Launching vehicle advancing stability control system and method based on launching task information

Abstract

The invention provides a vehicle body stability control system and method during launching of a launching vehicle during advancing, the system comprises a launching control system, a vehicle control unit and a braking system, and the launching control system sends launching task information and launching execution identification information to the vehicle control unit through a CAN network; a launch impact load calculation module of the whole vehicle controller calculates an equivalent moment generated by a launch load at the mass center of the whole vehicle according to the launch task information, and determines an additional yawing moment required by a chassis based on the equivalent moment; the variable load additional yawing moment distribution module calculates the target braking moment of each wheel according to the additional yawing moment and sends the target braking moment to the braking controller through the CAN network; the brake controller drives the corresponding brake to generate braking force. Control equipment does not need to be additionally arranged, the influence of the launching impact load on the vehicle body is reduced through active yawing moment control, the stability of the vehicle body launched in the advancing process is effectively improved, and high application value is achieved.

Description

Technical Field

[0001] This invention relates to the fields of launch technology and vehicle control, specifically to a vehicle stability control system and method for a launch vehicle launching while in motion. Background Technology

[0002] In the field of vehicle control, launch vehicles, as mobile launch platforms, need to meet the requirements of launching while on the move in order to improve response speed and survivability. However, when launching while on the move, the reaction force of the launch payload will generate instantaneous impact loads. These loads are transmitted to the chassis through the launch device, which can easily lead to abnormal vehicle attitude. Especially under high vehicle speed and rough road conditions, this may exceed the safe launch attitude range, affecting launch accuracy and effectiveness.

[0003] Existing technologies mainly reduce the impact of impacts through passive methods such as optimizing chassis suspension stiffness and launcher buffer structures, but they have the following problems: First, the launch loads of launch vehicles are diverse and variable in number, with large differences in impact load characteristics, making it difficult for fixed structural parameters to match all load scenarios; Second, when road bumps during travel are superimposed with launch impacts, the buffering capacity of passive structures is limited, resulting in poor stability control; Third, structural parameters need to be designed separately for different launch vehicle platforms, resulting in low versatility and increased research and development and maintenance costs.

[0004] A patent search revealed invention patent CN105223805A, which discloses a high-precision, high-reliability low-load launch vehicle control system. This system includes a launch platform controller, a proportional multi-way valve controller, and a status sensor group connected to the main control computer via a CAN bus. Through a segmented iterative control strategy and a handshake mechanism, the system's normal function is ensured, improving reliability and accuracy, and guaranteeing successful mission completion. The proportional multi-way valve structure for each cylinder allows for the suppression of platform sway and overshoot during rotation with smaller control inputs, compensating for the loss of erection angle during rotation. However, this patent only enables pre-launch equipment attitude positioning and leveling, without considering the impact load of launch while in motion. It lacks a load calculation and torque distribution mechanism for launch impacts, and cannot actively counteract the interference of impacts on vehicle stability, making it unsuitable for dynamic launch scenarios.

[0005] In summary, given the problems of the existing technologies, researching a vehicle stability control system and method for launching while on the move has become a critical task that urgently needs to be addressed. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a vehicle stability control system and method for launching while in motion.

[0007] According to the present invention, a launch vehicle stability control system based on launch mission information includes: a launch control system, a vehicle controller, and a braking system; The braking system includes a brake controller and brakes installed on each wheel; The launch control system sends launch mission information to the vehicle controller via the CAN network and sends a "launch execution" identifier to the vehicle controller when launch is executed; the vehicle controller includes a launch impact load calculation module and a variable load additional yaw moment distribution module; The launch impact load calculation module is used to calculate the equivalent torque generated by the launch load at the center of gravity of the vehicle based on the launch mission information, and to calculate the additional yaw moment required by the chassis based on the equivalent torque; the variable load additional yaw moment distribution module is used to calculate the target braking torque of each wheel based on the additional yaw moment, and to send the target braking torque of each wheel to the brake controller through the CAN network. The brake controller is used to generate control signals based on the target braking torque of each wheel to control the corresponding brakes, so as to generate the corresponding braking force on each wheel.

[0008] Preferably, the launch mission information includes the type of launch payload currently loaded on the launch vehicle, the quantity of launch payload, the location of the launch payload, the start time of the launch mission, the duration of the launch mission, and the end time of the launch mission.

[0009] Preferably, the launch impact load calculation module calculates the equivalent torque using formula (1):

[0010] In the formula, This represents the equivalent torque of the launch payload at the vehicle's center of gravity during launch, defined as positive clockwise and negative counterclockwise. Represents the axial force of the i-th launch load. Representing the i The distance from the launch payload to the vehicle's center of gravity. n is The number of payloads launched simultaneously in this launch, where t is time, with the launch mission start time as zero. Represents the duration of the launch mission for the i-th launch payload; Based on the equivalent moment, the additional yaw moment is calculated using formula (2). :

[0011] Preferably, the variable load additional yaw moment distribution module calculates the target braking torque of each wheel using formula (3):

[0012] In the formula, Let the target braking torque be that of the i-th wheel. Let be the initial braking torque of the i-th wheel. Let X be the center of gravity of the vehicle. Let X be the X coordinate of the i-th wheel.

[0013] When the launch load changes or the launch device position changes, the X-coordinate of the vehicle's center of gravity is calculated using formula (4):

[0014] In the formula, These represent the mass of the j-th type of launch payload and its X-coordinate in the vehicle coordinate system, respectively.

[0015] Preferably, the launch vehicle includes a launch device, a launch payload, and a chassis. Represents the launching device. Represents the launch payload. It represents the chassis.

[0016] The present invention also provides a method for controlling the stability of a launch vehicle while it is in motion based on launch mission information. The method, based on the aforementioned stability control system for a launch vehicle while it is in motion based on launch mission information, includes the following steps: Step S1: The vehicle controller receives the launch mission information sent by the launch control system through the CAN network and determines whether it receives the "launch execution" identifier information; if it receives it, it enters the stability control process and sets the current time to zero. Step S2: The launch impact load calculation module of the vehicle controller calculates the equivalent torque generated by the launch load at the center of gravity of the vehicle based on the launch mission information, and calculates the additional yaw moment required by the chassis to balance the launch impact load based on the equivalent torque. Step S3: The variable load additional yaw moment distribution module of the vehicle controller calculates the target braking moment of each wheel based on the additional yaw moment, and sends the target braking moment of each wheel to the brake controller through the CAN network. The brake controller generates control signals to drive the corresponding brakes based on the target braking moment of each wheel, so as to generate corresponding braking force on each wheel and offset the impact of the launch impact on the stability of the vehicle. Step S4: Determine whether the "launch mission completed" flag message sent by the launch control system has been received. If not, repeat steps S2 to S4 until the launch mission is completed.

[0017] Preferably, in step S2, the equivalent torque is calculated using formula (1):

[0018] In the formula, This represents the equivalent torque of the launch payload at the vehicle's center of gravity during launch, defined as positive clockwise and negative counterclockwise. Represents the axial force of the i-th launch load. Representing the i The distance from the launch payload to the vehicle's center of gravity. n is The number of payloads launched simultaneously in this launch, where t is time, with the launch mission start time as zero. This represents the duration of the launch mission for the i-th launch payload.

[0019] Preferably, in step S2, the additional yaw moment is calculated using formula (2) based on the equivalent torque. :

[0020] Preferably, in step S3, the target braking torque of each wheel is calculated using formula (3):

[0021] In the formula, Let the target braking torque be that of the i-th wheel. Let be the initial braking torque of the i-th wheel. Let X be the center of gravity of the vehicle. Let X be the X coordinate of the i-th wheel.

[0022] Preferably, in step S3, when the launch load changes or the position of the launch device changes, the X-coordinate of the vehicle's center of gravity is calculated using formula (4):

[0023] In the formula, These represent the mass of the j-th type of launch payload and its X-coordinate in the vehicle coordinate system, respectively.

[0024] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention calculates the equivalent torque in real time based on launch mission information through a launch impact load calculation module and converts it into an additional yaw moment. This can accurately match the impact characteristics under different launch scenarios and solve the problem of poor adaptability of existing structural optimization designs to load and scenario changes.

[0025] 2. The variable load additional yaw moment distribution module of the present invention adjusts the target braking torque of each wheel according to the change of the vehicle's center of gravity, ensuring that the yaw moment is distributed as needed. Compared with passive structural optimization, it can more actively offset the impact on stability.

[0026] 3. This invention achieves control based on the existing CAN network and braking system, without the need for additional equipment, and solves the problems of high cost and low versatility in the existing technology. It can be adapted to the on-the-go launch requirements of different types of launch vehicles. Attached Figure Description

[0027] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of a vehicle stability control system for a launch vehicle launching while on the move, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the information flow of the vehicle stability control system during launch while the vehicle is in motion, according to an embodiment of the present invention. Figure 3 This is a flowchart of a method for controlling the stability of a launch vehicle during launch while it is in motion, according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the force analysis during launch from the moving launch vehicle in an embodiment of the present invention. Detailed Implementation

[0028] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0029] This invention discloses a vehicle stability control system and method for launch vehicles during on-the-move launches, designed to address the stability issues caused by impact loads generated by the reaction force of the launch load during on-the-move launches. The system includes a launch control system, a vehicle controller, and a braking system, wherein the braking system comprises a brake controller and brakes for each wheel. The control process is as follows: the launch control system sends launch mission information and a "launch execution" identifier to the vehicle controller via a CAN network; the launch impact load calculation module of the vehicle controller calculates the equivalent torque generated by the launch load at the vehicle's center of gravity based on the launch mission information, and determines the additional yaw moment required by the chassis based on this equivalent torque; the variable load additional yaw moment distribution module calculates the target braking torque for each wheel based on the additional yaw moment and sends it to the brake controller via the CAN network; the brake controller generates control signals accordingly, driving the corresponding brakes to generate braking force to counteract the impact of the launch impact on the vehicle's stability. This invention eliminates the need for additional control equipment, reduces the impact of the launch impact load on the vehicle body through active yaw moment control, effectively improves vehicle stability during on-the-move launches, and has high application value.

[0030] Example 1: Figure 1 This is a schematic diagram of a vehicle stability control system for a launch vehicle during launch while on the move, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the information flow of the vehicle stability control system during launch while the vehicle is in motion, according to an embodiment of the present invention.

[0031] like Figure 1 , 2 As shown, this embodiment provides a launch vehicle stability control system based on launch mission information, including: a launch control system, a vehicle controller, and a braking system.

[0032] The braking system includes a brake controller and brakes located on each wheel.

[0033] The launch control system sends launch mission information to the vehicle controller via the CAN network, and sends a "launch execution" identifier to the vehicle controller when launch is executed.

[0034] Specifically, the launch mission information includes the type of launch payload currently loaded on the launch vehicle, the quantity of launch payload, the location of the launch payload, the start time of the launch mission, the duration of the launch mission, and the end time of the launch mission.

[0035] The vehicle controller includes a launch impact load calculation module and a variable load additional yaw moment distribution module.

[0036] The launch impact load calculation module is used to calculate the equivalent torque generated by the launch load at the vehicle's center of gravity based on the launch mission information, and to calculate the additional yaw moment required by the chassis based on the equivalent torque; the variable load additional yaw moment distribution module is used to calculate the target braking torque of each wheel based on the additional yaw moment and the launch load status (the position of the vehicle's center of gravity determined by the mass and position of each launch load), and to send the target braking torque of each wheel to the brake controller via the CAN network.

[0037] Figure 4 This is a schematic diagram of the force analysis during launch from the moving launch vehicle in an embodiment of the present invention.

[0038] according to Figure 4 The diagram shown illustrates the forces acting on the launch vehicle during a launch mission. The launch impact load calculation module calculates the equivalent torque using formula (1):

[0039] In the formula, This represents the equivalent torque of the launch payload at the vehicle's center of gravity during launch, defined as positive clockwise and negative counterclockwise. Represents the axial force of the i-th launch load. Representing thei The distance from the launch payload to the vehicle's center of gravity. n is The number of payloads launched simultaneously in this launch, where t is time, with the launch mission start time as zero. This represents the duration of the launch mission for the i-th launch load. When the vehicle controller receives the "launch execution" flag, it is used as the starting point for calculation.

[0040] Based on the equivalent moment, the additional yaw moment is calculated using formula (2). :

[0041] Furthermore, the variable load additional yaw moment distribution module calculates the target braking torque of each wheel using formula (3):

[0042] In the formula, Let the target braking torque be that of the i-th wheel. Let be the initial braking torque of the i-th wheel. Let X be the center of gravity of the vehicle. Let X be the X coordinate of the i-th wheel.

[0043] When the launch load changes or the launch device position changes, the X-coordinate of the vehicle's center of gravity is calculated using formula (4):

[0044] In the formula, These represent the mass of the j-th type of launch payload and its X-coordinate in the vehicle coordinate system, respectively. The launch vehicle includes the launch device, the launch payload, and the chassis. Represents the launching device. Represents the launch payload. It represents the chassis.

[0045] The brake controller is used to generate control signals based on the target braking torque of each wheel to control the corresponding brakes, so as to generate the corresponding braking force on each wheel.

[0046] Example 2: This embodiment provides a launch vehicle stability control method based on launch mission information, which is implemented on the launch vehicle stability control system based on launch mission information in the above embodiment. That is, those skilled in the art can understand the launch vehicle stability control method based on launch mission information as the operation mode of the launch vehicle stability control system based on launch mission information.

[0047] Figure 3This is a flowchart of a method for controlling the stability of a launch vehicle during launch while it is in motion, according to an embodiment of the present invention.

[0048] like Figure 3 As shown, the launch vehicle stability control method based on launch mission information includes the following steps: Step S1: The vehicle controller receives the launch mission information sent by the launch control system through the CAN network and determines whether it receives the "launch execution" identifier information; if it receives it, it enters the stability control process and sets the current time to zero. In step S2, the vehicle controller's launch impact load calculation module calculates the equivalent torque generated by the launch load at the vehicle's center of gravity based on the launch mission information, and calculates the additional yaw moment required by the chassis to balance the launch impact load based on the equivalent torque.

[0049] Specifically, in step S2, the equivalent moment is calculated using formula (1):

[0050] In the formula, This represents the equivalent torque of the launch payload at the vehicle's center of gravity during launch, defined as positive clockwise and negative counterclockwise. Represents the axial force of the i-th launch load. Representing the i The distance from the launch payload to the vehicle's center of gravity. n is The number of payloads launched simultaneously in this launch, where t is time, with the launch mission start time as zero. This represents the duration of the launch mission for the i-th launch payload. When the vehicle controller receives the "launch execution" flag, it is used as the starting point for calculation.

[0051] Furthermore, based on the equivalent torque, the additional yaw moment is calculated using formula (2). :

[0052] In step S3, the variable load additional yaw moment distribution module of the vehicle controller calculates the target braking torque of each wheel based on the additional yaw moment, and sends the target braking torque of each wheel to the brake controller through the CAN network. The brake controller generates control signals to drive the corresponding brakes based on the target braking torque of each wheel, so as to generate corresponding braking force on each wheel and offset the impact of the launch impact on the stability of the vehicle.

[0053] Preferably, in step S3, the target braking torque of each wheel is calculated using formula (3):

[0054] In the formula, Let the target braking torque be that of the i-th wheel. Let be the initial braking torque of the i-th wheel. Let X be the center of gravity of the vehicle. Let X be the X coordinate of the i-th wheel.

[0055] Furthermore, when the launch load changes or the launch device position changes, the X-coordinate of the vehicle's center of gravity is calculated using formula (4):

[0056] In the formula, These represent the mass of the j-th type of launch payload and its X-coordinate in the vehicle coordinate system, respectively.

[0057] Step S4: Determine whether the "launch mission completed" flag message sent by the launch control system has been received. If not, repeat steps S2 to S4 until the launch mission is completed.

[0058] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0059] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A launch vehicle stability control system based on launch mission information, characterized in that, include: Engine control system, vehicle controller and braking system; The braking system includes a brake controller and brakes installed on each wheel; The launch control system sends launch mission information to the vehicle controller via the CAN network, and sends a "launch execution" identifier to the vehicle controller when launch is executed; the vehicle controller includes a launch impact load calculation module and a variable load additional yaw moment distribution module; The launch impact load calculation module is used to calculate the equivalent torque generated by the launch load at the center of gravity of the vehicle based on the launch mission information, and to calculate the additional yaw moment required by the chassis based on the equivalent torque. The variable load additional yaw moment distribution module is used to calculate the target braking torque of each wheel based on the additional yaw moment, and send the target braking torque of each wheel to the brake controller through the CAN network. The brake controller is used to generate control signals based on the target braking torque of each wheel to control the corresponding brakes, so as to generate corresponding braking force on each wheel.

2. The launch vehicle stability control system based on launch mission information according to claim 1, characterized in that, The launch mission information includes the type of launch payload currently loaded on the launch vehicle, the quantity of launch payload, the location of the launch payload, the start time of the launch mission, the duration of the launch mission, and the end time of the launch mission.

3. The launch vehicle stability control system based on launch mission information as described in claim 1, characterized in that, The launch impact load calculation module calculates the equivalent torque using formula (1): In the formula, This represents the equivalent torque of the launch payload at the vehicle's center of gravity during launch, defined as positive clockwise and negative counterclockwise. Represents the axial force of the i-th launch load. Representing the i The distance from the launch payload to the vehicle's center of gravity. n is The number of payloads launched simultaneously in this launch, where t is time, with the launch mission start time as zero. Represents the duration of the launch mission for the i-th launch payload; Based on the equivalent torque, the additional yaw moment is calculated using formula (2). : 。 4. The launch vehicle stability control system based on launch mission information according to claim 3, characterized in that, The variable load additional yaw moment distribution module calculates the target braking torque of each wheel using formula (3): In the formula, Let the target braking torque be that of the i-th wheel. Let be the initial braking torque of the i-th wheel. Let X be the center of gravity of the vehicle. Let i be the X coordinate of the i-th wheel When the launch load changes or the launch device position changes, the X-coordinate of the vehicle's center of gravity is calculated using formula (4): In the formula, These represent the mass of the j-th type of launch payload and its X-coordinate in the vehicle coordinate system, respectively.

5. The launch vehicle stability control system based on launch mission information according to claim 4, characterized in that, The launch vehicle includes the launch device, launch payload, and chassis. Represents the launching device. Represents the launch payload. It represents the chassis.

6. A method for controlling the stability of a launch vehicle while it is in motion based on launch mission information, wherein the method is based on the stability control system for a launch vehicle while it is in motion based on launch mission information as described in any one of claims 1-5, characterized in that, Includes the following steps: Step S1: The vehicle controller receives the launch mission information sent by the launch control system through the CAN network and determines whether it receives the "launch execution" identifier information; if it receives it, it enters the stability control process and sets the current time to zero. Step S2: The launch impact load calculation module of the vehicle controller calculates the equivalent torque generated by the launch load at the center of gravity of the vehicle according to the launch mission information, and calculates the additional yaw moment required by the chassis to balance the launch impact load based on the equivalent torque. Step S3: The variable load additional yaw moment distribution module of the vehicle controller calculates the target braking moment of each wheel according to the additional yaw moment, and sends the target braking moment of each wheel to the brake controller through the CAN network. The brake controller generates a control signal to drive the corresponding brake according to the target braking moment of each wheel, so as to generate corresponding braking force on each wheel and offset the impact of the launch impact on the stability of the vehicle. Step S4: Determine whether the "launch mission completed" identifier information sent by the launch control system has been received. If not received, repeat steps S2 to S4 until the launch mission is completed.

7. The launch vehicle stability control method based on launch mission information as described in claim 6, characterized in that, In step S2, the equivalent torque is calculated using formula (1): In the formula, This represents the equivalent torque of the launch payload at the vehicle's center of gravity during launch, defined as positive clockwise and negative counterclockwise. Represents the axial force of the i-th launch load. Representing the i The distance from the launch payload to the vehicle's center of gravity. n is The number of payloads launched simultaneously in this launch, where t is time, with the launch mission start time as zero. This represents the duration of the launch mission for the i-th launch payload.

8. The launch vehicle stability control method based on launch mission information as described in claim 7, characterized in that, In step S2, the additional yaw moment is calculated using formula (2) based on the equivalent torque. : 。 9. The launch vehicle stability control method based on launch mission information as described in claim 8, characterized in that, In step S3, the target braking torque of each wheel is calculated using formula (3): In the formula, Let the target braking torque be that of the i-th wheel. Let be the initial braking torque of the i-th wheel. Let X be the center of gravity of the vehicle. Let X be the X coordinate of the i-th wheel.

10. The launch vehicle stability control method based on launch mission information according to claim 9, characterized in that, In step S3, when the launch load changes or the position of the launch device changes, the X-coordinate of the vehicle's center of gravity is calculated using formula (4): In the formula, These represent the mass of the j-th type of launch payload and its X-coordinate in the vehicle coordinate system, respectively.

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