Electric control system for erecting ground launching device for hypersonic target

Abstract

The invention relates to the technical field of control and adjustment of erection adjustment systems, in particular to an erection electric control system of a ground launching device for a hypersonic target, which comprises a sensor module, a main control module, a multi-stage power control module, a state monitoring module and a data optimization module. The sensor module collects the horizontal dip angle of a launching site and the real-time angle data of a target, and the main control module drives the multi-axis linkage to compensate and correct the foundation deviation through a dynamic calibration program, generates a reference angle parameter, and generates a partition driving strategy control instruction in combination with a real-time angle deviation value. The multi-stage power control module switches a hydraulic driving speed mode according to an instruction, and displacement data millisecond-level synchronous transmission and error closed-loop correction are achieved through an EtherCAT bus protocol. And iteratively updating a mechanical shock threshold value and an energy loss weight factor of a dynamic programming algorithm, optimizing acceleration distribution of a return-flat path and matching with hydraulic parameters, and improving angle positioning precision and system anti-interference capability in transient aerodynamic load simulation.

Description

Technical Field

[0001] The present invention relates to the technical field of control and regulation of erection adjustment systems, and in particular to an erection electric control system for a ground-based launch device for a hypersonic target. Background Art

[0002] The hypersonic target ground launch device is a special equipment used to simulate the dynamic characteristics of high-speed aircraft. Its core function is to send the target into the test airspace along a predetermined trajectory through the coordinated work of a high-precision propulsion system and a navigation control unit. The device is usually composed of a multi-stage power module, an attitude adjustment mechanism, a data acquisition interface and a safety protection system. The launch process covers key stages such as initial parameter loading, propellant ignition, trajectory correction and target separation. In scenarios such as aerodynamic verification and thermal protection material testing, the device can reproduce the aerodynamic loads and thermodynamic environment under hypersonic flight conditions, providing quantifiable and repeatable test conditions for related technology research and development. At the same time, dynamic monitoring and abnormal response to the entire launch process are achieved through real-time telemetry and fault diagnosis modules.

[0003] When responding to the needs of high-frequency launches and complex aerodynamic load simulation, the erection electronic control system of the ground-based launch device for hypersonic targets has problems with dynamic attitude adjustment lag and angle positioning deviation caused by the accumulation of collaborative errors of multi-stage power modules in the discrete control architecture. For example, in the process of reproducing the transient aerodynamic loads of hypersonic flight, the existing mechanical transmission system has difficulty in achieving millisecond-level response and high-precision angle closed-loop correction, which affects the accuracy and repeatability of the trajectory reproduction in the test airspace. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides an erection electronic control system for a ground-based launch device for hypersonic targets. The present invention solves the problems of dynamic attitude adjustment lag and angle positioning deviation caused by the accumulation of collaborative errors of multi-stage power modules under a discrete control architecture, and improves the closed-loop correction accuracy and system response rate in the transient aerodynamic load simulation of hypersonic flight.

[0005] In order to solve the above technical problems, the specific technical solutions of the present invention are as follows: The present invention provides an electrical control system for erecting a hypersonic target using a ground-based launcher, comprising: a sensor module, a main control module, a multi-stage power control module, a state monitoring module, and a data optimization module; The sensor module is used to collect the horizontal inclination data of the launch site and the real-time angle data of the target device; The main control module is connected to the sensor module and is configured as follows: Receiving the horizontal inclination angle data and starting a preset dynamic calibration program to generate calibrated reference angle parameters; receiving a target angle command, performing deviation calculation between the calibrated reference angle parameter and the real-time angle data, and generating a multi-level power coordination control command including a partitioned driving strategy; Call the preset dynamic programming algorithm, combine the historical operation data stored in the preset database with the real-time load status feedback from the status monitoring module to generate adaptive return path instructions; The multi-stage power control module is connected to the main control module and is configured as follows: The displacement data of the multi-stage power unit is collected in real time through the displacement sensor; Switching a preset hydraulic drive speed value to perform angle adjustment of the target device according to a partition drive strategy in the multi-level power coordinated control instruction generated by the main control module; Synchronize the displacement data collected by the displacement sensor through a centralized control bus configured by the main control module; The status monitoring module is connected to the main control module and the multi-stage power control module and is configured as follows: Collecting the pressure signal, temperature signal and limit status signal of the hydraulic system, and transmitting the limit status signal and the real-time load status to the main control module; Trigger the preset redundant fault-tolerance mechanism and report abnormal status to the main control module; The data optimization module is connected to the main control module and is configured as follows: Storing the data collected by the sensor module and the multi-level power coordinated control instructions generated by the main control module to generate a dynamic correction data set; The optimization parameters of the dynamic programming algorithm are iteratively updated according to the error source identification results in the dynamic correction data set.

[0006] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the dynamic calibration program is configured to perform the following steps: The main control module controls the preset adjustment mechanism to perform multi-axis compensation actions, correct the foundation unevenness deviation detected by the sensor module, and generate calibrated reference angle parameters; The calibrated reference angle parameter and the real-time angle data collected by the sensor module are input into the main control module for deviation calculation to generate an angle adjustment control instruction; The angle adjustment control instruction is transmitted to the multi-stage power control module through the centralized control bus, driving the hydraulic actuator to adjust the angle of the target device.

[0007] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the partition drive strategy is configured to perform the following steps: The main control module calls the hydraulic cylinder extension and retraction speed values ​​corresponding to the low-speed high-precision mode, the balance mode and the fast approach mode in the preset control strategy respectively according to the interval comparison result of the real-time angle deviation value generated by the deviation calculation and the preset angle parameter; The closed-loop correction model of the main control module receives the inclination sensor and rotary encoder data of the sensor module, dynamically optimizes the extension and retraction speed value of the hydraulic cylinder, and generates hydraulic drive optimization parameters; The main control module converts the hydraulic drive optimization parameters into multi-level power coordinated control instructions and transmits them to the multi-level power control module via a centralized control bus; The multi-stage power control module drives the hydraulic cylinder to perform the angle adjustment action of the target device according to the multi-stage power coordinated control instruction.

[0008] Furthermore, the electronic control system for erecting a hypersonic target using a ground-based launcher according to the present invention adopts the EtherCAT bus protocol and is configured as follows: Receive displacement data collected by the displacement sensor of the multi-stage power control module, and transmit the displacement data to the main control module through millisecond-level synchronization; The main control module generates an error compensation parameter according to the deviation value between the displacement data and the target angle instruction; Converting the error compensation parameters into hydraulic drive correction instructions and feeding them back to the multi-level power control module via a centralized control bus; The multi-stage power control module adjusts the extension and retraction action of the hydraulic cylinder according to the hydraulic drive correction instruction to correct the accumulated error of the mechanical transmission chain.

[0009] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the redundant fault-tolerant mechanism is configured to perform the following steps: When the state monitoring module detects that the real-time angle data collected by the sensor module exceeds the preset threshold or the limit switch of the hydraulic system is triggered, the multi-level power coordinated control instruction or the adaptive return path instruction generated by the main control module is interrupted; Switch to the backup hydraulic drive circuit and perform compensation action in the opposite direction of the current angle deviation according to the preset fault tolerance strategy; The abnormal pressure signal, temperature signal and limit status signal collected by the status monitoring module are recorded by the fault diagnosis unit of the data optimization module, and the abnormal signal is stored in the dynamic correction data set.

[0010] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the closed-loop correction model of the main control module is configured to perform the following steps: Receives horizontal tilt data collected by the tilt sensor of the sensor module and real-time angle data collected by the rotary encoder; Performing redundant data fusion on the horizontal tilt angle data and the real-time angle data by using a Kalman filter algorithm to generate an angle correction parameter; Calculating the optimized control parameters of the hydraulic valve opening and the pump station output pressure according to the angle correction parameters; The optimized control parameters are transmitted to a multi-level power control module via a centralized control bus to drive a hydraulic actuator to adjust the posture of the target device.

[0011] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the adaptive return path instruction includes: The main control module calls the historical hydraulic drive parameters stored in the preset database and the real-time load pressure signal fed back by the status monitoring module to generate a segmented return-to-level speed curve; Dynamically calculating the acceleration parameters of the hydraulic actuator according to the segmented return-to-leveling speed curve, so as to adapt to the target mass distribution data collected by the sensor module; The dynamic programming algorithm is used to optimize the segmented return velocity curve and acceleration parameters to generate the hydraulic drive path parameters. The hydraulic drive path parameters are transmitted to the multi-stage power control module through a centralized control bus to drive the hydraulic cylinder to perform a leveling action.

[0012] Furthermore, in the hypersonic target erection electronic control system for a ground-based launcher according to the present invention, the data optimization module is further configured to perform the following steps: storing historical sensor data collected by the sensor module and a control instruction sequence generated by the main control module; Based on the correlation between the historical sensor data and the control instruction sequence, executing an error analysis algorithm to generate a system stability correction parameter; Inputting the system stability correction parameter into the dynamic programming algorithm parameter update interface of the main control module; The main control module updates the path planning parameters through a dynamic planning algorithm and generates optimized adaptive return path instructions.

[0013] Furthermore, in the electric control system for erecting a hypersonic target ground launcher according to the present invention, the backup hydraulic drive circuit is configured as follows: When the condition monitoring module detects a single fault condition such as abnormal hydraulic system pressure or sensor failure, it triggers a dual-channel switching signal; The main control module generates an emergency locking instruction or a return-to-leveling path instruction in response to the dual-channel switching signal; the backup hydraulic drive circuit receives the emergency locking instruction or the return-to-leveling path instruction and switches to the backup hydraulic circuit drive mode; The hydraulic actuator is driven by the backup hydraulic circuit to control the target device to be in a locked position or return to a preset safety angle.

[0014] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the main control module calls the dynamic programming algorithm to perform the following steps: Calling the mechanical shock threshold parameters and energy loss weight factor parameters in the preset database; generating an acceleration distribution optimization parameter of the target device during the leveling phase based on the mechanical impact threshold parameter and the energy loss weight factor parameter; Converting the acceleration distribution optimization parameters into hydraulic drive control instructions; The hydraulic drive control instruction is transmitted to the multi-level power control module through the centralized control bus to drive the hydraulic actuator to perform the leveling action of the target device.

[0015] Beneficial effects of the present invention: The hypersonic target erection electronic control system of the ground launch device of the present invention optimizes the acceleration distribution parameters of the leveling stage in real time through a dynamic programming algorithm, and adapts the inertial load changes of the hydraulic actuator in combination with the target mass distribution data to suppress the error interference of mechanical impact on the transmission chain. The data optimization module iteratively updates the speed curve and pressure threshold parameters in the hydraulic drive correction instruction based on the correlation analysis of historical operation data and real-time load pressure signals, and corrects the response lag of the multi-stage power unit under transient aerodynamic loads. The closed-loop control circuit dynamically compensates for the angle deviation through millisecond-level synchronous displacement feedback data, and combines the redundant fault-tolerant mechanism to quickly respond to abnormal working conditions, thereby achieving high-precision angle positioning and dynamic attitude stability of the target device when reproducing the hypersonic flight trajectory, meeting the repeatability requirements of the aerodynamic load simulation test. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on the drawings without paying any creative labor.

[0017] Figure 1 This is a system architecture diagram of the erection electronic control system for a ground-based launch device for a hypersonic target provided in an embodiment of the present invention.

[0018] Figure 2 This is a system control flow chart of the electrical control system for erecting a hypersonic target using a ground-based launch device provided in an embodiment of the present invention.

[0019] Figure 3A diagram of the human-machine interaction interface of the erection electronic control system of the ground-based launch device for hypersonic targets provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The technical solutions provided by each embodiment of the present invention are described in detail below in conjunction with the drawings. In order to better understand the purpose of the present invention, the present invention is further described in detail below.

[0021] See also Figure 1 The present invention provides a hypersonic target ground launch device erection electronic control system, including: a sensor module, a main control module, a multi-stage power control module, a state monitoring module and a data optimization module; The sensor module is used to collect the horizontal inclination data of the launch site and the real-time angle data of the target device; The main control module is connected to the sensor module and is configured as follows: Receiving the horizontal inclination angle data and starting a preset dynamic calibration program to generate calibrated reference angle parameters; receiving a target angle command, performing deviation calculation between the calibrated reference angle parameter and the real-time angle data, and generating a multi-level power coordination control command including a partitioned driving strategy; Call the preset dynamic programming algorithm, combine the historical operation data stored in the preset database with the real-time load status feedback from the status monitoring module to generate adaptive return path instructions; The multi-stage power control module is connected to the main control module and is configured as follows: The displacement data of the multi-stage power unit is collected in real time through the displacement sensor; Switching a preset hydraulic drive speed value to perform angle adjustment of the target device according to a partition drive strategy in the multi-level power coordinated control instruction generated by the main control module; Synchronize the displacement data collected by the displacement sensor through a centralized control bus configured by the main control module; The status monitoring module is connected to the main control module and the multi-stage power control module and is configured as follows: Collecting the pressure signal, temperature signal and limit status signal of the hydraulic system, and transmitting the limit status signal and the real-time load status to the main control module; Trigger the preset redundant fault-tolerance mechanism and report abnormal status to the main control module; The data optimization module is connected to the main control module and is configured as follows: Storing the data collected by the sensor module and the multi-level power coordinated control instructions generated by the main control module to generate a dynamic correction data set; The optimization parameters of the dynamic programming algorithm are iteratively updated according to the error source identification results in the dynamic correction data set.

[0022] The ground-based launcher erection electronic control system for hypersonic targets achieves high-precision dynamic attitude adjustment through multi-module collaborative control. The sensor module collects real-time horizontal inclination data from the launch site and real-time angle data from the target device, providing the system with initial input parameters. After receiving the horizontal inclination data, the main control module initiates the dynamic calibration program. Through the preset attitude adjustment mechanism, it performs multi-axis linkage compensation actions to eliminate the deviation of the base angle caused by foundation unevenness and generate calibrated absolute angle parameters. This calibration parameter serves as the reference input for angle deviation calculation and is compared and analyzed with the real-time angle data to generate multi-level power collaborative control instructions including a partitioned drive strategy, thereby providing a precise control basis for subsequent actions.

[0023] The main control module utilizes historical operational data from a pre-set database, combined with real-time load status information from the condition monitoring module, to generate adaptive re-leveling path instructions using a dynamic programming algorithm. This algorithm utilizes a multi-stage decision-making optimization algorithm based on mechanical impact thresholds and energy loss weighting factors. It matches the re-leveling velocity curve in stages and dynamically adjusts acceleration parameters to accommodate the target mass distribution. The optimized path parameters are transmitted via a centralized control bus to the multi-stage power control module, which drives the hydraulic actuators to adjust the target assembly's posture.

[0024] The multi-stage power control module uses displacement sensors to collect real-time displacement data from the multi-stage power units. Combined with the zoned drive strategy issued by the main control module, it switches between different hydraulic drive speed modes to perform angle adjustments. A centralized control bus utilizes the EtherCAT protocol for millisecond-level synchronous transmission, providing real-time feedback of displacement data to the main control module. The main control module generates error compensation parameters based on displacement deviations, converts them into hydraulic drive correction commands, and transmits them back to the power control module, thereby suppressing accumulated errors in the mechanical transmission chain and achieving high-precision closed-loop control.

[0025] The condition monitoring module continuously collects pressure, temperature, and limit status signals from the hydraulic system and transmits real-time load status to the main control module. When an angle overshoot or limit trigger is detected, the redundant fault-tolerant mechanism interrupts the current control command and switches to the backup hydraulic drive circuit to perform reverse compensation. Abnormal data is recorded by the fault diagnosis unit and stored in a dynamic correction data set, providing data support for subsequent iterative optimization. The backup circuit achieves dual-channel switching through a hardware watchdog module, controlling the target device to urgently lock or return to a preset safety angle in the event of a single fault.

[0026] The data optimization module stores sensor data and control command sequences, generates a dynamic correction dataset, and performs error source analysis. By correlating the temporal relationships between historical sensor data and control commands, it identifies deviations in system stability and generates correction parameters. These correction parameters are fed into the dynamic planning algorithm interface of the main control module, which updates the path planning parameters to optimize the generation logic of the adaptive return path commands. This iterative learning process continuously improves the accuracy of the system's closed-loop corrections.

[0027] Specifically, the dynamic calibration procedure of the hypersonic target erection electronic control system for the ground launch device of the present invention is configured to perform the following steps: The main control module controls the preset adjustment mechanism to perform multi-axis compensation actions, correct the foundation unevenness deviation detected by the sensor module, and generate calibrated reference angle parameters; The calibrated reference angle parameter and the real-time angle data collected by the sensor module are input into the main control module for deviation calculation to generate an angle adjustment control instruction; The angle adjustment control instruction is transmitted to the multi-stage power control module through the centralized control bus, driving the hydraulic actuator to adjust the angle of the target device.

[0028] The dynamic calibration process of the ground-based launcher erection electronic control system for hypersonic targets achieves ground deviation correction through multi-axis compensation and closed-loop control. After receiving the launch site horizontal inclination data collected by the sensor module, the main control module controls the preset attitude adjustment mechanism to perform multi-axis compensation. This action, based on a preset linkage compensation algorithm, drives the hydraulic actuator to synchronously move along multiple axes to offset the initial angle deviation caused by ground unevenness and generate calibrated reference angle parameters. The calibration parameters are used as reference input and compared with the target device angle data collected in real time by the sensor module. The angle deviation value is generated by the main control module's angle deviation calculation unit.

[0029] The angle deviation calculation unit compares the real-time deviation value with a preset threshold and outputs an angle adjustment control command. This command, which includes the hydraulic drive speed mode switch command and displacement correction parameters, is transmitted to the multi-stage power control module via a centralized control bus. After interpreting the command, the power control module drives the hydraulic cylinder to perform an extension and retraction motion according to a preset speed curve, adjusting the target device to the target angle. Displacement data from the hydraulic actuator is collected in real time by a displacement sensor and synchronously fed back to the main control module, forming a closed-loop correction circuit.

[0030] The centralized control bus utilizes the EtherCAT protocol to synchronize displacement data from multiple power units within milliseconds. The master control module dynamically generates error compensation parameters based on the deviation between the displacement feedback data and the target angle, and transmits these parameters to the power control module via the bus. The power control module adjusts the hydraulic valve opening and pump station pressure based on the compensation parameters, correcting for accumulated errors in the mechanical transmission chain and maintaining the accuracy of the target device's angle adjustment. The calibrated baseline angle parameters are synchronously updated to the dynamic correction dataset, providing data support for subsequent adaptive return-to-leveling path optimization.

[0031] Specifically, the hypersonic target erection electronic control system for the ground launch device of the present invention is configured to perform the following steps: The main control module calls the hydraulic cylinder extension and retraction speed values ​​corresponding to the low-speed high-precision mode, the balance mode and the fast approach mode in the preset control strategy respectively according to the interval comparison result of the real-time angle deviation value generated by the deviation calculation and the preset angle parameter; The closed-loop correction model of the main control module receives the inclination sensor and rotary encoder data of the sensor module, dynamically optimizes the extension and retraction speed value of the hydraulic cylinder, and generates hydraulic drive optimization parameters; The main control module converts the hydraulic drive optimization parameters into multi-level power coordinated control instructions and transmits them to the multi-level power control module via a centralized control bus; The multi-stage power control module drives the hydraulic cylinder to perform the angle adjustment action of the target device according to the multi-stage power coordinated control instruction.

[0032] The partitioned drive strategy for the ground-based launcher erection electronic control system for hypersonic targets achieves dynamic angle adjustment through multi-mode switching and closed-loop optimization. The main control module uses different drive modes in the preset control strategy based on the interval comparison between the real-time angle deviation value and the preset angle parameter. When the deviation value is less than the first threshold, the low-speed, high-precision mode is activated, controlling the hydraulic cylinder to perform fine-tuning actions at the minimum speed increment to improve angle positioning accuracy. When the deviation value is between the first and second thresholds, the system switches to the balanced mode, driving the hydraulic cylinder at a medium speed to extend and retract, balancing response speed and adjustment stability. When the deviation value exceeds the second threshold, the rapid approach mode is activated, driving the hydraulic cylinder at maximum speed to quickly approach the target angle, shortening the adjustment cycle.

[0033] The closed-loop correction model in the main control module receives real-time data from the inclination sensor and rotary encoder in the sensor module. Using a Kalman filter algorithm, it fuses redundant data from multiple sources to generate angle correction parameters. These correction parameters are then fed into the hydraulic drive optimization unit, which dynamically calculates optimal control parameters for the hydraulic valve opening and pump station output pressure, taking into account the current hydraulic cylinder displacement and pressure status. The main control module converts these optimized parameters into multi-stage coordinated power control instructions, including target displacement, velocity profile, and pressure threshold. These instructions are then transmitted to the multi-stage power control module via the EtherCAT bus protocol.

[0034] After interpreting the coordinated control instructions, the multi-stage power control module drives the hydraulic cylinders in stages to perform the telescopic movement. Displacement sensors collect real-time hydraulic cylinder displacement data and synchronously feed it back to the main control module via a centralized control bus. Based on the deviation between the displacement feedback data and the target angle, the main control module generates error compensation instructions and sends them to the power control module, dynamically adjusting the hydraulic drive parameters. These compensated drive parameters suppress the accumulated errors in the mechanical transmission chain, achieving closed-loop control of the target device's angle adjustment. The optimized control parameters are then synchronously updated to the dynamic correction dataset, providing an iterative learning basis for subsequent path planning.

[0035] Specifically, the electronic control system for erecting a hypersonic target using a ground-based launcher according to the present invention uses an EtherCAT bus protocol and is configured as follows: Receive displacement data collected by the displacement sensor of the multi-stage power control module, and transmit the displacement data to the main control module through millisecond-level synchronization; The main control module generates an error compensation parameter according to the deviation value between the displacement data and the target angle instruction; Converting the error compensation parameters into hydraulic drive correction instructions and feeding them back to the multi-level power control module via a centralized control bus; The multi-stage power control module adjusts the extension and retraction action of the hydraulic cylinder according to the hydraulic drive correction instruction to correct the accumulated error of the mechanical transmission chain.

[0036] The centralized control bus of the ground-based launcher erection electronic control system for hypersonic targets builds a real-time data exchange network based on the EtherCAT bus protocol. The multi-stage power control module uses displacement sensors to collect real-time displacement data from the hydraulic cylinder, including displacement increments, velocity, and acceleration information. The EtherCAT bus uploads the displacement data to the main control module using a millisecond-level synchronous transmission mechanism. Transmission delays are eliminated through a distributed clock protocol, achieving data synchronization among the multi-stage power units. After receiving the displacement data, the main control module compares it with the preset target angle command in real time, calculates the current displacement deviation value and its rate of change, and generates dynamic error compensation parameters. The error compensation parameters include displacement correction, velocity adjustment coefficient, and acceleration threshold, which are used to offset the gap error and inertial lag of the mechanical transmission chain.

[0037] The main control module converts the error compensation parameters into hydraulic drive correction instructions, which include the hydraulic valve opening adjustment value, the pump station pressure correction coefficient, and the target displacement increment. The correction instructions are sent to the multi-level power control module via the EtherCAT bus. After parsing the instructions, the drive module controls the proportional valve to adjust the hydraulic cylinder oil flow and adjusts the pump station output pressure to match the target displacement requirement. During the hydraulic cylinder's telescopic movement, the displacement sensor continuously collects the actual displacement and feeds it back to the main control module in real time via the bus, forming a closed-loop control circuit. The main control module iteratively updates the error compensation parameters based on this feedback data, dynamically optimizing the hydraulic drive correction instructions and suppressing the accumulated errors in the transmission chain. The optimized displacement data is synchronously stored in the dynamic correction dataset, providing iterative learning input for subsequent adaptive control strategies, improving the system's angle adjustment accuracy and stability under complex working conditions.

[0038] Specifically, the redundant fault-tolerant mechanism of the hypersonic target erection electronic control system for the ground-based launcher of the present invention is configured to perform the following steps: When the state monitoring module detects that the real-time angle data collected by the sensor module exceeds the preset threshold or the limit switch of the hydraulic system is triggered, the multi-level power coordinated control instruction or the adaptive return path instruction generated by the main control module is interrupted; Switch to the backup hydraulic drive circuit and perform compensation action in the opposite direction of the current angle deviation according to the preset fault tolerance strategy; The abnormal pressure signal, temperature signal and limit status signal collected by the status monitoring module are recorded by the fault diagnosis unit of the data optimization module, and the abnormal signal is stored in the dynamic correction data set.

[0039] The redundant fault-tolerant mechanism of the ground-based launcher erection electronic control system for hypersonic targets achieves system safety control through multi-level fault detection and dynamic compensation. The status monitoring module collects real-time data from the sensor module's inclination sensor and rotary encoder, as well as the status of the hydraulic system's limit switches. If the real-time angle data exceeds a preset safety threshold or a limit switch is triggered, the main control module immediately interrupts the currently executing multi-level power coordination control command or adaptive return path command. The interrupt signal is synchronously transmitted to the multi-level power control module via a centralized control bus, halting the current action of the hydraulic actuator to prevent angle overshoot or mechanical overload.

[0040] The main control module switches to the backup hydraulic drive circuit and invokes a pre-set fault-tolerant strategy to generate a reverse compensation command. This strategy calculates the reverse displacement and hydraulic drive speed parameters based on the current angular deviation direction and magnitude, actuating the backup circuit's proportional valve to adjust the oil supply direction and flow. The hydraulic cylinder then performs a reverse extension and retraction motion, offsetting the angular deviation and gradually returning to the pre-set safe position. The backup circuit's dual-channel design, independently controlled by a hardware watchdog module, maintains hydraulic drive continuity in the event of a primary circuit failure, preventing system paralysis caused by a single point of failure.

[0041] The fault diagnosis unit of the data optimization module records abnormal pressure fluctuation signals, temperature overrun signals, and limit state change signals collected by the condition monitoring module in real time to generate a fault signature dataset. The abnormal signals are associated with the corresponding control instruction sequences and stored in a dynamic correction dataset, with the time and duration of the fault marked by a timestamp. This dataset is input into the iterative learning unit of the main control module, which analyzes the correlation between the fault mode and the system response and optimizes the compensation parameters and switching logic of the fault-tolerant strategy. The optimized strategy is updated to the preset database, improving the response speed and control accuracy under subsequent abnormal operating conditions and maintaining the operational stability of the target device under complex loads.

[0042] Specifically, in the electronic control system for erecting a hypersonic target using a ground-based launcher according to the present invention, the closed-loop correction model of the main control module is configured to perform the following steps: Receives horizontal tilt data collected by the tilt sensor of the sensor module and real-time angle data collected by the rotary encoder; Performing redundant data fusion on the horizontal tilt angle data and the real-time angle data by using a Kalman filter algorithm to generate an angle correction parameter; Calculating the optimized control parameters of the hydraulic valve opening and the pump station output pressure according to the angle correction parameters; The optimized control parameters are transmitted to a multi-level power control module via a centralized control bus to drive a hydraulic actuator to adjust the posture of the target device.

[0043] The closed-loop correction model of the ground-based launcher erection electronic control system for hypersonic targets achieves precise attitude control through multi-source data fusion and dynamic optimization. The main control module receives real-time horizontal tilt data collected by the sensor module's tilt sensor and real-time target device angle data from a rotary encoder. This data includes angle deviation, displacement increment, and motion trend information. A Kalman filter algorithm fuses this redundant multi-source data, filtering out sensor noise and extracting effective angle features to generate angle correction parameters. These correction parameters include target angle deviation compensation and a dynamic adjustment coefficient to mitigate measurement errors caused by environmental interference.

[0044] The main control module calculates the hydraulic valve opening adjustment and pump station output pressure correction based on the angle correction parameters, combined with the current hydraulic system pressure state and displacement feedback data. This calculation, based on a pre-set hydraulic dynamics model, maps angle deviations into hydraulic drive parameters, optimizing the hydraulic cylinder's extension and retraction speed and torque output. These optimized control parameters are transmitted via the EtherCAT bus protocol to the multi-stage power control module. The drive module interprets the instructions, adjusts the proportional valve opening and pump station pressure output, and controls the hydraulic actuator to execute posture adjustments according to the target trajectory.

[0045] Displacement data from the hydraulic actuator is collected in real time by a high-precision displacement sensor and fed back to the main control module to form a closed-loop control circuit. Based on the deviation between the real-time displacement and the target angle, the main control module iteratively updates the Kalman filter algorithm's weight coefficients and hydraulic dynamics model parameters, dynamically optimizing the generation logic for the correction parameters. The optimized parameters are synchronously stored in the dynamic correction dataset, providing learning samples for subsequent adaptive re-leveling path planning, improving the system's control accuracy and response robustness under complex load conditions.

[0046] Specifically, in the hypersonic target ground launch device erection electronic control system of the present invention, the adaptive return path instruction includes: The main control module calls the historical hydraulic drive parameters stored in the preset database and the real-time load pressure signal fed back by the status monitoring module to generate a segmented return-to-level speed curve; Dynamically calculating the acceleration parameters of the hydraulic actuator according to the segmented return-to-leveling velocity curve, so as to adapt to the target mass distribution data collected by the sensor module; The dynamic programming algorithm is used to optimize the segmented return velocity curve and acceleration parameters to generate the hydraulic drive path parameters. The hydraulic drive path parameters are transmitted to the multi-stage power control module through a centralized control bus to drive the hydraulic cylinder to perform a leveling action.

[0047] The adaptive re-leveling path command for the ground-based launcher erector control system for hypersonic targets achieves precise path planning through the coordinated optimization of historical data and real-time feedback. The main control module utilizes historical hydraulic drive parameters stored in a pre-set database, including hydraulic valve opening, pump station pressure, and displacement data. Combined with real-time load pressure signals from the condition monitoring module, it analyzes the dynamic characteristics of the current hydraulic system. Based on the correlation between historical parameters and real-time pressure, a segmented re-leveling velocity curve is generated. This curve divides velocity targets by displacement stage and matches pressure thresholds under different load conditions, providing the fundamental input for path optimization.

[0048] The main control module dynamically calculates the acceleration parameters of the hydraulic actuator based on the segmented re-leveling velocity curves and the target mass distribution data collected by the sensor module. This calculation, based on a mass-acceleration dynamic model, maps the target center of mass offset into an acceleration adjustment coefficient for the hydraulic cylinder to accommodate the varying inertial loads under varying mass distributions. The acceleration parameters and segmented velocity curves are input into a dynamic programming algorithm, which generates the hydraulic drive path parameters through a multi-stage decision-making optimization process. This optimization process uses the mechanical impact threshold and energy loss weighting factor as constraints, balancing the re-leveling velocity with system stability to generate path parameters that balance efficiency and accuracy.

[0049] Hydraulic drive path parameters, including target displacement, velocity profile, and pressure correction coefficient, are transmitted to the multi-level power control module via a centralized control bus. After analyzing the parameters, the power control module drives the hydraulic cylinder to perform extension and retraction movements according to preset velocity stages. Displacement sensors collect actual displacement in real time and provide feedback to the main control module. The main control module dynamically adjusts the path parameters based on displacement deviations and iteratively updates the optimization weights of the dynamic programming algorithm to minimize transmission chain error accumulation. The optimized path parameters are synchronously stored in a dynamic correction dataset, providing learning samples for subsequent adaptive control, improving the accuracy of return-to-leveling path planning and system robustness under complex operating conditions.

[0050] Specifically, in the hypersonic target erection electronic control system for a ground-based launcher according to the present invention, the data optimization module is further configured to perform the following steps: storing historical sensor data collected by the sensor module and a control instruction sequence generated by the main control module; Based on the correlation between the historical sensor data and the control instruction sequence, executing an error analysis algorithm to generate a system stability correction parameter; Inputting the system stability correction parameter into the dynamic programming algorithm parameter update interface of the main control module; The main control module updates the path planning parameters through a dynamic planning algorithm and generates optimized adaptive return path instructions.

[0051] The data optimization module of the ground-based launcher erection electronic control system for hypersonic targets implements iterative optimization of control strategies through correlation analysis of historical data and instructions. The data optimization module continuously stores historical sensor data collected by the sensor module, including real-time angle data from the inclinometer and rotary encoder, and pressure and temperature signals from the hydraulic system. It also records the multi-level power coordination control instructions and adaptive return path instruction sequences generated by the main control module. This data is timestamped and time-series-correlated, forming a complete data set covering angle deviation, displacement, pressure state, and control instructions, providing a data foundation for error tracing and parameter optimization.

[0052] The data optimization module invokes a preset error analysis algorithm. Based on the temporal correlation between historical sensor data and control command sequences, it identifies cumulative angular deviation trends, hydraulic pressure fluctuation patterns, and command response lag characteristics during system operation. The algorithm statistically analyzes the correlation between deviations and command execution, generating system stability correction parameters, including the hydraulic drive speed compensation coefficient, acceleration adjustment threshold, and path planning weighting factor. These correction parameters are input via the data bus to the dynamic planning algorithm parameter update interface of the main control module, replacing the original preset parameters and optimizing the decision logic of the path planning model.

[0053] After receiving the corrected parameters, the main control module updates the mechanical impact threshold, energy loss weight factor, and acceleration distribution constraints of the dynamic programming algorithm. Based on the updated parameters, the dynamic programming algorithm recalculates the adaptive releveling path instructions and generates a velocity curve, acceleration distribution, and hydraulic drive parameters that match the current system stability requirements. The optimized instructions are sent to the multi-level power control module via the centralized control bus, driving the hydraulic actuator to execute the releveling action of the target device. At the same time, the execution data is collected in real time and fed back to the data optimization module to form a closed-loop iterative optimization link. The data optimization module continuously records the optimized control instructions and execution results, dynamically updates the learning samples of the error analysis model, and improves the adaptive control accuracy and stability of the system under complex loads.

[0054] Specifically, the backup hydraulic drive circuit of the hypersonic target ground launcher erection electronic control system of the present invention is configured as follows: When the condition monitoring module detects a single fault condition such as abnormal hydraulic system pressure or sensor failure, it triggers a dual-channel switching signal; The main control module generates an emergency locking instruction or a return-to-leveling path instruction in response to the dual-channel switching signal; the backup hydraulic drive circuit receives the emergency locking instruction or the return-to-leveling path instruction and switches to the backup hydraulic circuit drive mode; The hydraulic actuator is driven by the backup hydraulic circuit to control the target device to be in a locked position or return to a preset safety angle.

[0055] The backup hydraulic drive circuit in the ground-based launcher erector system for hypersonic targets is protected by multi-level fault response and redundant control. The condition monitoring module collects real-time data from the hydraulic system's pressure sensors and sensor health status signals. When pressure exceeds a preset safety threshold or sensor signal loss is detected, it identifies a single fault condition and triggers a dual-channel switching signal. This switching signal is transmitted to the main control module via an independent communication link, interrupting the execution of the current control command and preventing malfunctions under abnormal operating conditions.

[0056] The main control module generates differentiated emergency commands based on the fault type. If the fault is a hydraulic pressure anomaly, an emergency lock command is generated, including the hydraulic valve closing threshold and pump station pressure relief parameters. If the fault is a sensor failure, a preset return path command is invoked, including the target safety angle and return speed curve. This emergency command is then transmitted to the backup hydraulic drive circuit via a redundant communication channel, triggering the circuit switching logic. This backup circuit is independent of the main control hydraulic system and features a dedicated proportional valve block and pressure supply unit to ensure continuous hydraulic power output during the switching process.

[0057] Upon receiving the emergency command, the backup hydraulic drive circuit activates an independent control program. During an emergency lock, the proportional valve group closes the oil supply and activates the pressure relief valve, allowing the hydraulic cylinder to quickly lock into its current position. During a leveling operation, the hydraulic cylinder calculates the displacement increment based on the target safety angle and drives it to extend and retract according to a preset speed curve, gradually adjusting the target assembly to the preset safety angle. A displacement sensor collects real-time hydraulic cylinder displacement data and feeds it back to the main control module via a redundant communication channel, forming a closed-loop monitoring link.

[0058] During fault handling, the condition monitoring module records abnormal pressure fluctuations, sensor failure moments, and backup circuit execution data, generating a fault signature log and storing it in a dynamic correction dataset. Based on this log data, the main control module updates the pressure threshold determination logic and sensor health monitoring parameters in the fault-tolerance strategy, optimizing the rules for generating emergency commands. This optimized strategy is synchronized to a pre-set database via an iterative learning unit, improving subsequent fault response speed and system robustness, ensuring the operational stability of the target device under complex operating conditions.

[0059] Specifically, in the hypersonic target erection electronic control system for a ground-based launcher according to the present invention, the main control module calls a dynamic programming algorithm to perform the following steps: Calling the mechanical shock threshold parameters and energy loss weight factor parameters in the preset database; generating an acceleration distribution optimization parameter of the target device during the leveling phase based on the mechanical impact threshold parameter and the energy loss weight factor parameter; Converting the acceleration distribution optimization parameters into hydraulic drive control instructions; The hydraulic drive control instruction is transmitted to the multi-level power control module through the centralized control bus to drive the hydraulic actuator to perform the leveling action of the target device.

[0060] The main control module of the ground-based launcher erection electronic control system for hypersonic targets uses a dynamic programming algorithm to optimize the re-leveling path. The module uses mechanical impact threshold parameters and energy loss weighting factor parameters stored in a preset database. These parameters are set based on historical test data and the system's mechanical characteristics, and are used to constrain the hydraulic actuator's acceleration extremes and energy distribution ratio, respectively. Using these parameters as boundary conditions and combined with the target assembly's current mass distribution data, the dynamic programming algorithm calculates the optimized acceleration distribution parameters for each displacement node during the re-leveling process in stages, balancing mechanical impact with energy efficiency.

[0061] The main control module maps the acceleration distribution optimization parameters into hydraulic drive control instructions, including the hydraulic valve opening adjustment value, the pump station pressure correction factor, and the target displacement increment. This mapping process, based on the hydraulic system's dynamic model, converts the acceleration requirements into a driving torque and velocity curve for the hydraulic actuator. The optimized control instructions are transmitted to the multi-stage power control module via the EtherCAT bus protocol. The driver module interprets the instructions, adjusts the proportional valve block opening and the pump station output pressure, and controls the hydraulic cylinder to perform a leveling action according to the target acceleration distribution.

[0062] Displacement data from the hydraulic actuator is collected in real time by a high-precision displacement sensor and fed back to the main control module to form a closed-loop control circuit. Based on the matching degree between the displacement deviation and the acceleration distribution, the main control module iteratively updates the weight factors and constraints of the dynamic programming algorithm to optimize the path parameter generation logic for the next cycle. The optimized acceleration distribution parameters are synchronously stored in the dynamic correction dataset of the data optimization module and correlated with historical operating data for analysis, providing learning samples for the adaptive control strategy, improving the accuracy of return path planning and system robustness under complex working conditions.

[0063] The present invention relates to an electric control system for erecting a hypersonic target ground launcher, and its technical features are explained as follows: The sensor module, consisting of an inclinometer and a rotary encoder, collects real-time horizontal inclination data from the launch site and real-time angle data from the target device. The inclinometer measures the angle between the ground and the target plane to provide an initial horizontal reference. The rotary encoder generates real-time angle feedback from the angular displacement signal of the target's rotation axis, providing a data source for subsequent deviation calculations.

[0064] The main control module: The system's core control unit, receiving sensor data and executing a dynamic calibration routine. It uses multi-axis linkage compensation to correct for ground unevenness deviations and generate calibrated reference angle parameters. This module utilizes a dynamic programming algorithm, combining historical operational data from a pre-set database with real-time load conditions to generate multi-level coordinated power control instructions, including partitioned drive strategies and adaptive return-to-leveling path instructions. Using the mechanical impact threshold and energy loss weighting factor as constraints, the dynamic programming algorithm optimizes acceleration distribution parameters in stages, balancing mechanical impact with energy efficiency.

[0065] The multi-stage power control module is responsible for executing hydraulic actuation. It collects real-time hydraulic cylinder displacement data via displacement sensors and switches hydraulic drive speed modes based on commands from the main control module. It transmits millisecond-level data synchronously via a centralized control bus (EtherCAT protocol), feeding displacement data back to the main control module to form a closed-loop correction circuit to mitigate accumulated errors in the mechanical transmission chain. The EtherCAT bus utilizes a distributed clock protocol to eliminate transmission delays and ensure the synchronization of the multi-stage power units.

[0066] The condition monitoring module monitors the hydraulic system's pressure, temperature, and limit switch status. When an angle overshoot or limit switch trigger is detected, a redundant fault-tolerance mechanism is triggered. This mechanism interrupts the current control command and switches to the backup hydraulic drive circuit for reverse compensation or safe return. This backup circuit maintains hydraulic power output continuity through an independent proportional valve group and pressure supply unit, preventing system failure caused by a single point of failure.

[0067] The Data Optimization Module stores historical data collected by the sensor module and the control command sequences generated by the main control module to generate a dynamic correction data set. Using an error analysis algorithm, it identifies cumulative angular deviation trends, hydraulic pressure fluctuation patterns, and command response lag characteristics to generate system stability correction parameters (such as speed compensation coefficients and path planning weighting factors). These correction parameters are input into the main control module's dynamic planning algorithm interface to optimize the path planning logic and iteratively improve adaptive control accuracy.

[0068] A zoned drive strategy divides control modes based on real-time angle deviation values. When the deviation is less than the first threshold, low-speed, high-precision mode is activated, achieving fine-tuning with minimal speed increments. When the deviation is between the first and second thresholds, the system switches to balanced mode, balancing adjustment efficiency and stability. When the deviation exceeds the second threshold, rapid approach mode is activated, shortening the adjustment cycle at maximum speed. A closed-loop correction model uses a Kalman filter algorithm to integrate redundant data from the inclination sensor and encoder to dynamically optimize hydraulic valve opening and pump station pressure parameters.

[0069] Redundant fault-tolerance mechanism: When abnormal hydraulic pressure or sensor failure is detected, a dual-channel switching signal is triggered, and the main control module generates an emergency lock command or a return path command. The backup hydraulic circuit performs reverse displacement compensation or returns to a preset safe angle according to the preset fault-tolerance strategy. Simultaneously, the fault diagnosis unit records abnormal pressure, temperature, and limit signals, and correlates the control command sequence to generate a fault signature log, providing data support for subsequent strategy optimization.

[0070] Adaptive return-to-leveling path instructions: A segmented return-to-leveling velocity curve is generated based on historical hydraulic drive parameters and real-time load pressure signals. Acceleration parameters are dynamically calculated using target mass distribution data. A dynamic programming algorithm optimizes the path parameters, generating a target displacement, velocity curve, and pressure correction factor. This drives the hydraulic cylinder to execute the return-to-leveling motion along a pre-set trajectory. The optimized path parameters are updated to a dynamic correction dataset through iterative learning, enhancing system robustness under complex operating conditions.

[0071] Dynamic Calibration: Based on the horizontal inclination data collected by the sensor module, the main control module corrects initial deviations caused by uneven ground surface through multi-axis linkage compensation. The program drives the hydraulic actuators to synchronously shift along multiple axes to generate calibrated reference angle parameters. This parameter serves as the input for subsequent deviation calculations and is compared with the real-time angle data obtained by the rotary encoder to improve the initial accuracy of angle adjustment.

[0072] Closed-Loop Correction Model: This model utilizes a Kalman filter algorithm to integrate redundant data from the inclination sensor and rotary encoder, filtering out sensor noise and extracting effective angle features to generate angle correction parameters. These correction parameters include target angle deviation compensation and a dynamic adjustment coefficient, which are used to optimize hydraulic valve opening and pump station output pressure. Displacement feedback data is transmitted in real time via a centralized control bus (EtherCAT protocol), dynamically adjusting hydraulic drive commands and suppressing accumulated errors in the mechanical transmission chain, resulting in a high-precision closed-loop control circuit.

[0073] Dynamic Programming Algorithm: Using mechanical impact threshold parameters and energy loss weighting factors as constraints, the algorithm combines historical operational data with real-time load conditions to optimize the acceleration distribution along the return path in stages. This multi-stage decision-making process generates hydraulic drive path parameters, including target displacement, velocity profile, and pressure correction factor. These optimized parameters are updated to a dynamic correction dataset through iterative learning, adapting to inertial load variations under varying target mass distributions and balancing mechanical impact with energy efficiency.

[0074] Redundant fault-tolerance mechanism: When the condition monitoring module detects angle overshoot or hydraulic system anomalies, it triggers a dual-channel switching signal. The main control module generates an emergency lock command or a return path command, and the backup hydraulic drive circuit performs reverse compensation or safe return operations. The backup circuit maintains hydraulic power output through an independent proportional valve group and pressure supply unit, preventing system paralysis caused by single-point failure. The fault diagnosis unit records abnormal signals and generates a fault signature log for subsequent iterative optimization of the fault-tolerance strategy.

[0075] The error analysis algorithm in the data optimization module stores historical sensor data and control command sequences. Through correlation analysis, it identifies cumulative trends in angular deviation, hydraulic pressure fluctuation patterns, and command response lags. The algorithm extracts patterns in the correlation between deviation and command execution and generates system stability correction parameters (such as speed compensation coefficients and path planning weighting factors). These correction parameters are input into the dynamic programming algorithm interface, updating the constraints of the path planning model and improving the efficiency and control accuracy of adaptive return path generation.

[0076] The specific implementation method of the ground-based launch device erection electronic control system for hypersonic targets achieves high-precision dynamic attitude adjustment through multi-module collaborative control and closed-loop optimization. The sensor module collects the horizontal inclination data of the launch site and the real-time angle data of the target device in real time. After receiving the horizontal inclination data, the main control module starts the dynamic calibration program and controls the preset adjustment mechanism to perform multi-axis linkage compensation action. This action is based on the synchronous displacement of the hydraulic actuator along multiple axes, corrects the initial angle deviation caused by foundation unevenness, and generates calibrated reference angle parameters. The reference angle parameters are used as the basic input for deviation calculation and are compared and analyzed with the real-time angle data to generate multi-level power collaborative control instructions including partitioned drive strategies, providing a precise control basis for subsequent angle adjustments.

[0077] The main control module uses historical hydraulic drive parameters from a preset database and real-time load pressure signals fed back by the status monitoring module, combining them with a dynamic programming algorithm to generate adaptive re-leveling path instructions. The dynamic programming algorithm uses mechanical impact threshold parameters and energy loss weighting factors as constraints, calculating the acceleration distribution optimization parameters in stages to balance re-leveling speed and system stability. The optimized path parameters are transmitted to the multi-stage power control module via a centralized control bus, driving the hydraulic actuator to adjust the target device angle according to the target trajectory. The displacement sensor collects hydraulic cylinder displacement data in real time and provides millisecond-level synchronous feedback via the EtherCAT bus protocol. The main control module dynamically generates error compensation parameters based on the displacement deviation and issues correction instructions to suppress the accumulated error of the mechanical transmission chain, forming a closed-loop control circuit.

[0078] The redundant fault-tolerant mechanism improves system reliability through dual-channel switching and reverse compensation. When the condition monitoring module detects hydraulic pressure anomalies or sensor failure, it triggers a dual-channel switching signal and interrupts the current control command. The main control module generates an emergency locking command or a path leveling command. The backup hydraulic drive circuit is independent of the main control system and performs reverse compensation or leveling at a preset safety angle to suppress the risk of angle overshoot. The data optimization module records abnormal pressure signals, temperature signals, and fault feature logs, associates control command sequences to generate a dynamically corrected data set, and optimizes fault-tolerant strategy parameters and path planning logic through iterative learning, continuously improving the system's adaptive control accuracy and robustness under complex aerodynamic loads.

[0079] See also Figure 2 The specific implementation steps of the erection electronic control system for the ground launcher of the hypersonic target are as follows: Step 1: The inclination sensor collects the launch site's horizontal inclination data in real time and transmits it to the main control module. The main control module determines whether the inclination deviation exceeds the allowable range based on a preset threshold. If the inclination is out of tolerance, the dynamic calibration program is initiated, controlling the attitude adjustment mechanism to perform multi-axis linkage compensation, driving the hydraulic actuator to move synchronously along multiple axes, correcting the initial angle deviation caused by foundation unevenness, and generating calibrated reference angle parameters. If the inclination meets the requirements, this parameter is directly embedded as a reference input in the subsequent control process. The calibrated reference angle parameters are synchronously input into the main control module along with the real-time target angle data collected by the rotary encoder, providing a high-precision reference for deviation calculation.

[0080] Step 2: After receiving the target angle command, the main control module generates a multi-level power coordination control command based on the real-time angle deviation value. The control mode is divided according to the deviation range: when the deviation is less than the first threshold, the low-speed high-precision mode is called to adjust the hydraulic cylinder extension and contraction amount with the minimum speed increment; when the deviation is between the first and second thresholds, it switches to the balance mode, using a medium speed to balance adjustment efficiency and stability; when the deviation exceeds the second threshold, the fast approach mode is enabled to drive the hydraulic cylinder to the target angle at the maximum speed. The main control module synchronizes the displacement data of the multi-level power unit through the centralized control bus, fuses the redundant data of the inclination sensor and the rotary encoder based on the Kalman filter algorithm, generates angle correction parameters, and dynamically optimizes the hydraulic valve opening and pump station pressure to suppress the cumulative error of the mechanical transmission chain.

[0081] Step 3: The status monitoring module continuously collects the hydraulic system's pressure signals, temperature signals, and limit switch status. If an angle overshoot or limit trigger is detected, the main control module immediately interrupts the current command and switches to the backup hydraulic drive circuit, performing reverse compensation or returning to a preset safety angle. The backup circuit controls the hydraulic actuator through an independent proportional valve group and pressure supply unit to prevent system failure caused by a main circuit failure. The fault diagnosis unit records abnormal pressure, temperature, and limit signals, generates a fault feature log, and stores it in a dynamic correction data set to provide data support for subsequent strategy optimization.

[0082] Step 4: After the mission is completed, the main control module invokes a dynamic programming algorithm to generate a segmented re-leveling velocity curve based on historical hydraulic drive parameters and real-time load conditions. Using mechanical impact thresholds and energy loss weighting factors as constraints, the algorithm optimizes the acceleration distribution in stages to adapt to changes in target mass. The optimized path parameters are transmitted via a centralized bus to the multi-stage power control module, which drives the hydraulic cylinder to execute the re-leveling maneuver along the target trajectory. The data optimization module stores sensor data and control command sequences, identifies system stability deviations through an error analysis algorithm, updates the optimization parameters of the dynamic programming algorithm, and iteratively improves closed-loop control accuracy and re-leveling efficiency.

[0083] In this technical solution, dynamic calibration in step 1 provides a high-precision benchmark for multi-level coordinated control. The partitioned drive strategy and closed-loop correction model in step 2 directly address the error accumulation problem in discrete architectures. The redundant fault-tolerance mechanism in step 3 ensures system reliability under abnormal operating conditions. The dynamic programming algorithm in step 4 optimizes the adaptive control logic through data iteration. These steps collaborate through the unified scheduling of the master control module and a centralized bus to form a complete closed-loop control chain, significantly improving the accuracy and response speed of hypersonic transient aerodynamic load simulations.

[0084] Embodiment 1 of the present invention: When replicating transient aerodynamic loads in the ground-based launch vehicle erection electronic control system for hypersonic targets, the sensor module's tilt sensor collects horizontal tilt data from the launch site and transmits it to the main control module. If the main control module determines that the tilt deviation exceeds a preset threshold, it initiates a dynamic calibration process, controlling the attitude adjustment mechanism to perform multi-axis coordinated compensation. The hydraulic actuator unit synchronously moves along the X, Y, and Z axes to correct initial angle deviations caused by ground unevenness and generate calibrated reference angle parameters. These reference angle parameters, along with real-time target angle data captured by a rotary encoder, are fed into the main control module for deviation calculation, generating multi-level coordinated power control commands including a zoned drive strategy. The main control module transmits these commands to the multi-level power control module via a centralized control bus (EtherCAT protocol), driving the hydraulic cylinders to perform fine-tuning maneuvers in a low-speed, high-precision mode. Real-time displacement data is synchronously fed back via the bus, forming a closed-loop correction circuit. The Kalman filter algorithm integrates the redundant data of the inclination sensor and encoder, dynamically optimizes the hydraulic valve opening and pump station pressure parameters, suppresses the cumulative error of the mechanical transmission chain, and makes the angle positioning accuracy of the target device reach within 0.05 degrees.

[0085] Embodiment 2 of the present invention: Under single-fault conditions such as abnormal hydraulic system pressure or sensor failure, the condition monitoring module detects that the pressure exceeds the safety threshold or the sensor signal is lost, triggering a dual-channel switching signal. The main control module interrupts the current multi-stage power coordination control command and switches to the backup hydraulic drive circuit. Based on the preset fault-tolerant strategy, the backup circuit generates a reverse compensation command, driving the independent proportional valve group to adjust the oil supply direction and flow, controlling the hydraulic cylinder to perform reverse displacement to offset angular deviation. Simultaneously, the fault diagnosis unit of the data optimization module records abnormal pressure fluctuation signals, temperature overlimit signals, and limit status change signals, generating a fault signature log and storing it in a dynamic correction data set. The main control module updates the pressure threshold determination logic in the fault-tolerant strategy based on the log data. The optimized strategy is then updated to the preset database via a dynamic programming algorithm interface. After the backup circuit completes the return of the target assembly to the preset safety angle, the system returns to main control mode, ensuring operational stability under complex loads.

[0086] Embodiment 3 of the present invention: The data optimization module stores historical horizontal tilt angle data collected by the sensor module, real-time angle deviation values, and the multi-level dynamic coordinated control command sequence generated by the main control module to construct a dynamic correction dataset. An error analysis algorithm correlates the temporal relationship between historical data and control commands, identifies the cumulative trend of angle deviation and hydraulic pressure fluctuation patterns, and generates system stability correction parameters, including a hydraulic drive speed compensation coefficient (0.1-0.5 m / s) and a path planning weight factor (0.8-1.2). These correction parameters are input into the dynamic planning algorithm parameter update interface of the main control module, replacing the original preset parameters. The main control module invokes the updated dynamic planning algorithm, combining real-time load pressure signals and target mass distribution data to optimize the acceleration distribution of the leveling path in stages. The optimized path parameters drive the hydraulic cylinder to execute the leveling action according to the target displacement (±5 mm) and velocity profile (0.2-2 m / s). The displacement sensor provides real-time feedback to the main control module, which iteratively updates the algorithm weight factor. After three iterative learning steps, the system's angular positioning error when reproducing the hypersonic flight trajectory was reduced to 0.03 degrees, meeting the repeatability requirements of the aerodynamic load simulation test.

[0087] The present invention solves the problem of error accumulation in the coordination of multi-stage power modules through collaborative optimization of a centralized control bus and a dynamic programming algorithm. The main control module uses the EtherCAT bus protocol to achieve millisecond-level data synchronization, collects the displacement, pressure and temperature signals of the multi-stage power units in real time, and eliminates transmission delays through a distributed clock protocol. After the horizontal inclination data and real-time angle data collected by the sensor module are input into the main control module, the dynamic calibration program corrects the foundation deviation through multi-axis linkage compensation to generate a reference angle parameter. The main control module calls the partition drive strategy based on the real-time deviation value, switches the hydraulic drive mode in stages, and dynamically optimizes the hydraulic cylinder extension and retraction speed in combination with the closed-loop correction model to suppress the error accumulation of the mechanical transmission chain.

[0088] Adaptive re-leveling path instructions generate optimized parameters by integrating historical data with real-time load conditions. The main control module uses a pre-set database of mechanical impact thresholds and energy loss weighting factors, combined with a dynamic programming algorithm to calculate the acceleration distribution in stages and generate hydraulic drive path parameters. These optimized parameters are then distributed via a centralized control bus to the multi-level power control module, driving the hydraulic actuator to adjust the target device angle according to the target trajectory. The displacement sensor provides real-time feedback, and the main control module iteratively updates the error compensation parameters, forming a closed-loop control circuit that improves angular positioning accuracy and system response speed.

[0089] The redundant fault-tolerance mechanism enhances system stability through dual-channel switching and backlash compensation. When the condition monitoring module detects pressure anomalies or sensor failure, it triggers a signal to switch to the backup hydraulic circuit, prompting the main control module to generate an emergency lock or leveling command. The backup circuit independently drives the hydraulic actuator to perform backlash compensation or leveling, mitigating the risk of angular overshoot. The data optimization module records abnormal signals and fault characteristics, optimizes fault-tolerance strategy parameters through iterative learning, and dynamically modifies the adaptive control logic to ensure system robustness and closed-loop correction accuracy under complex loads.

[0090] See also Figure 3 , Figure 3 The human-machine interface design for the erection electronic control system of a ground-based launcher for hypersonic targets was demonstrated. The interface adopts a hierarchical layout structure, divided into a horizontal functional area and a vertical control module area. Logical partitioning enables the coordinated display of multimodal control and status monitoring. The horizontal area consists of a system monitoring numerical display area, a paging selection area, and a system monitoring status indicator area. The system monitoring numerical display area displays the hydraulic system's pressure, temperature, and displacement parameters, as well as the target device's real-time angular deviation value, in real time, achieving millisecond-level data synchronization through a dynamic refresh mechanism. The paging selection area integrates toggle buttons for manual control, inching control, and automatic control, allowing operators to select the appropriate control strategy based on mission requirements. The system monitoring status indicator area uses a three-color LED array, with green, yellow, and red indicating the hydraulic system's normal state, limit triggering, and angle overshoot, respectively. Color coding allows for rapid identification of abnormal operating conditions.

[0091] The longitudinal area includes functional interfaces of the automatic control module, manual control module and jog control module. The automatic control module has a built-in dynamic programming algorithm parameter configuration interface, which allows the operator to set the mechanical impact threshold, energy loss weight factor and path optimization priority. The module calls historical operation data through a preset database, generates adaptive return path instructions in combination with the real-time load status, and displays the segmented speed curve and acceleration distribution parameters in the interface. The manual control module provides a manual input interface for the angle deviation compensation amount, which supports the operator to perform high-precision fine-tuning of the hydraulic cylinder extension and retraction amount through the incremental adjustment button. The jog control module is equipped with three-level speed selection buttons for low-speed high-precision mode, balance mode, and rapid approach mode. The operator can trigger the corresponding hydraulic drive speed instruction according to the real-time angle deviation range.

[0092] Each control module has an independent control parameter configuration area below it. The automatic control module parameter area displays the optimization parameter version number, path planning cycle, and error correction coefficient of the current dynamic planning algorithm. The manual control module parameter area provides a preset threshold input box for angle deviation compensation and a calibration reference angle lock button. The inching control module parameter area integrates a segmented adjustment slider for the hydraulic cylinder extension and retraction speed, allowing the operator to dynamically adjust acceleration parameters based on target mass distribution data. A centralized control bus status indicator bar is located at the bottom of the interface, displaying the EtherCAT bus data transmission delay, synchronization error, and communication link health status in real time.

[0093] The system monitoring value display area and status indicator area are connected to the main control module via a data bus, receiving displacement feedback data from the multi-stage power control module and abnormality signals from the status monitoring module. Mode switching commands in the paging selection area are transmitted to the main control module via the human-machine interface unit, triggering the corresponding control strategy loading process. Input data in the control parameter configuration area is verified and written to the main control module's preset database, serving as input parameters for the dynamic programming algorithm and closed-loop correction model.

Claims

1. The electrical control system for erecting a hypersonic target using a ground-based launcher is characterized by: include: Sensor module, main control module, multi-level power control module, condition monitoring module and data optimization module; The sensor module is used to collect the horizontal inclination data of the launch site and the real-time angle data of the target device; The main control module is connected to the sensor module and is configured as follows: Receiving the horizontal inclination angle data and starting a preset dynamic calibration program to generate calibrated reference angle parameters; receiving a target angle command, performing deviation calculation between the calibrated reference angle parameter and the real-time angle data, and generating a multi-level power coordination control command including a partitioned driving strategy; Call the preset dynamic programming algorithm, combine the historical operation data stored in the preset database with the real-time load status feedback from the status monitoring module to generate adaptive return path instructions; The multi-stage power control module is connected to the main control module and is configured as follows: The displacement data of the multi-stage power unit is collected in real time through the displacement sensor; Switching a preset hydraulic drive speed value to perform angle adjustment of the target device according to a partition drive strategy in the multi-level power coordinated control instruction generated by the main control module; Synchronize the displacement data collected by the displacement sensor through a centralized control bus configured by the main control module; The status monitoring module is connected to the main control module and the multi-stage power control module and is configured as follows: Collecting the pressure signal, temperature signal and limit status signal of the hydraulic system, and transmitting the limit status signal and the real-time load status to the main control module; Trigger the preset redundant fault-tolerance mechanism and report abnormal status to the main control module; The data optimization module is connected to the main control module and is configured as follows: Storing the data collected by the sensor module and the multi-level power coordinated control instructions generated by the main control module to generate a dynamic correction data set; The optimization parameters of the dynamic programming algorithm are iteratively updated according to the error source identification results in the dynamic correction data set.

2. The hypersonic target ground launch device erection electronic control system according to claim 1, characterized in that: The dynamic calibration procedure is configured to perform the following steps: The main control module controls the preset adjustment mechanism to perform multi-axis compensation actions, correct the foundation unevenness deviation detected by the sensor module, and generate calibrated reference angle parameters; The calibrated reference angle parameter and the real-time angle data collected by the sensor module are input into the main control module for deviation calculation to generate an angle adjustment control instruction; The angle adjustment control instruction is transmitted to the multi-stage power control module through the centralized control bus, driving the hydraulic actuator to adjust the angle of the target device.

3. The hypersonic target erection electronic control system for a ground-based launcher according to claim 2, characterized in that: The partition-driven strategy is configured to perform the following steps: The main control module calls the hydraulic cylinder extension and retraction speed values ​​corresponding to the low-speed high-precision mode, the balance mode and the fast approach mode in the preset control strategy respectively according to the interval comparison result of the real-time angle deviation value generated by the deviation calculation and the preset angle parameter; The closed-loop correction model of the main control module receives the inclination sensor and rotary encoder data of the sensor module, dynamically optimizes the extension and retraction speed value of the hydraulic cylinder, and generates hydraulic drive optimization parameters; The main control module converts the hydraulic drive optimization parameters into multi-level power coordinated control instructions and transmits them to the multi-level power control module via a centralized control bus; The multi-stage power control module drives the hydraulic cylinder to perform the angle adjustment action of the target device according to the multi-stage power coordinated control instruction.

4. The hypersonic target erection electronic control system for a ground-based launcher according to claim 3, characterized in that: The centralized control bus adopts the EtherCAT bus protocol and is configured as follows: Receive displacement data collected by the displacement sensor of the multi-stage power control module, and transmit the displacement data to the main control module through millisecond-level synchronization; The main control module generates an error compensation parameter according to the deviation value between the displacement data and the target angle instruction; Converting the error compensation parameters into hydraulic drive correction instructions and feeding them back to the multi-level power control module via a centralized control bus; The multi-stage power control module adjusts the extension and retraction action of the hydraulic cylinder according to the hydraulic drive correction instruction to correct the accumulated error of the mechanical transmission chain.

5. The hypersonic target erection electronic control system for a ground-based launcher according to claim 4, characterized in that: The redundant fault-tolerance mechanism is configured to perform the following steps: When the state monitoring module detects that the real-time angle data collected by the sensor module exceeds the preset threshold or the limit switch of the hydraulic system is triggered, the multi-level power coordinated control instruction or the adaptive return path instruction generated by the main control module is interrupted; Switch to the backup hydraulic drive circuit and perform compensation action in the opposite direction of the current angle deviation according to the preset fault tolerance strategy; The abnormal pressure signal, temperature signal and limit status signal collected by the status monitoring module are recorded by the fault diagnosis unit of the data optimization module, and the abnormal signal is stored in the dynamic correction data set.

6. The hypersonic target ground launcher erection electronic control system according to claim 5, characterized in that: The closed-loop correction model of the main control module is configured to perform the following steps: Receives horizontal tilt data collected by the tilt sensor of the sensor module and real-time angle data collected by the rotary encoder; Performing redundant data fusion on the horizontal tilt angle data and the real-time angle data by using a Kalman filter algorithm to generate an angle correction parameter; Calculating the optimized control parameters of the hydraulic valve opening and the pump station output pressure according to the angle correction parameters; The optimized control parameters are transmitted to a multi-level power control module via a centralized control bus to drive a hydraulic actuator to adjust the posture of the target device.

7. The hypersonic target ground launcher erection electronic control system according to claim 6, characterized in that: The adaptive flattening path instruction includes: The main control module calls the historical hydraulic drive parameters stored in the preset database and the real-time load pressure signal fed back by the status monitoring module to generate a segmented return-to-level speed curve; Dynamically calculating the acceleration parameters of the hydraulic actuator according to the segmented return-to-leveling speed curve, so as to adapt to the target mass distribution data collected by the sensor module; The dynamic programming algorithm is used to optimize the segmented return velocity curve and acceleration parameters to generate the hydraulic drive path parameters. The hydraulic drive path parameters are transmitted to the multi-stage power control module through a centralized control bus to drive the hydraulic cylinder to perform a leveling action.

8. The hypersonic target ground launcher erection electronic control system according to claim 7, characterized in that: The data optimization module is further configured to perform the following steps: storing historical sensor data collected by the sensor module and a control instruction sequence generated by the main control module; Based on the correlation between the historical sensor data and the control instruction sequence, executing an error analysis algorithm to generate a system stability correction parameter; Inputting the system stability correction parameter into the dynamic programming algorithm parameter update interface of the main control module; The main control module updates the path planning parameters through a dynamic planning algorithm and generates optimized adaptive return path instructions.

9. The hypersonic target ground launcher erection electronic control system according to claim 8, characterized in that: The backup hydraulic drive circuit is configured as follows: When the condition monitoring module detects a single fault condition such as abnormal hydraulic system pressure or sensor failure, it triggers a dual-channel switching signal; The main control module generates an emergency locking instruction or a return-to-leveling path instruction in response to the dual-channel switching signal; the backup hydraulic drive circuit receives the emergency locking instruction or the return-to-leveling path instruction and switches to the backup hydraulic circuit drive mode; The hydraulic actuator is driven by the backup hydraulic circuit to control the target device to be in a locked position or return to a preset safety angle.

10. The hypersonic target erection electronic control system for a ground-based launcher according to claim 9, characterized in that: The main control module calls the dynamic programming algorithm to perform the following steps: Calling the mechanical shock threshold parameters and energy loss weight factor parameters in the preset database; generating an acceleration distribution optimization parameter of the target device during the leveling phase based on the mechanical impact threshold parameter and the energy loss weight factor parameter; Converting the acceleration distribution optimization parameters into hydraulic drive control instructions; The hydraulic drive control instruction is transmitted to the multi-level power control module through the centralized control bus to drive the hydraulic actuator to perform the leveling action of the target device.

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