Hypersonic Target Ground Launching Device Erection Control System

Abstract

This invention relates to the field of control and adjustment technology for erection and adjustment systems, and particularly to an electronic control system for erecting a ground-based launch device for hypersonic targets. The system includes a sensor module, a main control module, a multi-level power control module, a status monitoring module, and a data optimization module. The sensor module collects data on the horizontal tilt angle of the launch site and the real-time angle of the target. The main control module drives multi-axis linkage compensation and correction of foundation deviations through a dynamic calibration program, generates reference angle parameters, and combines these with real-time angle deviation values ​​to generate zoned drive strategy control commands. The multi-level power control module switches hydraulic drive speed modes according to the commands, and achieves millisecond-level synchronous transmission of displacement data and error closed-loop correction through the EtherCAT bus protocol. The system iteratively updates the mechanical impact threshold and energy loss weight factor of the dynamic programming algorithm, optimizes the acceleration distribution and hydraulic parameter matching of the leveling path, and improves the angle positioning accuracy and system anti-interference capability in transient aerodynamic load simulations.

Description

Technical Field

[0001] This invention relates to the field of erection adjustment system control and regulation technology, and in particular to an electrical control system for erecting a ground-based launcher for hypersonic targets. Background Technology

[0002] A hypersonic target ground launcher is a specialized device used to simulate the dynamic characteristics of high-speed aircraft. Its core function is to deliver the target into the test airspace along a predetermined trajectory through the coordinated operation of a high-precision propulsion system and a navigation control unit. The device typically consists of multi-stage power modules, attitude adjustment mechanisms, data acquisition interfaces, and safety protection systems. 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, this device can reproduce the aerodynamic loads and thermodynamic environment under hypersonic flight conditions, providing quantifiable and repeatable test conditions for related technology development. Simultaneously, it enables dynamic monitoring and anomaly response throughout the entire launch process through real-time telemetry and fault diagnosis modules.

[0003] When dealing with the requirements of high-frequency launch and complex aerodynamic load simulation, the ground-based launch device for hypersonic targets has problems such as dynamic attitude adjustment lag and angle positioning deviation caused by the accumulation of collaborative errors of multiple power modules due to the discrete control architecture. For example, in the process of reproducing transient aerodynamic loads of hypersonic flight, the existing mechanical transmission system is difficult to achieve millisecond-level response and high-precision angle closed-loop correction, thus affecting the accuracy and repeatability of the test airspace trajectory reproduction. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an electronic control system for the erection of a ground-based launcher for hypersonic targets. This invention solves the problems of dynamic attitude adjustment lag and angle positioning deviation caused by the accumulation of collaborative errors of multi-level power modules under a discrete control architecture, and improves the closed-loop correction accuracy and system response rate in the simulation of transient aerodynamic loads in hypersonic flight.

[0005] To solve the above-mentioned technical problems, the specific technical solution of the present invention is as follows:

[0006] The present invention provides an erection electronic control system for a ground-based launcher for hypersonic targets, comprising: a sensor module, a main control module, a multi-level power control module, a status monitoring module, and a data optimization module;

[0007] The sensor module is used to collect horizontal tilt data of the launch site and real-time angle data of the target device;

[0008] The main control module, connected to the sensor module, is configured as follows:

[0009] Receive the horizontal tilt angle data and start a preset dynamic calibration program to generate calibrated reference angle parameters;

[0010] Upon receiving the target angle command, the deviation between the calibrated reference angle parameters and the real-time angle data is calculated to generate a multi-level power cooperative control command including a partitioned drive strategy.

[0011] The system calls a preset dynamic programming algorithm and combines historical operation data stored in a preset database with real-time load status feedback from the status monitoring module to generate an adaptive recovery path instruction.

[0012] A multi-level power control module, connected to the main control module, is configured as follows:

[0013] Displacement data of multi-stage power units are collected in real time using displacement sensors;

[0014] According to the partition drive strategy in the multi-level power coordination control command generated by the main control module, the preset hydraulic drive speed value is switched to perform the angle adjustment of the target device;

[0015] The displacement data collected by the displacement sensor is synchronized through the centralized control bus configured in the main control module.

[0016] The status monitoring module, connected to the main control module and the multi-level power control module, is configured as follows:

[0017] Collect pressure signals, temperature signals, and limit status signals from the hydraulic system, and transmit the limit status signals and the real-time load status to the main control module.

[0018] Trigger the preset redundancy fault tolerance mechanism and report the abnormal status to the main control module;

[0019] The data optimization module, connected to the main control module, is configured as follows:

[0020] The system stores the data collected by the sensor module and the multi-level power coordination control commands generated by the main control module, and generates a dynamic correction dataset.

[0021] Based on the error source identification results in the dynamically corrected dataset, the optimization parameters of the dynamic programming algorithm are iteratively updated.

[0022] 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:

[0023] The main control module controls the preset adjustment mechanism to perform multi-axis compensation actions, corrects the foundation unevenness deviation detected by the sensor module, and generates calibrated reference angle parameters.

[0024] The calibrated reference angle parameters and the real-time angle data collected by the sensor module are input into the main control module for deviation calculation, and an angle adjustment control command is generated.

[0025] The angle adjustment control command is transmitted to the multi-level power control module through a centralized control bus, driving the hydraulic actuator to adjust the angle of the target device.

[0026] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the partitioned drive strategy is configured to execute the following steps:

[0027] The main control module calculates the real-time angle deviation value based on the deviation and compares it with the range of preset angle parameters. Then, it calls the hydraulic cylinder extension and retraction speed values ​​corresponding to the low-speed high-precision mode, balance mode, and rapid approach mode in the preset control strategy.

[0028] The closed-loop correction model of the main control module receives data from the tilt sensor and rotary encoder of the sensor module, dynamically optimizes the extension and retraction speed of the hydraulic cylinder, and generates hydraulic drive optimization parameters.

[0029] The main control module converts the hydraulic drive optimization parameters into multi-level power coordination control commands, which are then transmitted to the multi-level power control module via a centralized control bus.

[0030] The multi-level power control module drives the hydraulic cylinder to perform the angle adjustment action of the target device according to the multi-level power coordinated control command.

[0031] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the centralized control bus adopts the EtherCAT bus protocol and is configured as follows:

[0032] It receives displacement data collected by displacement sensors from a multi-level power control module and transmits the displacement data to the main control module synchronously at the millisecond level.

[0033] The main control module generates error compensation parameters based on the deviation between the displacement data and the target angle command.

[0034] The error compensation parameters are converted into hydraulic drive correction commands and fed back to the multi-level power control module via a centralized control bus.

[0035] The multi-stage power control module adjusts the extension and retraction of the hydraulic cylinder according to the hydraulic drive correction command to correct the cumulative error of the mechanical transmission chain.

[0036] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the redundancy fault-tolerant mechanism is configured to perform the following steps:

[0037] When the status monitoring module detects that the real-time angle data collected by the sensor module has overshooted the preset threshold or the limit switch of the hydraulic system has been triggered, the multi-level power coordination control command or adaptive leveling path command generated by the main control module is interrupted.

[0038] Switch to the backup hydraulic drive circuit and perform a compensation action opposite to the current angle deviation direction according to the preset fault tolerance strategy;

[0039] The fault diagnosis unit of the data optimization module records the abnormal pressure signal, temperature signal and limit status signal collected by the status monitoring module, and stores the abnormal signal in the dynamic correction dataset.

[0040] 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:

[0041] The sensor module receives horizontal tilt angle data collected by the tilt sensor and real-time angle data collected by the rotary encoder.

[0042] The horizontal tilt angle data and real-time angle data are fused using a Kalman filter algorithm to generate angle correction parameters.

[0043] The optimized control parameters for the hydraulic valve opening and the pump station output pressure are calculated based on the aforementioned angle correction parameters.

[0044] The optimized control parameters are transmitted to the multi-level power control module via a centralized control bus to drive the hydraulic actuator to adjust the attitude of the target device.

[0045] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the adaptive leveling path command includes:

[0046] 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 speed curve;

[0047] Based on the segmented return speed curve, the acceleration parameters of the hydraulic actuator are dynamically calculated to adapt to the target mass distribution data collected by the sensor module.

[0048] The path optimization of the segmented leveling speed curve and acceleration parameters is performed using a dynamic programming algorithm to generate hydraulic drive path parameters;

[0049] The hydraulic drive path parameters are transmitted to the multi-level power control module via a centralized control bus to drive the hydraulic cylinder to perform a leveling action.

[0050] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the data optimization module is also configured to perform the following steps: storing historical sensor data collected by the sensor module and control command sequences generated by the main control module;

[0051] Based on the correlation between the historical sensor data and the control command sequence, an error analysis algorithm is executed to generate system stability correction parameters;

[0052] The system stability correction parameters are input to the dynamic programming algorithm parameter update interface of the main control module;

[0053] The main control module updates the path planning parameters through a dynamic programming algorithm to generate an optimized adaptive leveling path instruction.

[0054] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the backup hydraulic drive circuit is configured as follows:

[0055] 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.

[0056] The main control module responds to the dual-channel switching signal and generates an emergency lock command or a return path command; the backup hydraulic drive circuit receives the emergency lock command or the return path command and switches to the backup hydraulic drive mode.

[0057] The hydraulic actuator is driven by a backup hydraulic circuit to control the target device to be in the locked position or to return to a preset safe angle.

[0058] Furthermore, in the hypersonic target ground launch device erection electronic control system of the present invention, the main control module calls a dynamic programming algorithm to execute the following steps:

[0059] Call the mechanical impact threshold parameters and energy loss weighting factor parameters from the preset database;

[0060] Based on the mechanical impact threshold parameter and energy loss weighting factor parameter, the acceleration distribution optimization parameters for the target device during the leveling phase are generated.

[0061] The acceleration distribution optimization parameters are converted into hydraulic drive control commands;

[0062] The hydraulic drive control commands are transmitted to the multi-level power control module via a centralized control bus, driving the hydraulic actuator to perform the leveling action of the target device.

[0063] Beneficial effects of this invention;

[0064] The hypersonic target ground-launching device's erection electronic control system of this invention optimizes the acceleration distribution parameters during the leveling phase in real time using a dynamic programming algorithm. It also adapts to the inertial load changes of the hydraulic actuator by incorporating target mass distribution data, suppressing mechanical shock interference to the transmission chain. The data optimization module iteratively updates the speed curve and pressure threshold parameters in the hydraulic drive correction command based on the correlation analysis of historical operating data and real-time load pressure signals, correcting the response lag of the multi-stage power unit under transient aerodynamic loads. The closed-loop control circuit dynamically compensates for angle deviations through millisecond-level synchronous displacement feedback data, combined with a redundancy fault-tolerant mechanism for rapid response to abnormal conditions. This achieves high-precision angle positioning and dynamic attitude stability of the target device when reproducing hypersonic flight trajectories, meeting the repeatability requirements of aerodynamic load simulation tests. Attached Figure Description

[0065] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0066] Figure 1 This is a system architecture diagram of the erection control system for a ground-based launcher for a hypersonic target, provided in an embodiment of the present invention.

[0067] Figure 2 The system control flowchart of the erection electrical control system for the ground launching device for hypersonic targets provided in the embodiments of the present invention is shown.

[0068] Figure 3 A diagram showing the human-machine interface of the electric control system for erecting a ground-based launcher for a hypersonic target, provided in an embodiment of the present invention. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The technical solutions provided by various embodiments of this invention will be described in detail below with reference to the accompanying drawings. To better understand the objectives of this invention, it will be described in further detail below.

[0070] Please see Figure 1 The hypersonic target ground launch device erection electronic control system provided by the present invention includes: a sensor module, a main control module, a multi-level power control module, a status monitoring module, and a data optimization module;

[0071] The sensor module is used to collect horizontal tilt data of the launch site and real-time angle data of the target device;

[0072] The main control module, connected to the sensor module, is configured as follows:

[0073] Receive the horizontal tilt angle data and start a preset dynamic calibration program to generate calibrated reference angle parameters;

[0074] Upon receiving the target angle command, the deviation between the calibrated reference angle parameters and the real-time angle data is calculated to generate a multi-level power cooperative control command including a partitioned drive strategy.

[0075] The system calls a preset dynamic programming algorithm and combines historical operation data stored in a preset database with real-time load status feedback from the status monitoring module to generate an adaptive recovery path instruction.

[0076] A multi-level power control module, connected to the main control module, is configured as follows:

[0077] Displacement data of multi-stage power units are collected in real time using displacement sensors;

[0078] According to the partition drive strategy in the multi-level power coordination control command generated by the main control module, the preset hydraulic drive speed value is switched to perform the angle adjustment of the target device;

[0079] The displacement data collected by the displacement sensor is synchronized through the centralized control bus configured in the main control module.

[0080] The status monitoring module, connected to the main control module and the multi-level power control module, is configured as follows:

[0081] Collect pressure signals, temperature signals, and limit status signals from the hydraulic system, and transmit the limit status signals and the real-time load status to the main control module.

[0082] Trigger the preset redundancy fault tolerance mechanism and report the abnormal status to the main control module;

[0083] The data optimization module, connected to the main control module, is configured as follows:

[0084] The system stores the data collected by the sensor module and the multi-level power coordination control commands generated by the main control module, and generates a dynamic correction dataset.

[0085] Based on the error source identification results in the dynamically corrected dataset, the optimization parameters of the dynamic programming algorithm are iteratively updated.

[0086] The erection electronic control system for the hypersonic target ground launch device achieves high-precision dynamic attitude adjustment through multi-module collaborative control. The sensor module collects real-time horizontal tilt data of the launch site and real-time angle data of the target device, providing initial input parameters for the system. Upon receiving the horizontal tilt data, the main control module initiates a dynamic calibration program, executing multi-axis linkage compensation actions through a preset attitude adjustment mechanism to eliminate the deviation of the reference angle due to ground unevenness, generating calibrated absolute angle parameters. These calibration parameters serve as the reference input for angle deviation calculation, are compared and analyzed with real-time angle data, and generate multi-level dynamic collaborative control commands, including a zoned drive strategy, thus providing precise control basis for subsequent actions.

[0087] The main control module calls upon historical operation data from a preset database and combines it with real-time load status feedback from the status monitoring module to generate adaptive leveling path instructions through a dynamic programming algorithm. This algorithm performs multi-stage decision optimization based on mechanical impact thresholds and energy loss weighting factors, matching the leveling speed curve in stages and dynamically adjusting acceleration parameters to adapt to the target mass distribution characteristics. The optimized path parameters are transmitted to a multi-level power control module via a centralized control bus, driving the hydraulic actuator to complete the attitude adjustment of the target device.

[0088] The multi-stage power control module collects displacement data from multiple power units in real time via displacement sensors. Combined with the zoned drive strategy issued by the main control module, it switches between different hydraulic drive speed modes to adjust the angle. The centralized control bus uses the EtherCAT protocol to achieve millisecond-level synchronous transmission, feeding displacement data back to the main control module in real time. The main control module generates error compensation parameters based on displacement deviations, converts them into hydraulic drive correction commands, and sends them back to the power control module. This suppresses accumulated errors in the mechanical transmission chain, achieving high-precision closed-loop control.

[0089] The status monitoring module continuously collects pressure, temperature, and limit status signals from the hydraulic system and transmits the real-time load status to the main control module. When angle overshoot or limit triggering is detected, the redundancy 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 the dynamic correction dataset, providing data support for subsequent iterative optimization. The backup circuit achieves dual-channel switching through a hardware watchdog module, controlling the target device to lock in emergency mode or return to a preset safe angle under a single fault condition.

[0090] The data optimization module stores sensor data and control command sequences, generates a dynamic correction dataset, and performs error source analysis. By associating historical sensor data with the timing relationship of control commands, it identifies system stability deviations and generates correction parameters. These correction parameters are input to the main control module's dynamic programming algorithm interface to update path planning parameters and optimize the generation logic of adaptive leveling path commands. The iterative learning process continuously improves the system's closed-loop correction accuracy.

[0091] Specifically, 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:

[0092] The main control module controls the preset adjustment mechanism to perform multi-axis compensation actions, corrects the foundation unevenness deviation detected by the sensor module, and generates calibrated reference angle parameters.

[0093] The calibrated reference angle parameters and the real-time angle data collected by the sensor module are input into the main control module for deviation calculation, and an angle adjustment control command is generated.

[0094] The angle adjustment control command is transmitted to the multi-level power control module through a centralized control bus, driving the hydraulic actuator to adjust the angle of the target device.

[0095] The dynamic calibration program of the ground-based launch system for hypersonic targets uses multi-axis compensation and closed-loop control to correct ground deviations. After receiving horizontal tilt data of the launch site from the sensor module, the main control module controls a pre-set attitude adjustment mechanism to perform multi-axis compensation. This action, based on a pre-set linkage compensation algorithm, drives the hydraulic actuator to synchronously displace along multiple axes, offsetting the initial angular deviation caused by ground unevenness and generating calibrated reference angle parameters. These calibration parameters, used as a reference input, are compared with the target device angle data collected in real-time by the sensor module, and the angle deviation calculation unit of the main control module generates the angle deviation value.

[0096] The angle deviation calculation unit performs interval analysis between the real-time deviation value and a preset threshold, outputting an angle adjustment control command. This command includes a hydraulic drive speed mode switching command and displacement correction parameters, which are transmitted to the multi-level power control module via a centralized control bus. After parsing the command, the power control module drives the hydraulic cylinder to perform extension and retraction movements according to a preset speed curve, adjusting the target device to the target angle. The displacement data of 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.

[0097] The centralized control bus uses the EtherCAT protocol to achieve millisecond-level synchronous transmission of displacement data from multiple power units. The main control module dynamically generates error compensation parameters based on the deviation between the displacement feedback data and the target angle, and sends these parameters to the power control module via the bus. The power control module adjusts the hydraulic valve opening and pump station pressure according to the compensation parameters, correcting the accumulated error of the mechanical transmission chain and maintaining the accuracy of the target device's angle adjustment. The calibrated reference angle parameters are synchronously updated to the dynamically corrected dataset, providing data support for subsequent adaptive leveling path optimization.

[0098] Specifically, the hypersonic target ground launch device erection electronic control system of the present invention is configured with a partitioned drive strategy to perform the following steps:

[0099] The main control module calculates the real-time angle deviation value based on the deviation and compares it with the range of preset angle parameters. Then, it calls the hydraulic cylinder extension and retraction speed values ​​corresponding to the low-speed high-precision mode, balance mode, and rapid approach mode in the preset control strategy.

[0100] The closed-loop correction model of the main control module receives data from the tilt sensor and rotary encoder of the sensor module, dynamically optimizes the extension and retraction speed of the hydraulic cylinder, and generates hydraulic drive optimization parameters.

[0101] The main control module converts the hydraulic drive optimization parameters into multi-level power coordination control commands, which are then transmitted to the multi-level power control module via a centralized control bus.

[0102] The multi-level power control module drives the hydraulic cylinder to perform the angle adjustment action of the target device according to the multi-level power coordinated control command.

[0103] The partitioned drive strategy of the ground-based launcher's erection electronic control system for hypersonic targets achieves dynamic angle adjustment through multi-mode switching and closed-loop optimization. The main control module, based on a comparison of real-time angle deviation values ​​with preset angle parameters, calls different drive modes from the preset control strategy. When the deviation is less than a first threshold, a low-speed, high-precision mode is activated, controlling the hydraulic cylinder to perform fine-tuning actions with minimal speed increments, improving angle positioning accuracy. When the deviation is between the first and second thresholds, a balanced mode is switched to, using a medium speed to drive the hydraulic cylinder's extension and retraction, balancing response speed and adjustment stability. When the deviation exceeds the second threshold, a rapid approach mode is activated, driving the hydraulic cylinder at maximum speed to quickly approach the target angle, shortening the adjustment cycle.

[0104] The main control module's closed-loop correction model receives real-time data from the tilt sensor and rotary encoder in the sensor module. It then fuses this multi-source redundant data using a Kalman filter algorithm to generate angle correction parameters. These parameters are input to the hydraulic drive optimization unit, which, combined with the current hydraulic cylinder displacement and pressure status, dynamically calculates optimized control parameters for the hydraulic valve opening and pump station output pressure. The optimized parameters are then converted by the main control module into multi-level power coordinated control commands, including target displacement, velocity curves, and pressure thresholds, and transmitted to the multi-level power control module via the EtherCAT bus protocol.

[0105] After parsing the coordinated control commands, the multi-level power control module drives the hydraulic cylinders to perform extension and retraction actions in stages. Displacement sensors collect real-time displacement data from the hydraulic cylinders 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 commands and sends them to the power control module to dynamically adjust the hydraulic drive parameters. The compensated drive parameters suppress the cumulative error of the mechanical transmission chain, achieving closed-loop control of the target device's angle adjustment. The optimized control parameters are synchronously updated to the dynamically corrected dataset, providing iterative learning data for subsequent path planning.

[0106] Specifically, the hypersonic target ground launch device erection electronic control system of the present invention uses the EtherCAT bus protocol for its centralized control bus, and is configured as follows:

[0107] It receives displacement data collected by displacement sensors from a multi-level power control module and transmits the displacement data to the main control module synchronously at the millisecond level.

[0108] The main control module generates error compensation parameters based on the deviation between the displacement data and the target angle command.

[0109] The error compensation parameters are converted into hydraulic drive correction commands and fed back to the multi-level power control module via a centralized control bus.

[0110] The multi-stage power control module adjusts the extension and retraction of the hydraulic cylinder according to the hydraulic drive correction command to correct the cumulative error of the mechanical transmission chain.

[0111] The centralized control bus of the ground-based launcher's erection electrical control system for hypersonic targets is based on the EtherCAT bus protocol to build a real-time data interaction network. Multi-level power control modules collect real-time displacement data from hydraulic cylinders via displacement sensors, 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, eliminating transmission delays through a distributed clock protocol to achieve data synchronization across multiple power units. After receiving the displacement data, the main control module compares it in real-time with the preset target angle command, calculates the current displacement deviation and its rate of change, and generates dynamic error compensation parameters. These error compensation parameters include displacement correction, velocity adjustment coefficient, and acceleration threshold, used to compensate for backlash errors and inertial lag in the mechanical transmission chain.

[0112] The main control module converts error compensation parameters into hydraulic drive correction commands, which include hydraulic valve opening adjustment values, pump station pressure correction coefficients, and target displacement increments. These correction commands are sent to the multi-level power control module via the EtherCAT bus. After parsing the commands, the drive module controls the proportional valve to adjust the hydraulic cylinder's oil supply flow and simultaneously adjusts the pump station's output pressure to match the target displacement requirement. During the hydraulic cylinder's extension and retraction, the displacement sensor continuously collects the actual displacement, feeding 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 the feedback data, dynamically optimizing the hydraulic drive correction commands and suppressing 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 and improving the system's angle adjustment accuracy and stability under complex operating conditions.

[0113] Specifically, the hypersonic target ground launch device erection electronic control system of the present invention includes a redundancy fault-tolerant mechanism configured to perform the following steps:

[0114] When the status monitoring module detects that the real-time angle data collected by the sensor module has overshooted the preset threshold or the limit switch of the hydraulic system has been triggered, the multi-level power coordination control command or adaptive leveling path command generated by the main control module is interrupted.

[0115] Switch to the backup hydraulic drive circuit and perform a compensation action opposite to the current angle deviation direction according to the preset fault tolerance strategy;

[0116] The fault diagnosis unit of the data optimization module records the abnormal pressure signal, temperature signal and limit status signal collected by the status monitoring module, and stores the abnormal signal in the dynamic correction dataset.

[0117] The redundant fault-tolerant mechanism of the ground-based launcher's erection electrical 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 tilt sensor, rotary encoder, and hydraulic system limit switch status. When 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 coordinated control command or adaptive leveling path command. The interrupt signal is synchronously sent to the multi-level power control module via the centralized control bus, stopping the current action of the hydraulic actuator and preventing angle overshoot or mechanical overload.

[0118] The main control module switches to the backup hydraulic drive circuit and invokes a preset fault-tolerant strategy to generate a reverse compensation command. This strategy calculates the reverse displacement and hydraulic drive speed parameters based on the current angle deviation direction and magnitude, driving the proportional valve in the backup circuit to adjust the oil supply direction and flow rate. The hydraulic cylinder performs a reverse extension / retraction action to offset the deviation angle and gradually return to the preset safe position. The dual-channel design of the backup circuit achieves independent control through a hardware watchdog module, maintaining the continuity of hydraulic drive in the event of a main circuit failure and preventing system paralysis due to a single point of failure.

[0119] The fault diagnosis unit of the data optimization module records abnormal pressure fluctuation signals, temperature over-limit signals, and limit status change signals collected by the status monitoring module in real time, generating a fault feature dataset. Abnormal signals are associated with their corresponding control command sequences and stored in a dynamically corrected dataset, with timestamps marking the time and duration of the fault occurrence. This dataset is input to the iterative learning unit of the main control module to analyze the correlation between fault modes and system response, optimizing the compensation parameters and switching logic of the fault-tolerant strategy. The optimized strategy is updated to a preset database, improving response speed and control accuracy under subsequent abnormal operating conditions and maintaining the operational stability of the target device under complex loads.

[0120] Specifically, 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:

[0121] The sensor module receives horizontal tilt angle data collected by the tilt sensor and real-time angle data collected by the rotary encoder.

[0122] The horizontal tilt angle data and real-time angle data are fused using a Kalman filter algorithm to generate angle correction parameters.

[0123] The optimized control parameters for the hydraulic valve opening and the pump station output pressure are calculated based on the aforementioned angle correction parameters.

[0124] The optimized control parameters are transmitted to the multi-level power control module via a centralized control bus to drive the hydraulic actuator to adjust the attitude of the target device.

[0125] The closed-loop correction model of the erection electronic control system for a hypersonic target ground-based launcher achieves precise attitude control through multi-source data fusion and dynamic optimization. The main control module receives real-time horizontal tilt data from the tilt sensor and real-time target angle data from the rotary encoder. This data includes angle deviation, displacement increment, and motion trend information. A Kalman filter algorithm is used to fuse the redundant multi-source data, filtering out sensor noise and extracting effective angle features to generate angle correction parameters. These parameters include target angle deviation compensation and dynamic adjustment coefficients to eliminate measurement errors caused by environmental interference.

[0126] The main control module calculates the hydraulic valve opening adjustment value and the pump station output pressure correction amount based on the angle correction parameters and the current hydraulic system pressure status and displacement feedback data. This calculation process is based on a preset hydraulic dynamics model, mapping the angle deviation to hydraulic drive parameters to optimize the hydraulic cylinder extension / retraction speed and torque output. The optimized control parameters are transmitted to the multi-level power control module via the EtherCAT bus protocol. After parsing the instructions, the drive module adjusts the proportional valve opening and pump station pressure output, controlling the hydraulic actuator to perform attitude adjustment actions according to the target trajectory.

[0127] The displacement data of the hydraulic actuator is acquired 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 weight coefficients of the Kalman filter algorithm and the parameters of the hydraulic dynamics model, dynamically optimizing the generation logic of the correction parameters. The optimized parameters are synchronously stored in the dynamically corrected dataset, providing learning samples for subsequent adaptive leveling path planning and improving the system's control accuracy and response robustness under complex load conditions.

[0128] Specifically, the adaptive leveling path command of the hypersonic target ground launch device erection electronic control system of the present invention includes:

[0129] 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 speed curve;

[0130] Based on the segmented return speed curve, the acceleration parameters of the hydraulic actuator are dynamically calculated to adapt to the target mass distribution data collected by the sensor module.

[0131] The path optimization of the segmented leveling speed curve and acceleration parameters is performed using a dynamic programming algorithm to generate hydraulic drive path parameters;

[0132] The hydraulic drive path parameters are transmitted to the multi-level power control module via a centralized control bus to drive the hydraulic cylinder to perform a leveling action.

[0133] The adaptive leveling path command of the ground-based launcher's erection electronic control system for hypersonic targets achieves precise path planning through collaborative optimization of historical data and real-time feedback. The main control module calls upon historical hydraulic drive parameters stored in a preset database, including hydraulic valve opening, pump station pressure, and displacement data. Combined with real-time load pressure signals fed back from the status 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 leveling speed curve is generated. This curve divides the speed target value according to displacement stages and matches pressure thresholds under different load conditions, providing the basic input for path optimization.

[0134] The main control module dynamically calculates the acceleration parameters of the hydraulic actuator based on the segmented return speed curve and the target mass distribution data collected by the sensor module. This calculation is based on a mass-acceleration dynamics model, mapping the target's center of mass offset to the acceleration adjustment coefficient of the hydraulic cylinder to adapt to changes in inertial load under different mass distributions. The acceleration parameters and segmented speed curve are input into a dynamic programming algorithm, which generates hydraulic drive path parameters through multi-stage decision optimization. The optimization process uses a mechanical impact threshold and energy loss weighting factor as constraints to balance the return speed and system stability, generating path parameters that balance efficiency and accuracy.

[0135] The hydraulic drive path parameters are transmitted to a multi-level power control module via a centralized control bus. These parameters include the target displacement, speed curve, and pressure correction coefficient. After parsing the parameters, the power control module drives the hydraulic cylinder to perform extension and retraction actions at preset speed stages. The displacement sensor collects the actual displacement in real time and feeds it back to the main control module. The main control module dynamically adjusts the path parameters based on the displacement deviation, iteratively updates the optimization weights of the dynamic programming algorithm, and suppresses the accumulation of transmission chain errors. The optimized path parameters are synchronously stored in the dynamic correction dataset, providing learning samples for subsequent adaptive control and improving the accuracy of leveling path planning and system robustness under complex working conditions.

[0136] Specifically, in the hypersonic target ground launch device erection electronic control system of 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 control command sequence generated by the main control module;

[0137] Based on the correlation between the historical sensor data and the control command sequence, an error analysis algorithm is executed to generate system stability correction parameters;

[0138] The system stability correction parameters are input to the dynamic programming algorithm parameter update interface of the main control module;

[0139] The main control module updates the path planning parameters through a dynamic programming algorithm to generate an optimized adaptive leveling path instruction.

[0140] The data optimization module of the ground-based launcher's erection electronic control system for hypersonic targets achieves iterative optimization of control strategies through correlation analysis of historical data and commands. The data optimization module continuously stores historical sensor data collected by the sensor modules, including real-time angle data from tilt sensors and rotary encoders, as well as pressure and temperature signals from the hydraulic system. It also records the multi-level power-coordinated control commands and adaptive leveling path command sequences generated by the main control module. This data is timestamped and a temporal correlation is established, forming a complete dataset covering angle deviation, displacement, pressure status, and control commands, providing a data foundation for error tracing and parameter optimization.

[0141] The data optimization module invokes a pre-defined error analysis algorithm. Based on the temporal correlation between historical sensor data and control command sequences, it identifies the cumulative trend of angle deviation, hydraulic pressure fluctuation patterns, and command response lag characteristics during system operation. The algorithm extracts the correlation between deviation and command execution through statistical analysis, generating system stability correction parameters, including hydraulic drive speed compensation coefficients, acceleration adjustment thresholds, and path planning weight factors. These correction parameters are input to the dynamic programming algorithm parameter update interface of the main control module via the data bus, replacing the original pre-defined parameters and optimizing the decision logic of the path planning model.

[0142] After receiving the corrected parameters, the main control module updates the mechanical impact threshold, energy loss weighting factor, and acceleration distribution constraints of the dynamic programming algorithm. Based on the updated parameters, the dynamic programming algorithm recalculates the adaptive leveling path command, generating a velocity curve, acceleration distribution, and hydraulic drive parameters that match the current system stability requirements. The optimized command is sent to the multi-level power control module via a centralized control bus, driving the hydraulic actuator to perform the leveling action of the target device. Simultaneously, execution data is collected in real time and fed back to the data optimization module, forming a closed-loop iterative optimization link. The data optimization module continuously records the optimized control commands 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.

[0143] Specifically, the standby hydraulic drive circuit of the hypersonic target ground launch device erection electronic control system of the present invention is configured as follows:

[0144] 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.

[0145] The main control module responds to the dual-channel switching signal and generates an emergency lock command or a return path command; the backup hydraulic drive circuit receives the emergency lock command or the return path command and switches to the backup hydraulic drive mode.

[0146] The hydraulic actuator is driven by a backup hydraulic circuit to control the target device to be in the locked position or to return to a preset safe angle.

[0147] The backup hydraulic drive circuit of the ground-based launcher's erection electrical control system for hypersonic targets achieves safety protection through multi-level fault response and redundant control. The status monitoring module collects pressure sensor data and sensor health status signals from the hydraulic system in real time. When a pressure value exceeds a preset safety threshold or a sensor signal is lost, it is determined to be a single fault condition and triggers a dual-channel switching signal. The switching signal is transmitted to the main control module via an independent communication link, interrupting the execution of the current control command and preventing misoperation under abnormal conditions.

[0148] The main control module generates differentiated emergency commands based on the fault type: if the hydraulic pressure is abnormal, an emergency lock command is generated, which includes the hydraulic valve closing threshold and pump station pressure relief parameters; if the sensor fails, a preset leveling path command is invoked, which includes the target safety angle and leveling speed curve. Emergency commands are sent to the backup hydraulic drive circuit via redundant communication channels, triggering circuit switching logic. The backup circuit is independent of the main hydraulic system and is equipped with a dedicated proportional valve group and pressure supply unit to maintain continuous hydraulic power output during switching.

[0149] Upon receiving an emergency command, the backup hydraulic drive circuit initiates an independent control program. During emergency locking, the proportional valve group closes the oil supply channel and activates the pressure relief valve, causing the hydraulic cylinder to quickly lock its current position. During leveling, the displacement increment is calculated based on the target safety angle, driving the hydraulic cylinder to extend and retract according to a preset speed curve, gradually adjusting the target device to the preset safety angle. Displacement sensors collect hydraulic cylinder displacement data in real time and feed it back to the main control module via redundant communication channels, forming a closed-loop monitoring link.

[0150] During fault handling, the status monitoring module records abnormal pressure fluctuations, sensor failure times, and backup circuit execution data, generating a fault characteristic log and storing it in a dynamically corrected dataset. The main control module updates the pressure threshold determination logic and sensor health monitoring parameters in the fault tolerance strategy based on the log data, optimizing the emergency command generation rules. The optimized strategy is synchronized to a preset database through an iterative learning unit, improving subsequent fault response speed and system robustness, and ensuring the operational stability of the target device under complex conditions.

[0151] Specifically, the hypersonic target ground-launching device erection electronic control system of the present invention includes the following steps executed by the main control module using a dynamic programming algorithm:

[0152] Call the mechanical impact threshold parameters and energy loss weighting factor parameters from the preset database;

[0153] Based on the mechanical impact threshold parameter and energy loss weighting factor parameter, the acceleration distribution optimization parameters for the target device during the leveling phase are generated.

[0154] The acceleration distribution optimization parameters are converted into hydraulic drive control commands;

[0155] The hydraulic drive control commands are transmitted to the multi-level power control module via a centralized control bus, driving the hydraulic actuator to perform the leveling action of the target device.

[0156] The main control module of the ground-based launcher's erection electrical control system for hypersonic targets optimizes the return path using a dynamic programming algorithm. The main control module calls upon mechanical impact threshold parameters and energy loss weighting factor parameters stored in a preset database. These parameters, set based on historical test data and system mechanical characteristics, constrain the acceleration extrema and energy distribution ratio of the hydraulic actuators, respectively. Using these parameters as boundary conditions and in conjunction with the target device's current mass distribution data, the dynamic programming algorithm calculates the optimized acceleration distribution parameters for each displacement node during the return process in stages, balancing mechanical impact and energy efficiency.

[0157] The main control module maps the acceleration distribution optimization parameters into hydraulic drive control commands, including hydraulic valve opening adjustment values, pump station pressure correction coefficients, and target displacement increments. This mapping process is based on the dynamic model of the hydraulic system, converting acceleration requirements into driving torque and speed curves for the hydraulic actuators. The optimized control commands are transmitted to the multi-level power control module via the EtherCAT bus protocol. After parsing the commands, the drive module adjusts the proportional valve group opening and the pump station output pressure, controlling the hydraulic cylinder to perform a leveling action according to the target acceleration distribution.

[0158] The displacement data of the hydraulic actuator is acquired 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 value and the acceleration distribution, the main control module iteratively updates the weight factors and constraints of the dynamic programming algorithm, optimizing the path parameter generation logic for the next cycle. The optimized acceleration distribution parameters are synchronously stored in the dynamically corrected dataset of the data optimization module, and correlated with historical operating data for analysis, providing learning samples for the adaptive control strategy and improving the accuracy of the leveling path planning and the system robustness under complex operating conditions.

[0159] The present invention relates to an electronic control system for the erection of a ground-based launcher for hypersonic targets, the technical features of which are explained below:

[0160] Sensor module: Composed of an inclination sensor and a rotary encoder, it is used to acquire real-time horizontal inclination data of the launch site and real-time angle data of the target device. The inclination sensor provides an initial horizontal reference by measuring the angle between the foundation and the target plane, while the rotary encoder generates real-time angle feedback through the angular displacement signal of the target's rotation axis, providing a data source for subsequent deviation calculations.

[0161] The main control module, the core control unit of the system, receives sensor data and executes a dynamic calibration program. It corrects foundation unevenness deviations through multi-axis linkage compensation, generating calibrated reference angle parameters. This module calls a dynamic programming algorithm, combining historical operating data from a preset database with real-time load status, to generate multi-level dynamic coordinated control commands, including zoned drive strategies and adaptive leveling path commands. The dynamic programming algorithm uses mechanical impact thresholds and energy loss weighting factors as constraints to optimize acceleration distribution parameters in stages, balancing mechanical impact and energy efficiency.

[0162] Multi-stage power control module: Responsible for executing hydraulic drive actions, it collects real-time hydraulic cylinder displacement data through displacement sensors and switches the hydraulic drive speed mode according to instructions from the main control module. It achieves millisecond-level data synchronization transmission via a centralized control bus (EtherCAT protocol), feeding the displacement data back to the main control module to form a closed-loop correction circuit to suppress accumulated errors in the mechanical transmission chain. The EtherCAT bus uses a distributed clock protocol to eliminate transmission delays and ensure the synchronization of multi-stage power units.

[0163] Status monitoring module: Monitors the pressure and temperature signals of the hydraulic system, as well as the status of limit switches. When angle overshoot or limit switch triggering is detected, a redundancy fault-tolerant mechanism is activated. This mechanism interrupts the current control command and switches to the backup hydraulic drive circuit to perform reverse compensation or safe leveling. The backup circuit maintains the continuity of hydraulic power output through an independent proportional valve group and pressure supply unit, avoiding system paralysis caused by single-point failure.

[0164] Data optimization module: Stores historical data collected by the sensor module and control command sequences generated by the main control module, producing a dynamically corrected dataset. Through error analysis algorithms, it identifies the cumulative trend of angle deviation, hydraulic pressure fluctuation patterns, and command response lag characteristics, generating system stability correction parameters (such as speed compensation coefficient and path planning weight factor). These correction parameters are input to the main control module's dynamic programming algorithm interface to optimize the path planning logic and iteratively improve adaptive control accuracy.

[0165] Zoned drive strategy: The control mode is divided according to the interval of real-time angle deviation value: when the deviation is less than the first threshold, the low-speed high-precision mode is activated to achieve fine adjustment with the smallest speed increment; when the deviation is between the first and second thresholds, the balance mode is switched to balance the adjustment efficiency and stability; when the deviation exceeds the second threshold, the rapid approach mode is activated to shorten the adjustment cycle with the maximum speed. The closed-loop correction model uses the Kalman filter algorithm to fuse redundant data from the tilt sensor and encoder to dynamically optimize the hydraulic valve opening and pump station pressure parameters.

[0166] Redundancy and 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-to-leveling path command. The backup hydraulic circuit performs reverse displacement compensation or returns to a preset safe angle according to the preset fault tolerance strategy. At the same time, the fault diagnosis unit records abnormal pressure, temperature, and limit signals, and generates a fault feature log by associating it with the control command sequence, providing data support for subsequent strategy optimization.

[0167] Adaptive leveling path command: Based on historical hydraulic drive parameters and real-time load pressure signals, a segmented leveling speed curve is generated, and acceleration parameters are dynamically calculated using target mass distribution data. The path parameters are optimized using a dynamic programming algorithm to generate the target displacement, speed curve, and pressure correction coefficient, driving the hydraulic cylinder to execute the leveling action along a preset trajectory. The optimized path parameters are iteratively learned and updated to the dynamically corrected dataset, improving system robustness under complex operating conditions.

[0168] Dynamic calibration procedure: Based on the horizontal tilt angle data collected by the sensor module, the main control module corrects the initial deviation caused by foundation unevenness through multi-axis linkage compensation. The program generates calibrated reference angle parameters by driving the hydraulic actuator to synchronously displace along multiple axes. This parameter serves as the input reference 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.

[0169] Closed-loop correction model: The model employs a Kalman filter algorithm, fusing redundant data from the tilt sensor and rotary encoder to filter out sensor noise and extract effective angle features, generating angle correction parameters. These parameters include target angle deviation compensation and dynamic adjustment coefficients, 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 to suppress accumulated errors in the mechanical transmission chain, forming a high-precision closed-loop control circuit.

[0170] Dynamic programming algorithm: The algorithm uses mechanical impact threshold parameters and energy loss weighting factors as constraints, combined with historical operating data and real-time load status, to optimize the acceleration distribution of the leveling path in stages. Through multi-stage decision-making, it generates hydraulic drive path parameters, including target displacement, velocity curve, and pressure correction coefficient. The optimized parameters are iteratively learned and updated to the dynamically corrected dataset to adapt to inertial load changes under different target mass distributions, balancing mechanical impact and energy efficiency.

[0171] Redundancy and fault tolerance mechanism: When the status monitoring module detects angle overshoot or hydraulic system abnormality, it triggers a dual-channel switching signal. The main control module generates an emergency lockout command or a leveling path command, and the backup hydraulic drive circuit performs a reverse compensation action or a safe leveling operation. The backup circuit maintains hydraulic power output through an independent proportional valve group and a pressure supply unit to avoid system paralysis caused by single-point failure. The fault diagnosis unit records abnormal signals and generates a fault characteristic log for subsequent iterative optimization of the fault tolerance strategy.

[0172] The error analysis algorithm in the data optimization module stores historical sensor data and control command sequences. Through correlation analysis, it identifies the cumulative trend of angle deviation, hydraulic pressure fluctuation patterns, and command response lag characteristics. The algorithm extracts the correlation between deviation and command execution, generating system stability correction parameters (such as speed compensation coefficients and path planning weight factors). These correction parameters are input to the dynamic programming algorithm interface to update the constraints of the path planning model, improving the efficiency of adaptive leveling path generation and control accuracy.

[0173] The specific implementation of the erection electronic control system for a hypersonic target ground launch device achieves high-precision dynamic attitude adjustment through multi-module collaborative control and closed-loop optimization. The sensor module collects real-time horizontal tilt data of the launch site and real-time angle data of the target device. After receiving the horizontal tilt data, the main control module initiates a dynamic calibration program, controlling the preset adjustment mechanism to perform multi-axis linkage compensation actions. This action is based on the synchronous displacement of the hydraulic actuator along multiple axes, correcting the initial angle deviation caused by foundation unevenness and generating calibrated reference angle parameters. These reference angle parameters serve as the basic input for deviation calculation, are compared and analyzed with the real-time angle data, and generate multi-level power collaborative control commands, including a zoned drive strategy, providing a precise control basis for subsequent angle adjustments.

[0174] The main control module calls upon historical hydraulic drive parameters from a preset database and real-time load pressure signals from the status monitoring module, combining them with a dynamic programming algorithm to generate adaptive leveling path commands. The dynamic programming algorithm uses mechanical impact threshold parameters and energy loss weighting factors as constraints to calculate acceleration distribution optimization parameters in stages, balancing leveling speed and system stability. The optimized path parameters are transmitted to the multi-level power control module via a centralized control bus, driving the hydraulic actuator to adjust the target device angle according to the target trajectory. Displacement sensors collect hydraulic cylinder displacement data in real time, achieving millisecond-level synchronous feedback via the EtherCAT bus protocol. The main control module dynamically generates error compensation parameters based on displacement deviations and issues correction commands to suppress accumulated errors in the mechanical transmission chain, forming a closed-loop control circuit.

[0175] The redundancy and fault tolerance mechanism enhances system reliability through dual-channel switching and reverse compensation. When the condition monitoring module detects abnormal hydraulic pressure or sensor failure, it triggers a dual-channel switching signal and interrupts the current control command. The main control module generates an emergency lock command or a leveling path command. The backup hydraulic drive circuit operates independently of the main control system, performing 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 characteristic logs, correlates them with control command sequences to generate a dynamically corrected dataset, and optimizes the fault tolerance strategy parameters and path planning logic through iterative learning, continuously improving the adaptive control accuracy and robustness of the system under complex aerodynamic loads.

[0176] Please see Figure 2 The specific implementation steps of the ground-based launcher erection electronic control system for hypersonic targets are as follows:

[0177] Step 1: The horizontal tilt angle data of the launch site is collected in real time by the tilt sensor and transmitted to the main control module. The main control module determines whether the tilt angle deviation exceeds the allowable range based on a preset threshold: if the tilt angle exceeds the tolerance, a dynamic calibration program is initiated, controlling the attitude adjustment mechanism to perform multi-axis linkage compensation actions, driving the hydraulic actuator to synchronously displace along multiple axes, correcting the initial angle deviation caused by the unevenness of the foundation, and generating calibrated reference angle parameters; if the tilt angle meets the requirements, this parameter is directly used as the reference input and embedded into the subsequent control process. The calibrated reference angle parameters and the real-time target angle data collected by the rotary encoder are synchronously input into the main control module to provide a high-precision reference for deviation calculation.

[0178] Step 2: After receiving the target angle command, the main control module generates multi-level power coordinated control commands based on the real-time angle deviation value. Control modes are divided according to the deviation range: when the deviation is less than the first threshold, a low-speed, high-precision mode is activated to adjust the hydraulic cylinder extension / retraction amount with the minimum speed increment; when the deviation is between the first and second thresholds, a balanced mode is switched to use a medium speed to balance adjustment efficiency and stability; when the deviation exceeds the second threshold, a rapid approach mode is activated to drive the hydraulic cylinder to approach the target angle at maximum speed. The main control module synchronizes the displacement data of the multi-level power units through a centralized control bus, and based on the Kalman filter algorithm, fuses redundant data from the tilt sensor and rotary encoder to generate angle correction parameters and dynamically optimize the hydraulic valve opening and pump station pressure, suppressing the cumulative error of the mechanical transmission chain.

[0179] Step 3: The status monitoring module continuously collects pressure signals, temperature signals, and limit switch statuses from the hydraulic system. If angle overshoot or limit switch triggering is detected, the main control module immediately interrupts the current command, switches to the backup hydraulic drive circuit, and performs reverse compensation or returns to a preset safe angle. The backup circuit controls the hydraulic actuator through an independent proportional valve group and pressure supply unit to prevent system failure caused by main circuit malfunctions. The fault diagnosis unit records abnormal pressure, temperature, and limit signals, generates a fault characteristic log, and stores it in the dynamic correction dataset, providing data support for subsequent strategy optimization.

[0180] Step 4: After the task is completed, the main control module calls the dynamic programming algorithm to generate a segmented leveling speed curve based on historical hydraulic drive parameters and real-time load status. The algorithm optimizes the acceleration distribution in stages, using mechanical impact thresholds and energy loss weighting factors as constraints, to adapt to changes in target mass. The optimized path parameters are sent to the multi-level power control module via a centralized bus, driving the hydraulic cylinders to perform the leveling action according to the target trajectory. The data optimization module stores sensor data and control command sequences, identifies system stability deviations through error analysis algorithms, updates the optimization parameters of the dynamic programming algorithm, and iteratively improves closed-loop control accuracy and leveling efficiency.

[0181] In this invention, step 1, dynamic calibration, provides a high-precision benchmark for multi-level collaborative control; step 2, the partitioned driving strategy and closed-loop correction model, directly solve the error accumulation problem under discrete architecture; step 3, the redundancy and fault-tolerance mechanism, ensures system reliability under abnormal operating conditions; and step 4, the dynamic programming algorithm, optimizes the adaptive control logic through data iteration. Each step, through unified scheduling by the main control module and collaborative work via a centralized bus, forms a complete closed-loop control link, significantly improving the accuracy and response speed of hypersonic transient aerodynamic load simulation.

[0182] Embodiment 1 of the present invention:

[0183] In the hypersonic target ground launch device erection electronic control system, during the simulation of transient aerodynamic loads, the tilt sensor of the sensor module collects the horizontal tilt angle data of the launch site and transmits it to the main control module. Once the main control module determines that the tilt angle deviation exceeds a preset threshold, it initiates a dynamic calibration program, controlling the attitude adjustment mechanism to perform multi-axis linkage compensation actions. The hydraulic actuator synchronously displaces along the X, Y, and Z axes to correct the initial angle deviation caused by the unevenness of the foundation, generating calibrated reference angle parameters. The reference angle parameters and the real-time target angle data collected by the rotary encoder are input into the main control module for deviation calculation, generating multi-level power coordinated control commands including a zoned drive strategy. The main control module sends the commands to the multi-level power control module via a centralized control bus (EtherCAT protocol), driving the hydraulic cylinders to perform fine-tuning actions 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 redundant data from the tilt sensor and encoder, dynamically optimizes the hydraulic valve opening and pump station pressure parameters, suppresses the cumulative error of the mechanical transmission chain, and enables the target device to achieve an angular positioning accuracy of less than 0.05 degrees.

[0184] Embodiment 2 of the present invention:

[0185] Under a single fault condition—either abnormal hydraulic system pressure or sensor failure—the condition monitoring module detects that the pressure value exceeds the safety threshold or the sensor signal is lost, triggering a dual-channel switching signal. The main control module interrupts the current multi-level power coordination control command and switches to the backup hydraulic drive circuit. The backup circuit generates a reverse compensation command according to a preset fault-tolerant strategy, driving the independent proportional valve group to adjust the oil supply direction and flow, and controlling the hydraulic cylinder to perform a reverse displacement action to offset the angle deviation. Simultaneously, the fault diagnosis unit of the data optimization module records abnormal pressure fluctuation signals, temperature over-limit signals, and limit status change signals, generating a fault feature log and storing it in the dynamic correction dataset. The main control module updates the pressure threshold judgment logic in the fault-tolerant strategy based on the log data, and the optimized strategy is updated to the preset database through the dynamic programming algorithm interface. After the backup circuit completes the target device leveling back to the preset safe angle, the system resumes the main control mode, ensuring operational stability under complex loads.

[0186] Embodiment 3 of the present invention:

[0187] The data optimization module stores historical horizontal tilt angle data collected by the sensor module, real-time angle deviation values, and multi-level power-coordinated control command sequences generated by the main control module, constructing a dynamic correction dataset. Through error analysis algorithms, it 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 hydraulic drive speed compensation coefficients (0.1-0.5 m / s) and path planning weight factors (0.8-1.2). These correction parameters are input to the dynamic programming algorithm parameter update interface of the main control module, replacing the original preset parameters. The main control module calls the updated dynamic programming 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 perform leveling actions according to the target displacement (±5 mm) and speed curve (0.2-2 m / s). The displacement sensor feeds back data to the main control module in real time, iteratively updating the algorithm weight factors. After three iterations of learning, the system's angular positioning error in reproducing hypersonic flight trajectories was reduced to 0.03 degrees, meeting the repeatability requirements of aerodynamic load simulation tests.

[0188] This invention addresses the problem of accumulated errors in multi-stage power modules through coordinated optimization using a centralized control bus and dynamic programming algorithms. The main control module employs the EtherCAT bus protocol for millisecond-level data synchronization, acquiring displacement, pressure, and temperature signals from multiple power units in real time, and eliminating transmission delays via a distributed clock protocol. After the horizontal tilt data and real-time angle data collected by the sensor modules are input into the main control module, a dynamic calibration program compensates for foundation deviations through multi-axis linkage, generating reference angle parameters. Based on the real-time deviation values, the main control module invokes a zoned drive strategy, switching hydraulic drive modes in stages, and dynamically optimizes the extension and retraction speed of the hydraulic cylinders using a closed-loop correction model to suppress error accumulation in the mechanical transmission chain.

[0189] The adaptive leveling path command generates optimized parameters by fusing historical data with real-time load status. The main control module calls upon the mechanical impact threshold and energy loss weighting factor from the preset database, and calculates the acceleration distribution in stages using a dynamic programming algorithm to generate hydraulic drive path parameters. The optimized parameters are then sent to multi-level power control modules via a centralized control bus, driving the hydraulic actuators to adjust the target device angle according to the target trajectory. Displacement sensors provide real-time feedback of displacement data, and the main control module iteratively updates error compensation parameters, forming a closed-loop control circuit to improve angle positioning accuracy and system response rate.

[0190] The redundancy fault-tolerance mechanism enhances system stability through dual-channel switching and reverse compensation. When the condition monitoring module detects abnormal pressure or sensor failure, it triggers a backup hydraulic circuit switching signal, and the main control module generates an emergency lockout or leveling command. The backup circuit independently drives the hydraulic actuator to perform reverse compensation or leveling actions, suppressing the risk of angle overshoot. The data optimization module records abnormal signals and fault characteristics, optimizes fault-tolerance strategy parameters through iterative learning, and dynamically corrects the adaptive control logic to ensure system robustness and closed-loop correction accuracy under complex loads.

[0191] Please see Figure 3 , Figure 3 This presentation showcases the human-machine interface design for the erection electrical control system of a ground-based launcher for hypersonic targets. The interface employs a layered layout, divided into a horizontal functional area and a vertical control module area, using logical partitioning to achieve coordinated display of multi-modal control and status monitoring. The horizontal area comprises a system monitoring value display area, a pagination selection area, and a system monitoring status indicator area. The system monitoring value display area presents real-time parameters of the hydraulic system, including pressure, temperature, and displacement, as well as the real-time angle deviation of the target device, achieving millisecond-level data synchronization through a dynamic refresh mechanism. The pagination selection area integrates buttons for switching between manual, jog, and automatic control modes, allowing operators to select the appropriate control strategy based on task requirements. The system monitoring status indicator area uses a three-color LED array, with green, yellow, and red indicating normal hydraulic system status, limit trigger, and angle overshoot status, respectively, enabling rapid identification of abnormal operating conditions through color coding.

[0192] The longitudinal area includes functional interfaces for the automatic control module, manual control module, and jog control module. The automatic control module embeds a dynamic programming algorithm parameter configuration interface, allowing operators to set mechanical impact thresholds, energy loss weighting factors, and path optimization priorities. This module retrieves historical operation data from a preset database and combines it with real-time load status to generate adaptive leveling path commands, displaying segmented speed curves and acceleration distribution parameters on the interface. The manual control module provides a manual input interface for angle deviation compensation, allowing operators to perform high-precision fine-tuning of the hydraulic cylinder extension and retraction using incremental adjustment buttons. The jog control module features three speed selection buttons: low-speed high-precision mode, balanced mode, and rapid approach mode. Operators can trigger corresponding hydraulic drive speed commands based on the real-time angle deviation range.

[0193] Each control module has an independent control parameter configuration area below it. The automatic control module's parameter area displays the current dynamic programming algorithm's optimization parameter version number, path planning cycle, and error correction coefficient. The manual control module's parameter area provides a preset threshold input box for angle deviation compensation and a calibration reference angle lock button. The jog control module's parameter area integrates a segmented adjustment slider for the hydraulic cylinder's 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's data transmission delay, synchronization error, and communication link health status in real time.

[0194] The system's numerical display area and status indicator area are connected to the main control module via a data bus, receiving displacement feedback data from the multi-level power control module and abnormal signals from the status monitoring module. Mode switching commands from the pagination selection area are transmitted to the main control module through the human-machine interface unit, triggering the corresponding control strategy loading process. Input data from 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 the closed-loop correction model.

Claims

1. An electronic control system for erecting a ground-based launcher for a hypersonic target, characterized in that, 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 horizontal tilt data of the launch site and real-time angle data of the target device; The main control module, connected to the sensor module, is configured as follows: Receive the horizontal tilt angle data and start a preset dynamic calibration program to generate calibrated reference angle parameters; Upon receiving the target angle command, the deviation between the calibrated reference angle parameters and the real-time angle data is calculated to generate a multi-level power cooperative control command including a partitioned drive strategy. The system calls a preset dynamic programming algorithm and combines historical operation data stored in a preset database with real-time load status feedback from the status monitoring module to generate an adaptive recovery path instruction. A multi-level power control module, connected to the main control module, is configured as follows: Displacement data of multi-stage power units are collected in real time using displacement sensors; According to the partition drive strategy in the multi-level power coordination control command generated by the main control module, the preset hydraulic drive speed value is switched to perform the angle adjustment of the target device; The displacement data collected by the displacement sensor is synchronized through the centralized control bus configured in the main control module. The status monitoring module, connected to the main control module and the multi-level power control module, is configured as follows: Collect pressure signals, temperature signals, and limit status signals from the hydraulic system, and transmit the limit status signals and the real-time load status to the main control module. Trigger the preset redundancy fault tolerance mechanism and report the abnormal status to the main control module; The data optimization module, connected to the main control module, is configured as follows: The system stores the data collected by the sensor module and the multi-level power coordination control commands generated by the main control module, and generates a dynamic correction dataset. Based on the error source identification results in the dynamically corrected dataset, the optimization parameters of the dynamic programming algorithm are iteratively updated; The adaptive leveling 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 speed curve; Based on the segmented return speed curve, the acceleration parameters of the hydraulic actuator are dynamically calculated to adapt to the target mass distribution data collected by the sensor module. The path optimization of the segmented leveling speed curve and acceleration parameters is performed using a dynamic programming algorithm to generate hydraulic drive path parameters; The hydraulic drive path parameters are transmitted to the multi-level power control module via a centralized control bus to drive the hydraulic cylinder to perform a leveling action.

2. The erection electronic control system for a ground-based launcher of a hypersonic target 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, corrects the foundation unevenness deviation detected by the sensor module, and generates calibrated reference angle parameters. The calibrated reference angle parameters and the real-time angle data collected by the sensor module are input into the main control module for deviation calculation, and an angle adjustment control command is generated. The angle adjustment control command is transmitted to the multi-level power control module through a centralized control bus, driving the hydraulic actuator to adjust the angle of the target device.

3. The erection electronic control system for a ground-based launcher of a hypersonic target according to claim 1, characterized in that, The partition driver policy is configured to perform the following steps: The main control module calculates the real-time angle deviation value based on the deviation and compares it with the range of preset angle parameters. Then, it calls the hydraulic cylinder extension and retraction speed values ​​corresponding to the low-speed high-precision mode, balance mode, and rapid approach mode in the preset control strategy. The closed-loop correction model of the main control module receives data from the tilt sensor and rotary encoder of the sensor module, dynamically optimizes the extension and retraction speed of the hydraulic cylinder, and generates hydraulic drive optimization parameters. The main control module converts the hydraulic drive optimization parameters into multi-level power coordination control commands, which are then transmitted to the multi-level power control module via a centralized control bus. The multi-level power control module drives the hydraulic cylinder to perform the angle adjustment action of the target device according to the multi-level power coordinated control command.

4. The erection electronic control system for a ground-based launcher for a hypersonic target according to claim 1, characterized in that, The centralized control bus adopts the EtherCAT bus protocol and is configured as follows: It receives displacement data collected by displacement sensors from a multi-level power control module and transmits the displacement data to the main control module synchronously at the millisecond level. The main control module generates error compensation parameters based on the deviation between the displacement data and the target angle command. The error compensation parameters are converted into hydraulic drive correction commands and fed back to the multi-level power control module via a centralized control bus. The multi-stage power control module adjusts the extension and retraction of the hydraulic cylinder according to the hydraulic drive correction command to correct the cumulative error of the mechanical transmission chain.

5. The erection electronic control system for a ground-based launcher for a hypersonic target according to claim 1, characterized in that, The redundancy fault tolerance mechanism is configured to perform the following steps: When the status monitoring module detects that the real-time angle data collected by the sensor module has overshooted the preset threshold or the limit switch of the hydraulic system has been triggered, the multi-level power coordination control command or adaptive leveling path command generated by the main control module is interrupted. Switch to the backup hydraulic drive circuit and perform a compensation action opposite to the current angle deviation direction according to the preset fault tolerance strategy; The fault diagnosis unit of the data optimization module records the abnormal pressure signal, temperature signal and limit status signal collected by the status monitoring module, and stores the abnormal signal in the dynamic correction dataset.

6. The erection electronic control system for a ground-based launcher of a hypersonic target according to claim 3, characterized in that, The closed-loop correction model of the main control module is configured to perform the following steps: The sensor module receives horizontal tilt angle data collected by the tilt sensor and real-time angle data collected by the rotary encoder. The horizontal tilt angle data and real-time angle data are fused using a Kalman filter algorithm to generate angle correction parameters. The optimized control parameters for the hydraulic valve opening and the pump station output pressure are calculated based on the aforementioned angle correction parameters. The optimized control parameters are transmitted to the multi-level power control module via a centralized control bus to drive the hydraulic actuator to adjust the attitude of the target device.

7. The erection electronic control system for a ground-based launcher of a hypersonic target according to claim 1, characterized in that, The data optimization module is also configured to perform the following steps: The system stores historical sensor data collected by the sensor module and a sequence of control commands generated by the main control module. Based on the correlation between the historical sensor data and the control command sequence, an error analysis algorithm is executed to generate system stability correction parameters; The system stability correction parameters are input to the dynamic programming algorithm parameter update interface of the main control module; The main control module updates the path planning parameters through a dynamic programming algorithm to generate an optimized adaptive leveling path instruction.

8. The erection electronic control system for a ground-based launcher for a hypersonic target according to claim 5, 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 responds to the dual-channel switching signal and generates an emergency lock command or a return path command. The backup hydraulic drive circuit receives the emergency locking command or the return path command and switches to the backup hydraulic drive mode. The hydraulic actuator is driven by a backup hydraulic circuit to control the target device to be in the locked position or to return to a preset safe angle.

9. The erection electronic control system for a ground-based launcher of a hypersonic target according to claim 1, characterized in that, The main control module invokes a dynamic programming algorithm to execute the following steps: Call the mechanical impact threshold parameters and energy loss weighting factor parameters from the preset database; Based on the mechanical impact threshold parameter and energy loss weighting factor parameter, the acceleration distribution optimization parameters for the target device during the leveling phase are generated. The acceleration distribution optimization parameters are converted into hydraulic drive control commands; The hydraulic drive control commands are transmitted to the multi-level power control module via a centralized control bus, driving the hydraulic actuator to perform the leveling action of the target device.

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