlet circuit of the first hydraulic circuit. Before the rocket erection starts to pass through the centroid point, the erection speed and stability are controlled by the first proportional reversing valve 21, and the first balance valve 22 conducts unidirectionally to meet the large-flow and rapid erection during the erection process. After the rocket erection passes through the centroid point, the first proportional reversing valve 21 gradually closes. The first balance valve 22 can prevent the oil in the small cavity of the erection cylinder 1 from quickly draining back, maintaining the stability of the hydraulic system and avoiding the unstable support of the erection cylinder 1 caused by the rapid drainage of the oil.

[0036] As a specific embodiment of the present invention, a second proportional reversing valve 31 and a second balance valve 32 are arranged in the oil inlet circuit of the second hydraulic circuit; a second proportional reversing valve 31 and a second balance valve 32 are arranged in the oil return circuit of the second hydraulic circuit.

[0037] As a specific embodiment of the present invention, the passage diameters of the first proportional direction valve 21 and the second proportional direction valve 31 are different; the passage diameters of the first balance valve 22 and the second balance valve 32 are different. The passage diameter of the second proportional direction valve 31 is smaller than that of the first proportional direction valve 21; the passage diameter of the second balance valve 32 is smaller than that of the first balance valve 22. Preferably, the passage diameter of the first proportional direction valve 21 is 32 mm, and the passage diameter of the second proportional direction valve 31 is 6 mm. The passage diameter of the first balance valve 22 is 40 mm, and the passage diameter of the second balance valve 32 is 6 mm. The flow capacity of the balance valve with a passage diameter of 40 mm is 1300 L / min. The flow capacity of the balance valve with a passage diameter of 6 mm is 50 L / min. Here, the passage diameters of the first proportional direction valve 21, the second proportional direction valve 31, the first balance valve 22, and the second balance valve 32 are not limited.

[0038] As a specific embodiment of the present invention, there are two first balance valves 22, and the passage diameters of the two first balance valves 22 are the same; there are two second balance valves 32, and the passage diameters of the two second balance valves 32 are the same.

[0039] As a specific embodiment of the present invention, from the start of the rocket erection to before passing through the centroid point, the erection speed and erection smoothness of the erection cylinder 1 are controlled by a proportional direction valve with a passage diameter of 32 mm (i.e., the first proportional direction valve 21), and the 40 mm passage diameter balance valve (i.e., the first balance valve 22) conducts unidirectionally to meet the large-flow rapid erection during the rocket erection process. When the rocket erection frame rotates around the return rotation axis to the centroid point position, the component force of gravity along the direction of the erection cylinder 1 gradually decreases to 0, that is, the thrust of the erection cylinder 1 is 0. After the rocket passes through the centroid point, the 32 mm passage diameter first proportional direction valve 21 gradually closes. At this time, the erection cylinder 1 is subjected to a load (i.e., the pulling force of the rocket on the cylinder), and there is a tendency for the oil cylinder piston to extend upward or the telescopic rod to extend upward. The first balance valve 22 can prevent the oil in the small chamber of the erection cylinder 1 from quickly flowing back, and through the reverse throttling control of the first balance valve 22, the rocket can reach the predetermined erection angle smoothly. During the process of the rocket passing through the centroid point to gradually approaching 90 degrees (i.e., the rocket is perpendicular to the ground), only the 6 mm passage diameter proportional direction valve and the 6 mm passage diameter balance valve work, that is, the second proportional direction valve 31 and the second balance valve 32 work. Through the reverse throttling effect of the 6 mm passage diameter balance valve and the reverse chamber oil return throttling, the low-speed and stable extension control of the erection cylinder 1 is realized. At the end of the rocket erection, the erection of the rocket by the erection cylinder 1 is controlled only by the second hydraulic circuit composed of a small passage diameter proportional direction valve and a small passage diameter balance valve.

[0040] It can be understood that the rocket reaching the center-of-mass point during erection means that the rocket rotates around the return rotation axis during the erection process when the center of mass of the rocket is in a specific position. The center of mass is a hypothetical point in physics to which the entire mass of an object can be concentrated. During the rocket erection process, from the start of erection to the position where the line connecting the center of mass and the return rotation axis is perpendicular to the ground, that is, the center-of-mass point. At this position, the component of the gravity along the direction of the erection cylinder 1 gradually decreases to 0, and the thrust of the erection cylinder also becomes 0.

[0041] It can be understood that due to the different structures and mass distributions of rockets, the positions of the center-of-mass points of different rockets are also different. When the rocket reaches the center-of-mass point, it does not form a perpendicular state (an angle of 90 degrees) with the ground, and the rocket still needs to continue to be erected to a perpendicular state with the ground. During the erection process of the rocket from the center-of-mass point to the perpendicular state with the ground, the second proportional directional valve 31 and the second balance valve 32 in the second hydraulic circuit are used to control the reverse throttling of the erection cylinder 1, so that the telescopic rod of the erection cylinder 1 extends out stably at a low speed, ensuring that the rocket is erected smoothly to the predetermined angle.

[0042] Embodiment 2

[0043] The present application provides a method for controlling the stability of the rocket erection in place, which is applied to the hydraulic system for controlling the stability of the rocket erection in place. The method includes:

[0044] Before the rocket starts to be erected until it reaches the center-of-mass point, the first proportional directional valve 21 and the first balance valve 22 in the first hydraulic circuit are turned on to work, controlling the speed and stability of the rocket erection;

[0045] When the rocket is erected to the center-of-mass point, the first proportional directional valve 21 is closed, and the first balance valve 22 performs reverse throttling adjustment on the erection cylinder;

[0046] When the rocket is erected from the center-of-mass point to approaching 90 degrees, the second proportional directional valve 31 and the second balance valve 32 in the second hydraulic circuit work.

[0047] It can be understood that during the rocket erection process, by switching the hydraulic circuits with different diameters, the rocket can be erected quickly and the stability of the rocket's slow erection can be ensured. During the process of the rocket being erected to 90 degrees (i.e., perpendicular to the ground), since the erection cylinder is subjected to the pulling force of the rocket, the small-diameter balance valve in the reverse cavity circuit (i.e., the second hydraulic circuit) can adjust its opening degree along with the control oil pressure, and adjust the opening degree to adjust the flow rate of the fluid. Through the return oil throttling, the low-speed crawling of the erection cylinder is avoided, ensuring the smoothness of the erection of the erection cylinder.

[0048] The beneficial effects achieved by the present application are as follows:

[0049] (1) During the rocket erection process of this application, by setting proportional directional valves and balance valves with different passage diameters in the first hydraulic circuit and the second hydraulic circuit to control the switching between the first hydraulic circuit and the second hydraulic circuit, the rocket can be erected quickly and the stability of the slow rocket erection can be ensured.

[0050] (2) During the process of the rocket being erected to 90 degrees in this application, due to the pulling force of the rocket on the erection cylinder, the balance valve with a small passage diameter in the anti-chamber circuit can adjust its opening degree along with the control oil pressure, and through oil return throttling, the low-speed crawling of the erection cylinder can be avoided.

[0051] In the description of this application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of this application, "a plurality" means two or more unless otherwise specifically defined.

[0052] In the description of this application, the word "for example" is used to mean "serving as an example, illustration, or explanation". Any embodiment described as "for example" in this application is not necessarily construed as being more preferred or having more advantages than other embodiments. The following description is given to enable any person skilled in the art to implement and use the present invention. In the following description, details are set forth for purposes of explanation. It should be understood that those of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in this application.

[0053] The above description is only for the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and changes can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A hydraulic system for controlling the stability of a rocket erection, characterized in that: include: An erection oil cylinder, an oil source, a first directional control valve group and a second directional control valve group for erecting a rocket; The erection oil cylinder is connected to the oil source through the first directional control valve group to form a first hydraulic circuit; the first hydraulic circuit is used to control the rapid erection of the rocket during the erection process; The erecting oil cylinder is connected to the oil source through the second directional control valve group to form a second hydraulic circuit; the second hydraulic circuit is used to control the back-chamber oil return throttling of the erecting oil cylinder to control the telescopic rod of the erecting oil cylinder to extend stably at a low speed; During the process of the erection cylinder erecting the rocket, the first hydraulic circuit and the second hydraulic circuit are automatically switched.

2. The hydraulic system for controlling the stability of a rocket erection according to claim 1, characterized in that: The first directional control valve group includes a first proportional reversing valve and a first balancing valve; The second directional control valve group includes a second proportional reversing valve and a second balancing valve.

3. The hydraulic system for controlling the stability of rocket erection according to claim 2, characterized in that: The first proportional reversing valve and the second proportional reversing valve have different diameters; the first balancing valve and the second balancing valve have different diameters.

4. The hydraulic system for controlling the stability of a rocket erection according to claim 3, characterized in that: The diameter of the second proportional reversing valve is smaller than the diameter of the first proportional reversing valve; The diameter of the second balancing valve is smaller than the diameter of the first balancing valve.

5. The hydraulic system for controlling the stability of a rocket erection according to claim 4, characterized in that: The diameter of the first proportional reversing valve is 32 mm, and the diameter of the second proportional reversing valve is 6 mm.

6. The hydraulic system for controlling the stability of a rocket erection according to claim 4, characterized in that: The diameter of the first balancing valve is 40 mm, and the diameter of the second balancing valve is 6 mm.

7. The hydraulic system for controlling the stability of a rocket erection according to claim 3, characterized in that: The first balancing valves include two, and the second balancing valves include two.

8. The hydraulic system for controlling the stability of a rocket erection according to claim 7, characterized in that: The two first balancing valves have the same diameter; the two second balancing valves have the same diameter.

9. The hydraulic system for controlling the stability of a rocket erection according to claim 1, characterized in that: The oil source is a proportional variable pump.

10. A method for controlling the stability of a rocket erected in place, characterized in that: Applied to the hydraulic system of any one of claims 1 to 9, the method comprises: before the rocket starts to erect and passes through the center of mass, the first proportional reversing valve and the first balancing valve of the first hydraulic circuit are turned on to control the speed and stability of the rocket erection; When the rocket is erected to the point where it passes the center of mass, the first proportional reversing valve is closed, and the first balancing valve performs reverse throttling adjustment on the erection cylinder; When the rocket is erected past the center of mass and approaches 90 degrees, the second proportional reversing valve and the second balancing valve of the second hydraulic circuit work to reverse throttle the erection cylinder so that the telescopic rod of the erection cylinder can be extended at a low speed and stably.

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