Control structure and method for lifting motion of hippocampus model

Abstract

The invention provides a hippocampus type lifting motion control structure and method. The hippocampus type lifting motion control structure comprises a vehicle and an operation platform. The vehicle is in real-time communication connection with the operation platform through wireless data transmission; a rotary table and a fort are sequentially installed above the vehicle from bottom to top, the rotary table is horizontally and rotatably connected with the vehicle, and the fort is vertically connected with the rotary table in a lifting mode. A motor is arranged on the rotary table and is in control connection with a vehicle through a first external relay, a rotating speed sensor and a proximity switch which are in control connection with the vehicle are further installed at a lower gear of the rotary table, and the rotating speed sensor is used for regularly calculating the angle of the rotary table and timing the motor to trigger a gear signal to drive the rotary table to rotate. The proximity switch is used for triggering a zeroing signal to drive the turntable to rotate to an initial position before the turntable rotates; and a gas circuit electromagnetic valve is arranged on the fort and is in control connection with the vehicle through a second external relay. Rotation and lifting of the hippocampus model fort can be accurately controlled, and the operation efficiency and the working stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting control for HIMARS vehicles, and particularly to a control structure and method for the lifting movement of HIMARS vehicles. Background Art

[0002] Turntable rotation and turret lifting refer to the operations in which the turret or gun in military equipment can perform horizontal rotation and vertical lifting during use. These operations are to enable the turret to fire in different directions and angles, improving the flexibility and firing range of shooting.

[0003] Currently, the control of turntable rotation and turret lifting usually adopts a combination of motors and pneumatic solenoid valves. However, the existing control devices have problems such as low control accuracy and complex operations. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: to provide a control structure and method for the lifting movement of HIMARS vehicles, so as to accurately control the rotation and lifting of the turret of HIMARS vehicles, and improve the operation efficiency and working stability.

[0005] To solve the above technical problem, the technical solution adopted by the present invention is: A control structure for the lifting movement of HIMARS vehicles, comprising a vehicle and an operation platform; The vehicle is connected to the operation platform through real-time wireless data transmission for communication; A turntable and a turret are successively installed above the vehicle from bottom to top. The turntable is horizontally rotatably connected to the vehicle, and the turret is vertically liftably connected to the turntable; A motor is provided on the turntable. The motor is connected to the vehicle control through a first external relay. A rotational speed sensor and a proximity switch connected to the vehicle control are also installed at the lower gear of the turntable. The rotational speed sensor is used to calculate the angle of the turntable at regular intervals and trigger a gear signal to the motor to drive the turntable to rotate. The proximity switch is used to trigger a zeroing signal to the motor before the turntable rotates to drive the turntable to rotate to the initial position; A pneumatic solenoid valve is provided on the turret. The pneumatic solenoid valve is connected to the vehicle control through a second external relay.

[0006] To solve the above technical problem, another technical solution adopted by the present invention is: A control method for the lifting movement of HIMARS vehicles, adopting the above control structure for the lifting movement of HIMARS vehicles, comprising the steps of: S1. Establish real-time wireless data transmission communication between the vehicle and the operation platform, and the vehicle receives the CAN control data of the operation platform; S2. After the vehicle executes the self-check control instruction according to the CAN control data and passes, it controls the first external relay to turn on, triggers a zeroing signal to the motor through a proximity switch to drive the turntable to rotate to the initial position, calculates the angle that the turntable needs to rotate through a rotational speed sensor, and triggers a gear signal to the motor to drive the turntable to rotate; S3. After the vehicle detects that the turntable has rotated in place, it controls the first external relay to disconnect and the second external relay to turn on, and drives the lifting of the gun turret through the pneumatic circuit solenoid valve.

[0007] The beneficial effects of the present invention are as follows: A control structure and method for the lifting movement of a HIMARS vehicle model are provided. By establishing a wireless data transmission real-time communication connection between the vehicle and the operation platform, the operation platform remotely controls the vehicle to realize the rotation and lifting control of the HIMARS vehicle model's gun turret. In addition to setting a motor and related external relays at the turntable to turn on under the control of the operation platform to drive the turntable to rotate, a rotational speed sensor and a proximity switch are added, which can accurately calculate the rotation angle of the turntable and can set the initial position (i.e., zero position) of the turntable, thereby realizing precise control of the turntable rotation. At the same time, the gun turret is also precisely controlled to lift and lower in cooperation with related external relays and pneumatic circuit solenoid valves, effectively improving the operation efficiency and working stability as a whole. Description of the Drawings

[0008] Figure 1 It is a schematic diagram of a control structure for the lifting movement of a HIMARS vehicle model in an embodiment of the present invention; Figure 2 It is a main flowchart of a control method for the lifting movement of a HIMARS vehicle model in an embodiment of the present invention; Figure 3 It is a specific flowchart of a control method for the lifting movement of a HIMARS vehicle model in an embodiment of the present invention; Label Description: 1. Operation platform; 2. Vehicle; 3. Turntable; 4. Gun turret. Detailed Embodiment

[0009] To illustrate the technical content, achieved objectives, and effects of the present invention in detail, the following is described in combination with the embodiments and with reference to the drawings.

[0010] Please refer to Figure 1 , a control structure for the lifting movement of a HIMARS vehicle model, including a vehicle and an operation platform; The vehicle and the operation platform are connected through wireless data transmission real-time communication; A turntable and a gun turret are sequentially installed above the vehicle from bottom to top. The turntable is horizontally rotatably connected to the vehicle, and the gun turret is vertically liftably connected to the turntable; A motor is provided on the turntable. The motor is connected to the vehicle control through a first external relay. A rotational speed sensor and a proximity switch, both connected to the vehicle control, are also installed at the lower gear of the turntable. The rotational speed sensor is used to calculate the angle of the turntable at regular intervals and trigger a gear signal to the motor to drive the turntable to rotate. The proximity switch is used to trigger a zeroing signal to the motor to drive the turntable to rotate to the initial position before the turntable rotates. An air circuit solenoid valve is provided on the gun platform. The air circuit solenoid valve is connected to the vehicle control through a second external relay.

[0011] As can be seen from the above description, the beneficial effects of the present invention are as follows: A control structure for the lifting movement of the HIMARS model is provided. By establishing a wireless data transmission real-time communication connection between the vehicle and the operation platform, the operation platform remotely controls the vehicle to achieve the rotation and lifting control of the HIMARS model gun platform. In addition to setting a motor and related external relays at the turntable to conduct and drive the turntable to rotate under the control of the operation platform, a rotational speed sensor and a proximity switch are added, which can accurately calculate the rotation angle of the turntable and set the initial position (i.e., zero position) of the turntable, thereby achieving precise control of the turntable rotation. At the same time, the gun platform also performs precise control of lifting and lowering in cooperation with related external relays and air circuit solenoid valves, effectively improving the operation efficiency and working stability as a whole.

[0012] Further, the first external relay and the second external relay are interlocked.

[0013] As can be seen from the above description, two external relays, which are respectively used for the conduction of the rotation control circuit of the turntable and the conduction of the lifting control circuit of the gun platform, are interlocked. Thus, only one of the turntable and the gun platform can be working at the same time. That is, when the turntable is performing rotation control work, the lifting control of the gun platform is prohibited. When the gun platform is performing lifting control work, the rotation control of the turntable is prohibited.

[0014] Further, there is one first external relay, and the model of the first external relay is JDQ4; There are two second external relays, and the models of the two second external relays are JDQ1 and JDQ2 respectively.

[0015] Further, the second external relay with the model of JDQ1 is used to control the ascent of the gun platform; The second external relay with the model of JDQ2 is used to control the descent of the gun platform.

[0016] As described above, the first external relay for starting and stopping the rotation control circuit of the turntable uses the JDQ4 model, and the second external relays for starting and stopping the lifting control circuit of the gun turret are two, which respectively use the JDQ1 and JDQ2 models. This can conveniently and specifically achieve the control of the rotation of the turntable and the lifting of the gun turret, and will not cause control errors due to the same model of each relay. At the same time, different models of the second external relays are used to control the lifting and lowering respectively, which further ensures the stability and safety of the gun turret lifting operation.

[0017] Further, the motor is a 220V AC motor; The time for the rotational speed sensor to time and trigger the gear signal is 620 - 625 ms.

[0018] As described above, the motor uses a 220V AC motor, which meets and complies with the international safety standard regulations. At the same time, the rotational speed sensor is limited to time and trigger the gear signal to control the motor to drive the turntable to rotate for a time of 620 - 625 ms. While ensuring the rotation efficiency, it can also give the rotational speed sensor a certain angle calculation and matching time to avoid the turntable starting to rotate before the required rotation angle is calculated, further ensuring the rotation control accuracy of the turntable.

[0019] Please refer to Figure 2 and Figure 3 , a control method for the lifting movement of a HIMARS vehicle type of the present invention, adopts the above - mentioned control structure for the lifting movement of a HIMARS vehicle type, and includes the steps: S1. Establish real - time wireless data transmission communication between the vehicle and the operation platform, and the vehicle receives the CAN control data of the operation platform; S2. After the vehicle executes the self - inspection control instruction according to the CAN control data and passes, control the first external relay to conduct, trigger a zero - return signal to the motor through the proximity switch to drive the turntable to rotate to the initial position, then calculate the angle that the turntable needs to rotate through the rotational speed sensor and time - trigger the gear signal to the motor to drive the turntable to rotate; S3. After the vehicle detects that the turntable rotation is in place, control the first external relay to disconnect and the second external relay to conduct, and drive the lifting of the gun turret through the pneumatic circuit solenoid valve.

[0020] As can be seen from the above description, the beneficial effects of the present invention are as follows: Based on the same technical concept, in cooperation with the above control structure for the lifting movement of the HIMARS vehicle model, a control method for the lifting movement of the HIMARS vehicle model is provided. By establishing a wireless data transmission real-time communication connection between the vehicle and the operation platform, the operation platform transmits CAN control data to the vehicle, and then the vehicle controls the rotation and lifting of the HIMARS vehicle model turret according to the CAN control data, effectively realizing remote control. In addition to setting a motor and related external relays at the turntable to conduct under the control of the operation platform to drive the turntable to rotate, a rotational speed sensor and a proximity switch are added, which can accurately calculate the rotation angle of the turntable and can set the initial position (i.e., zero position) of the turntable, thereby realizing precise control of the turntable rotation. At the same time, the turret is also precisely controlled to lift and lower in cooperation with related external relays and pneumatic path solenoid valves, effectively improving the operation efficiency and working stability as a whole.

[0021] Further, the first external relay and the second external relay are interlocked and connected; In step S2, when the first external relay is in the conducting state, the second external relay remains disconnected and is prohibited from conducting; In step S3, when the second external relay is in the conducting state, the first external relay remains disconnected and is prohibited from conducting.

[0022] As can be seen from the above description, two external relays respectively used for the conduction work of the rotation control circuit of the turntable and the conduction work of the lifting control circuit of the turret are interlocked and connected, so that only one of the turntable and the turret can be working at the same time. That is, when the turntable is performing rotation control work, the turret is prohibited from lifting control, and when the turret is performing lifting control work, the turntable is prohibited from rotation control.

[0023] Further, there is one first external relay, and the model of the first external relay is JDQ4; There are two second external relays, and the models of the two second external relays are JDQ1 and JDQ2 respectively; Step S3 specifically is: After the vehicle detects that the turntable rotates in place, it controls the first external relay JDQ4 to disconnect, and controls the conduction and disconnection of the second external relays JDQ1 and JDQ2 to control the pneumatic path solenoid valve to drive the lifting of the turret; When JDQ1 conducts, it controls the pneumatic path solenoid valve to drive the turret to rise, and disconnects after conducting for 1 second, keeping the pneumatic path solenoid valve energized to continue driving the turret to rise; When JDQ1 is turned on, it controls the pneumatic solenoid valve to drive the turret to descend, and then disconnects after 1 second of conduction, while keeping the pneumatic solenoid valve energized to continue driving the turret to descend.

[0024] As can be seen from the above description, the first external relay for starting and stopping the rotation control circuit of the turntable uses the JDQ4 model, and the second external relays for starting and stopping the lifting control circuit of the turret are two and respectively use the JDQ1 and JDQ2 models. This can conveniently and specifically achieve the control of the turntable rotation and the turret lifting, and will not cause control errors due to the same model of each relay. At the same time, different models of the second external relays are used to control the lifting and lowering respectively, which further ensures the stability and safety of the turret lifting work.

[0025] Further, the motor is a 220V AC motor; The time for the rotation speed sensor to time-trigger the sub-wheel signal is 620 - 625 ms.

[0026] As can be seen from the above description, the motor uses a 220V AC motor, which meets and applies to the regulations of international safety standards. At the same time, the rotation speed sensor is limited to time-trigger the gear signal to control the time for the motor to drive the turntable to rotate to be 620 - 625 ms. While ensuring the rotation efficiency, it can also give the rotation speed sensor a certain angle calculation and matching time to avoid the turntable starting to rotate before the required rotation angle is calculated, further ensuring the rotation control accuracy of the turntable.

[0027] Further, after the zeroing signal is triggered by the proximity switch to the motor in step S2 to drive the turntable to rotate to the initial position, the rotation speed sensor calculates the angle that the turntable needs to rotate and time-triggers the gear signal to the motor to drive the turntable to rotate. Specifically: When the turntable starts to rotate each time, first, the proximity switch triggers the zeroing signal to the motor, and the rotation speed sensor polls for timing. After detecting the first zeroing signal, it starts to calculate the angle required to rotate to the initial position and triggers the gear signal to the motor to drive the turntable to rotate to the initial position; The proximity switch triggers the zeroing signal to the motor again. After the rotation speed sensor detects the second zeroing signal during the polling for timing, it matches and calculates the angle required to rotate to the specified position according to the CAN control data, adds the angle of one gear to this angle, and then triggers the gear signal to the motor to drive the turntable to rotate to the specified position.

[0028] As described above, the proximity switch pre-sets the initial position (i.e., the zero position) of the turntable. In this way, before each rotation, the turntable is reset first, and then the speed sensor calculates the specified angle. At the same time, in order to further improve the accuracy, the turntable can be reset twice, that is, the speed sensor starts to match and calculate the rotation angle of the specified position according to the CAN control data sent by the operation platform only after detecting two zeroing signals. In addition, after the turntable stops resetting, it will deviate by the angle of a gear due to inertia. Therefore, when calculating the rotation angle of the specified position in the subsequent matching calculation, the calculated angle can be added with the angle of a gear to further ensure the rotation control accuracy of the turntable.

[0029] A control structure and method for the lifting movement of a HIMARS vehicle model provided by the present invention are applied to accurately control the rotation and lifting of the turret of the HIMARS vehicle model. The following is a specific description with reference to specific embodiments: Please refer to Figure 1 , Embodiment 1 of the present invention is: A control structure for the lifting movement of a HIMARS vehicle model, as Figure 1 shown, includes a vehicle and an operation platform.

[0030] In this embodiment, the vehicle and the operation platform are connected by real-time wireless data transmission, so that the vehicle can obtain the CAN control data sent by the operation platform and also reverse-transmit the CAN data collected by itself to the control platform.

[0031] At the same time, a turntable and a turret are installed on the vehicle from bottom to top in sequence, thus forming a turret structure of the HIMARS vehicle model. Among them, the turntable is horizontally rotatably connected to the vehicle, and the turret is vertically liftably connected to the turntable. The turret can rotate horizontally relative to the vehicle driven by the turntable, and at the same time, the turret itself can rise and fall relative to the turntable. It should be noted that based on the general structure of the turret of the HIMARS vehicle model, the rise of the turret on the turntable generally means that the muzzle end of the turret is lifted upward, so that an angle is formed between the turret and the turntable. Therefore, the fall of the turret also means that the muzzle end falls downward, so that an angle of 0° is formed between the turret and the turntable. Therefore, in the following text, words such as the rise and fall of the turret and lifting will appear to more accurately describe the lifting process of the turret.

[0032] In this embodiment, a motor is provided on the turntable, so as to drive the horizontal rotation of the turntable through the motor. In order to start the rotation control circuit of the turntable, a first external relay is also provided on the turntable. The vehicle controls the on / off of the first external relay to serve as the switch for starting and stopping the operation of the motor-driven turntable rotation control circuit. At the same time, a speed sensor and a proximity switch connected to the vehicle control are installed at the lower gear where the turntable rotates. The speed sensor can be used to periodically poll and calculate the rotation angle of the turntable and trigger a gear signal to the motor to drive the turntable to rotate, while the proximity switch is used to trigger a zeroing signal to the motor before the turntable rotates to drive the turntable to rotate to the initial position.

[0033] In this embodiment, a pneumatic solenoid valve for lifting and lowering the gun turret is provided on the gun turret. In order to ensure the normal operation and stop of the pneumatic solenoid valve control gun turret lifting and lowering working circuit, a second external relay is also provided on the gun turret. The vehicle controls the on / off of the second external relay to serve as the switch for starting and stopping the operation of the pneumatic solenoid valve-driven gun turret lifting and lowering control circuit.

[0034] That is, in this embodiment, by establishing a wireless data transmission real-time communication connection between the vehicle and the operation platform, the operation platform remotely controls the vehicle to achieve the rotation and lifting control of the gun turret of the HIMARS model. In addition to setting a motor and related external relays at the turntable to conduct and drive the turntable to rotate under the control of the operation platform, a speed sensor and a proximity switch are added, which can accurately calculate the rotation angle of the turntable and set the initial position (i.e., zero position) of the turntable, so as to achieve precise control of the turntable rotation. At the same time, the gun turret is also precisely controlled to lift and lower with the cooperation of related external relays and pneumatic solenoid valves, effectively improving the operation efficiency and working stability.

[0035] In addition, in this embodiment, the motor uses a 220V AC motor, which meets and complies with the international safety standard regulations. At the same time, the speed sensor is limited to trigger the gear signal for timing to control the rotation time of the motor driving the turntable to be 620 - 625 ms. In this embodiment, it can be set to 623 ms. While ensuring the rotation efficiency, it can also give the speed sensor a certain angle calculation and matching time to avoid the turntable starting to rotate before the required rotation angle is calculated, further ensuring the rotation control accuracy of the turntable.

[0036] Embodiment 2 of the present invention is as follows: A control structure for the lifting movement of the HIMARS model. On the basis of the above Embodiment 1, in this embodiment, the first external relay and the second external relay are connected in interlock.

[0037] That is, there is an interlock connection between two external relays respectively for the rotation control circuit of the turntable to conduct work and for the lifting control circuit of the gun turret to conduct work, so that only one of the turntable and the gun turret can be working at the same time. That is, when the turntable is performing rotation control work, the lifting control of the gun turret is prohibited, and when the gun turret is performing lifting control work, the rotation control of the turntable is prohibited.

[0038] At the same time, there is one first external relay, and the model of the first external relay is JDQ4; there are two second external relays, and the models of the two second external relays are JDQ1 and JDQ2 respectively. The second external relay with the model JDQ1 is used to control the ascent of the gun turret, and the second external relay with the model JDQ2 is used to control the descent of the gun turret.

[0039] That is, the first external relay for starting and stopping the rotation control circuit of the turntable uses the model JDQ4, and the second external relays for starting and stopping the lifting control circuit of the gun turret are two and respectively use the models JDQ1 and JDQ2. It can conveniently and specifically realize the control of the rotation of the turntable and the lifting of the gun turret, and will not cause control errors due to the same model of each relay. At the same time, different models of the second external relays are respectively used to control the ascent and descent, which further ensures the stability and safety of the lifting work of the gun turret.

[0040] Please refer to Figure 2 and Figure 3 , the third embodiment of the present invention is: A control method for the lifting movement of a HIMARS vehicle type, adopting the control structure for the lifting movement of a HIMARS vehicle type in the above-mentioned first embodiment, as Figure 2 and Figure 3 shown, including the steps: S1. Establish real-time wireless data transmission communication between the vehicle and the operation platform. The vehicle receives the CAN control data of the operation platform, and sequentially executes the self-check and the turntable rotation control instruction and the gun turret lifting control instruction in the following steps S2 - S3. After executing the instruction, the new CAN data is fed back to the operation platform.

[0041] Among them, when the vehicle has not completed the self-check instruction, it does not execute the subsequent control of the turntable rotation and the gun turret lifting.

[0042] S2. After the vehicle executes the self-check control instruction according to the CAN control data and passes, control the first external relay to conduct, trigger the zeroing signal to the motor through the proximity switch to drive the turntable to rotate to the initial position, and then calculate the angle that the turntable needs to rotate through the speed sensor and trigger the gear signal to the motor to drive the turntable to rotate.

[0043] S3. After the vehicle detects that the turntable has rotated in place, it controls the first external relay to disconnect and the second external relay to conduct, and drives the lifting of the turret through the pneumatic solenoid valve.

[0044] That is, in this embodiment, based on the same technical concept, in cooperation with the control structure for the lifting movement of a HIMARS vehicle model in the above-mentioned Embodiment 1, a control method for the lifting movement of a HIMARS vehicle model is provided. By establishing a wireless data transmission real-time communication connection between the vehicle and the operation platform, the operation platform transmits the CAN control data to the vehicle, and then the vehicle controls the rotation and lifting of the HIMARS vehicle turret according to the CAN control data, effectively realizing remote control. In addition to setting a motor and related external relays at the turntable to conduct under the control of the operation platform to drive the turntable to rotate, a speed sensor and a proximity switch are added, which can accurately calculate the rotation angle of the turntable and can set the initial position (i.e., zero position) of the turntable, thereby realizing precise control of the turntable rotation. At the same time, the turret is also precisely controlled to lift and lower in cooperation with relevant external relays and pneumatic solenoid valves, effectively improving the operation efficiency and working stability as a whole.

[0045] In addition, in this embodiment, the motor uses a 220V AC motor, which meets and is applicable to the international safety standard regulations; at the same time, the speed sensor is limited to trigger the gear signal for timing to control the rotation time of the motor driving the turntable to be 620 - 625ms, and can be set to 623ms in this embodiment. While ensuring the rotation efficiency, it can also give the speed sensor a certain angle calculation and matching time to avoid the turntable starting to rotate before the required rotation angle is calculated, further ensuring the rotation control accuracy of the turntable.

[0046] Please refer to Figure 3 , Embodiment 4 of the present invention is: A control method for the lifting movement of a HIMARS vehicle model. On the basis of the above-mentioned Embodiment 3, in this embodiment, the first external relay and the second external relay are interconnected and locked.

[0047] Then in step S2, when the first external relay is in the conducting state, the second external relay maintains the disconnected and prohibited conducting state; in step S3, when the second external relay is in the conducting state, the first external relay maintains the disconnected and prohibited conducting state.

[0048] That is, the two external relays respectively for the rotation control circuit of the turntable to conduct and work and for the lifting control circuit of the turret to conduct and work are interconnected and locked, so that only one of the turntable and the turret can be working at the same moment. That is, when the turntable is performing rotation control work, the turret is prohibited from lifting control, and when the turret is performing lifting control work, the turntable is prohibited from rotation control.

[0049] At the same time, as Figure 3As shown, after the zeroing signal is triggered to the motor by the proximity switch in step S2 to drive the turntable to rotate to the initial position, the angle that the turntable needs to rotate is calculated by the rotational speed sensor and the gear signal is triggered to the motor at a certain time to drive the turntable to rotate. Specifically: When the turntable starts to rotate each time, first the zeroing signal is triggered to the motor by the proximity switch, and the rotational speed sensor polls by timing. After detecting the first zeroing signal, the angle required to rotate to the initial position is calculated, and the gear signal is triggered to the motor to drive the turntable to rotate to the initial position.

[0050] Then, the zeroing signal is triggered to the motor by the proximity switch again. After the rotational speed sensor detects the second zeroing signal during the timing polling process, the angle required to rotate to the specified position is calculated and matched according to the CAN control data. After adding the angle of one gear to this angle, the gear signal is triggered to the motor to drive the turntable to rotate to the specified position.

[0051] That is, the proximity switch pre-sets the initial position (i.e., the zero position) of the turntable. In this way, before each rotation, the turntable is first reset and then the rotational speed sensor performs the specified angle calculation. At the same time, in order to further improve the accuracy, the turntable can be reset twice, that is, the rotational speed sensor starts to match and calculate the rotation angle of the specified position according to the CAN control data issued by the operation platform only after detecting two zeroing signals; in addition, after the turntable stops resetting, it will deviate by the angle of one gear due to inertia. Therefore, when matching and calculating the rotation angle of the specified position subsequently, the calculated angle can be added with the angle of one gear to further ensure the rotation control accuracy of the turntable.

[0052] At the same time, in this embodiment, there is one first external relay, and the model of the first external relay is JDQ4; there are two second external relays, and the models of the two second external relays are JDQ1 and JDQ2 respectively. Then step S3 is specifically: After the vehicle detects that the turntable has rotated in place, it controls the first external relay JDQ4 to disconnect, and controls the conduction and disconnection of the second external relays JDQ1 and JDQ2 to control the pneumatic solenoid valve to drive the lifting of the gun turret, that is: When JDQ1 is conducting, it controls the pneumatic solenoid valve to drive the gun turret to rise, and disconnects after conducting for 1 second, and keeps the pneumatic solenoid valve energized to continue driving the gun turret to rise; When JDQ1 is conducting, it controls the pneumatic solenoid valve to drive the gun turret to descend, and disconnects after conducting for 1 second, and keeps the pneumatic solenoid valve energized to continue driving the gun turret to descend.

[0053] That is, in this embodiment, the first external relay for starting and stopping the rotation control loop of the turntable uses the JDQ4 model, and the second external relays for starting and stopping the lifting control loop of the gun turret are two and respectively use the JDQ1 and JDQ2 models, which can conveniently and specifically achieve the control of the turntable rotation and the gun turret lifting, and will not cause control errors due to the same relay models. At the same time, different models of the second external relays are respectively used to control the lifting and lowering, which further ensures the stability and safety of the gun turret lifting operation.

[0054] In summary, a control structure and method for the lifting movement of a HIMARS vehicle provided by the present invention have the following beneficial effects: 1. High control accuracy: By using the rotational speed sensor and the proximity switch, the rotation angle of the turntable can be accurately calculated, and the zero position of the turntable can be set, so as to achieve precise control of the turntable rotation and the gun turret lifting; 2. Simple operation: Through the control of JDQ4, JDQ1 and JDQ2, the control of the turntable rotation and the gun turret lifting can be conveniently achieved, and the operation is simple and convenient; 3. High reliability: Reliable motors and pneumatic solenoid valves are adopted, which have stability and durability and can work stably for a long time.

[0055] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A control structure for the lifting movement of a HIMARS vehicle model, characterized in that, Comprising a vehicle and an operating platform; The vehicle is connected to the operating platform through real-time wireless data transmission for communication; A turntable and a gun turret are successively installed above the vehicle from bottom to top. The turntable is horizontally rotatably connected to the vehicle, and the gun turret is vertically liftably connected to the turntable; A motor is arranged on the turntable. The motor is connected to the vehicle control through a first external relay. A rotational speed sensor and a proximity switch connected to the vehicle control are also installed at the lower gear of the turntable. The rotational speed sensor is used to calculate the angle of the turntable at regular intervals and trigger a gear signal to the motor to drive the turntable to rotate. The proximity switch is used to trigger a zeroing signal to the motor before the turntable rotates to drive the turntable to rotate to the initial position; An air circuit solenoid valve is arranged on the gun turret. The air circuit solenoid valve is connected to the vehicle control through a second external relay.

2. The control structure for the lifting movement of a HIMARS vehicle model according to claim 1, characterized in that, The first external relay and the second external relay are interconnected and locked; 3. The control structure for the lifting movement of a HIMARS vehicle type according to claim 1, characterized in that, There is one first external relay, and the model of the first external relay is JDQ4; There are two second external relays, and the models of the two second external relays are JDQ1 and JDQ2 respectively; 4. The control structure for the lifting movement of a HIMARS vehicle model according to claim 3, characterized in that, The second external relay with the model of JDQ1 is used to control the ascent of the gun turret; The second external relay with the model of JDQ2 is used to control the descent of the gun turret; 5. The control structure for the lifting movement of a HIMARS vehicle model according to claim 1, characterized in that, The motor is a 220V AC motor; The time for the rotational speed sensor to trigger the gear signal is 620 - 625 ms; 6. A control method for the lifting movement of a HIMARS vehicle model, characterized in that, Adopting a control structure for the lifting movement of a HIMARS vehicle type as described in claim 1, comprising the steps: S1. Establish real-time wireless data transmission communication between the vehicle and the operating platform, and the vehicle receives the CAN control data of the operating platform; S2. After the vehicle executes the self-check control instruction according to the CAN control data and passes, control the first external relay to conduct. After triggering a zeroing signal to the motor through the proximity switch to drive the turntable to rotate to the initial position, calculate the angle that the turntable needs to rotate through the rotational speed sensor and trigger a gear signal to the motor to drive the turntable to rotate; S3. After the vehicle detects that the turntable rotates in place, control the first external relay to disconnect and the second external relay to conduct, and drive the lifting of the gun turret through the air circuit solenoid valve.

7. A control method for the lifting movement of a HIMARS vehicle according to claim 6, characterized in that, The first external relay and the second external relay are interconnected and locked; In step S2, when the first external relay is in the conducting state, the second external relay maintains the disconnected state and is prohibited from conducting; In step S3, when the second external relay is in the conducting state, the first external relay maintains the disconnected state and is prohibited from conducting; 8. A control method for the lifting movement of a HIMARS vehicle model according to claim 6, characterized in that, There is one first external relay, and the model of the first external relay is JDQ4; There are two second external relays, and the models of the two second external relays are JDQ1 and JDQ2 respectively; Step S3 specifically is: After the vehicle detects that the turntable has rotated into place, it controls the first external relay JDQ4 to disconnect, and controls the conduction and disconnection of the second external relays JDQ1 and JDQ2 to control the pneumatic solenoid valve to drive the lifting of the turret. When JDQ1 is conducting, it controls the pneumatic solenoid valve to drive the turret to rise, and disconnects after 1 second of conduction, keeping the pneumatic solenoid valve energized to continue driving the turret to rise. When JDQ1 is conducting, it controls the pneumatic solenoid valve to drive the turret to descend, and disconnects after 1 second of conduction, keeping the pneumatic solenoid valve energized to continue driving the turret to descend.

9. The control method for the lifting movement of a HIMARS vehicle according to claim 6, characterized in that, The motor is a 220V AC motor. The time for the rotational speed sensor to time-trigger the gear signal is 620 - 625 ms.

10. The control method for the lifting motion of a HIMARS vehicle according to claim 6, characterized in that, In step S2, after the proximity switch triggers a zeroing signal to the motor to drive the turntable to rotate to the initial position, the rotational speed sensor calculates the angle that the turntable needs to rotate and time-triggers a gear signal to the motor to drive the turntable to rotate. Specifically: Each time the turntable starts to rotate, first the proximity switch triggers a zeroing signal to the motor, and the rotational speed sensor times and polls. After detecting the first zeroing signal, it calculates the angle required to rotate to the initial position and triggers a gear signal to the motor to drive the turntable to rotate to the initial position. Again, the proximity switch triggers a zeroing signal to the motor. After the rotational speed sensor detects the second zeroing signal during the timing and polling process, it matches and calculates the angle required to rotate to the specified position according to the CAN control data. After adding the angle of one gear to this angle, it triggers a gear signal to the motor to drive the turntable to rotate to the specified position.

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