Accurate positioning control method and device for movable launching platform

Abstract

The invention provides an accurate positioning control method and device for a movable launching platform, and solves the technical problems that the transfer positioning accuracy and stability of an existing platform are not matched with the transfer efficiency, and the safety and accuracy of a launching task cannot be ensured. The method comprises the following steps: forming a constant speed of the movable launching platform in a deceleration stage according to a deceleration trigger signal in a transfer process; forming a sliding stop state of the movable launching platform in the stop stage according to the stop trigger signal; and forming a speed control strategy of the movable launching platform in the micro-motion stage according to the error spacing between the sliding stop position and the positioning point, and controlling the movable launching platform to move to the error range of the positioning point. And effective balance of efficiency, safety and accuracy in the standard operation process is ensured by utilizing different speed regulation strategies in three stages. The positioning precision and the high stability are effectively improved, and the safety and the accuracy of a launching task are ensured.

Description

Technical Field

[0001] This invention relates to the field of launch platform transportation technology, and more specifically to a method and apparatus for precise positioning and control of a mobile launch platform. Background Technology

[0002] In the current technology, with the continuous development of aerospace technology, mobile launch platforms are widely used due to their flexibility and reusability. The drive control system is an important component of mobile launch platforms, which needs to control the platform to complete the task of smoothly and safely vertically transferring the launch vehicle between the technical building and the launch pad.

[0003] However, during the vertical transport of launch vehicles, complex environments such as atmospheric disturbances and orbital changes pose significant challenges to the stable transport of mobile launch platforms. Achieving stable and accurate deceleration and positioning control of the mobile launch platform to ensure the smooth transport of spacecraft has become a key focus of current technological development. Traditional positioning technologies often suffer from low control accuracy and slow response speed, making them insufficient to meet the demands of modern aerospace for high-precision and rapid-response transport. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a method and apparatus for precise positioning control of an active launch platform, which solves the technical problem that the positioning accuracy and stability of existing platforms are not matched with their transfer efficiency, and thus cannot ensure the safety and accuracy of launch missions.

[0005] The method for precise positioning of an active launch platform according to an embodiment of the present invention includes:

[0006] During the transfer process, the constant speed of the active launch platform during the deceleration phase is formed based on the deceleration trigger signal;

[0007] The active launch platform is brought to a stop during the stopping phase based on the stop trigger signal;

[0008] Based on the error gap between the gliding stop position and the positioning point, a speed control strategy is formed for the mobile launch platform during the micro-motion phase, controlling the mobile launch platform to move within the error range of the positioning point.

[0009] In one embodiment of the present invention, the source of the deceleration trigger signal includes:

[0010] The accompanying deceleration limit sensor and positioning sensing device generate a deceleration trigger signal when the two approach each other, through the deceleration limit sensor set on the active launch platform and the positioning sensing device set at a specific endpoint.

[0011] In one embodiment of the present invention, the source of the deceleration trigger signal includes:

[0012] The system is equipped with a deceleration button and a deceleration indicator device. By having personnel confirm the deceleration indicator device and then triggering the deceleration button, a deceleration trigger signal is generated when the two devices approach each other.

[0013] In one embodiment of the present invention, the source of the stop trigger signal includes:

[0014] The first set of stop limit sensor and workstation sensing device, through the stop limit sensor set on the active launch platform and the workstation sensing device set at a specific endpoint position, form a stop trigger signal when the two are close together.

[0015] In one embodiment of the present invention, the source of the stop trigger signal further includes:

[0016] The second set of stop limit sensors and workstation sensing devices, installed on the movable launch platform and at a specific endpoint, generate a stop trigger signal when they approach each other. The two sets of stop limit sensors and workstation sensing devices constitute a redundant design.

[0017] The installation position of the first set of workstation sensing devices is closer to the direction of the mobile launch platform than the second set of workstation sensing devices.

[0018] In one embodiment of the present invention, the source of the stop trigger signal includes:

[0019] The system is equipped with a stop button and a stop indicator device. By having personnel confirm the stop indicator device and then triggering the stop button, a stop trigger signal is generated when the two devices are close together.

[0020] In one embodiment of the present invention, the speed control strategy includes:

[0021] The starting point for the micro-motion phase is determined based on the moment and position of the active launch platform when it reaches the taxiing stop state;

[0022] Determine the preset distance adjustment time t between the starting point and the positioning point;

[0023] The time nodes t1, t2, and t3 of the acceleration, constant speed, and deceleration phases are determined based on the preset distance adjustment time t.

[0024] Based on the maximum peak speed requirement v at time node t1 of the acceleration period max Set the acceleration for the acceleration phase duration t1-t0;

[0025] The duration of the constant speed section t2-t1 is set according to the coasting duration t3-t2 of the deceleration section.

[0026] The precise positioning device for an active launch platform according to an embodiment of the present invention includes:

[0027] The deceleration phase control module is used to generate a uniform speed of the active launch platform during the deceleration phase based on the deceleration trigger signal during the transfer process.

[0028] The taxiing phase control module is used to determine the taxiing stop state of the active launch platform during the stopping phase based on the stop trigger signal;

[0029] The error fine-motion adjustment module is used to form a speed control strategy for the mobile launch platform during the fine-motion phase based on the error distance between the sliding stop position and the positioning point, and to control the mobile launch platform to move within the error range of the positioning point.

[0030] The present invention provides a precise positioning device for an active launch platform, comprising:

[0031] The deceleration limit sensor and positioning sensing device are used to generate a deceleration trigger signal. The deceleration limit sensor is installed on one side of the mobile launch platform near the launch area, and the positioning sensing device is installed on the same side of the transfer track at the marked deceleration position.

[0032] In one embodiment of the present invention, the invention further includes: a matching stop limit sensor and a station sensing device for generating a stop trigger signal. Two sets of stop limit sensors and station sensing devices are used. The two stop limit sensors are respectively installed on both sides of the movable launch platform near the launch area, and the two station sensing devices are installed at marked stop positions on the same side of the transfer track. There is a gap between the stop positions of the two station sensing devices, with one being closer to the direction of the movable launch platform.

[0033] The precise positioning control method and apparatus for a mobile launch platform in this invention introduces a two-stage deceleration and stopping mechanism. The first deceleration stage ensures the mobile launch platform operates at a fixed speed, while the second deceleration stage ensures it stops at the same speed, guaranteeing good repeatability. The micro-motion stage ensures accurate positioning during deceleration by employing a pre-defined ideal micro-motion speed curve (speed control strategy) if the positioning accuracy is not met during the two deceleration stages. Furthermore, to improve the reliability and safety of the mobile launch platform, during the first deceleration stage, if the endpoint deceleration sensor fails, the platform can be manually decelerated to a safe speed by pressing the deceleration button. During the second deceleration stage, the endpoint stop sensor is redundantly set, allowing the mobile launch platform to decelerate and stop when any sensor is triggered. If both positioning sensors fail, the platform can be reliably stopped by pressing the emergency stop button, and multiple micro-motions combined with this ensure that the positioning accuracy meets mission requirements. Attached Figure Description

[0034] Figure 1 The diagram shown is a flowchart illustrating a precise positioning control method for an active launch platform according to an embodiment of the present invention.

[0035] Figure 2 The figure shown is a schematic diagram of the speed control strategy in the micro-motion stage of the precise positioning control method for an active launch platform according to an embodiment of the present invention.

[0036] Figure 3 The diagram shown is a schematic representation of the architecture of a precise positioning control device for an active launch platform according to an embodiment of the present invention.

[0037] Figure 4 The diagram shown is a schematic representation of the layout of the deceleration limit sensor and the positioning sensing device of the precise positioning control device for an active launch platform according to an embodiment of the present invention.

[0038] Figure 5 The diagram shown is a schematic representation of the layout of the stop limit sensor and the workstation sensing device of the precise positioning control device for an active launch platform according to an embodiment of the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer and more understandable, the invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. 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.

[0040] An embodiment of the present invention provides a precise positioning and control method for an active launch platform, as follows: Figure 1 As shown. In Figure 1 In this embodiment, the following are included:

[0041] Step 100: During the transfer process, the constant speed of the active launch platform during the deceleration phase is formed based on the deceleration trigger signal.

[0042] Those skilled in the art will understand that sensor technology can generate measurement signals or data for a specific location. The obtained position measurement signal is used as a trigger signal for the vertical transport of the mobile launch platform to a specific location, and simultaneously marks the starting point for speed control during the deceleration phase. By establishing a low, uniform speed during the deceleration phase, a buffer is created to allow for the effective speed transition of the mobile launch platform after its vertical transport at a higher speed. The deceleration trigger signal is processed by the drive control system to adjust the speed of the mobile launch platform. The local contour position of the mobile launch platform or the position of its constituent components can serve as a position calibration reference.

[0043] Step 200: Based on the stop trigger signal, the active launch platform is formed into a coasting stop state during the stopping phase.

[0044] At the end point of the deceleration phase, the obtained position measurement signal is used as the trigger signal for the vertical transfer of the mobile launch platform to the stopping phase, and the starting point for speed control of the mobile launch platform during the stopping phase is also calibrated. By reducing the acceleration of the mobile launch platform to zero during the stopping phase, the platform undergoes gliding deceleration, ensuring that its movement transitions from gliding to a complete stop.

[0045] The constant speed during the deceleration phase is set based on the overall mass of the mobile launch platform, the friction coefficient of the transport track, and the motion performance of the traveling device to ensure that the sliding distance during the stopping phase is quantifiable. The deceleration trigger signal is processed by the drive control system to adjust the acceleration of the mobile launch platform.

[0046] Step 300: Based on the error gap between the sliding stop position and the positioning point, a speed control strategy for the mobile launch platform during the micro-motion phase is formed to control the mobile launch platform to move within the error range of the positioning point.

[0047] Those skilled in the art will understand that there is a high probability of an error margin between the taxiing stop position and the positioning point, which is a normal phenomenon caused by factors such as atmospheric disturbances and orbital changes. Based on the distance between the taxiing stop position and the positioning point, the initial parameters in the speed control strategy during the micro-motion phase are adjusted to control the mobile launch platform to move slowly to the positioning point within the error range, completing the entire transfer process. The drive control system adjusts the mobile launch platform's variable speed according to the speed control strategy.

[0048] The precise positioning control method for the mobile launch platform in this invention utilizes three consecutive stages of different speed adjustment strategies to ensure an effective balance between efficiency, safety, and accuracy during the pre-launch process. Progressive deceleration ensures a balance between transport efficiency and stability; small-interval stopping and micro-adjustment ensure a balance between stability and accuracy; and coasting deceleration and stopping overcome environmental disturbances. This effectively improves positioning accuracy and high stability, ensuring the safety and accuracy of the launch mission.

[0049] In one embodiment of the present invention, the source of the deceleration trigger signal includes:

[0050] The accompanying deceleration limit sensor and positioning sensing device generate a deceleration trigger signal when the two approach each other, through the deceleration limit sensor set on the active launch platform and the positioning sensing device set at a specific endpoint.

[0051] In one embodiment of the present invention, the source of the deceleration trigger signal further includes:

[0052] The system includes a deceleration button and a deceleration indicator. Personnel confirm the deceleration indicator and then trigger the deceleration button, creating a deceleration trigger signal when the two devices approach each other. The personnel and sensor sensing components form a redundant design.

[0053] In one embodiment of the present invention, the source of the stop trigger signal includes:

[0054] The first set of stop limit sensor and workstation sensing device, through the stop limit sensor set on the active launch platform and the workstation sensing device set at a specific endpoint position, form a stop trigger signal when the two are close together.

[0055] In one embodiment of the present invention, the source of the stop trigger signal further includes:

[0056] The second set of stop limit sensors and workstation sensing devices, installed on the movable launch platform and at a specific endpoint, generate a stop trigger signal when they approach each other. The two sets of stop limit sensors and workstation sensing devices constitute a redundant design.

[0057] The installation position of the first set of workstation sensing devices is closer to the direction of the mobile launch platform than the second set of workstation sensing devices.

[0058] In one embodiment of the present invention, the source of the stop trigger signal further includes:

[0059] The system is equipped with a stop button and a stop indicator device. By having personnel confirm the stop indicator device and then triggering the stop button, a stop trigger signal is generated when the two devices are close together.

[0060] In one embodiment of the present invention, the speed control strategy during the micro-motion stage of the precise positioning control method for an active launch platform is as follows: Figure 2 As shown. Combined with Figure 2 As shown, in one embodiment of the present invention, a speed control strategy includes:

[0061] The starting point for the micro-motion phase is determined based on the moment and position of the active launch platform when it reaches the taxiing stop state;

[0062] Determine the preset distance adjustment time t between the starting point and the positioning point; the preset distance adjustment time provides a mapping relationship between the inherent output parameters such as platform mass and drive start-up power output curve and the moving distance, which can be used to quantify the smooth changes in acceleration.

[0063] The time nodes t1, t2, and t3 of the acceleration, constant speed, and deceleration phases are determined based on the preset distance adjustment time t.

[0064] Based on the maximum peak speed requirement v at time node t1 of the acceleration period max Set the acceleration for the acceleration phase duration t1-t0;

[0065] The duration of the constant speed section t2-t1 is set according to the coasting duration t3-t2 of the deceleration section.

[0066] In one embodiment of the present invention, the first deceleration phase is as follows:

[0067] When the mobile launch platform reaches a distance of about 15m from the positioning point in the launch area, the mobile launch platform's travel speed gradually decreases from 15m / min to 5m / min. Based on the deceleration trigger signal, the mobile launch platform decelerates from the current speed to 1m / min.

[0068] Second deceleration phase:

[0069] The mobile launch platform maintained a speed of 1 m / min. Based on the generated stop trigger signal, it decelerated to 0 m / min and came to a stop in about 1.6 seconds. The measured positioning accuracy was 22 mm ahead of the positioning point.

[0070] Micro-motion stage:

[0071] The positioning error interval is determined and a 20mm forward movement command is issued. The mobile launch platform moves forward slightly by 21mm, and the final position is 1mm away from the positioning point.

[0072] In one embodiment of the present invention, the micro-motion stage includes multiple stages according to the positioning accuracy requirements of the active launch platform, and is carried out multiple times according to different error intervals set based on the error between the active launch platform and the positioning point.

[0073] An embodiment of the present invention provides a precise positioning control device for an active launch platform, comprising:

[0074] The memory is used to store the program code for the processing of the precise positioning control method for the active launch platform in the above embodiments;

[0075] The processor is used to execute program code for the processing of the precise positioning control method for the active launch platform described in the above embodiments.

[0076] The processor can be a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), an MCU (Microcontroller Unit) system board, a SoC (System on a Chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0077] An embodiment of the present invention provides a precise positioning device for an active launch platform, such as... Figure 3 As shown. In Figure 3 In this embodiment, the following are included:

[0078] The deceleration phase control module 10 is used to generate a uniform speed of the active launch platform during the deceleration phase based on the deceleration trigger signal during the transfer process.

[0079] The taxiing phase control module 20 is used to generate a taxiing stop state of the active launch platform during the stopping phase based on the stop trigger signal;

[0080] The error fine-motion adjustment module 30 is used to form a speed control strategy for the active launch platform during the fine-motion stage based on the error distance between the sliding stop position and the positioning point, and to control the active launch platform to move within the error range of the positioning point.

[0081] An embodiment of the present invention provides a precise positioning device for an active launch platform, such as... Figure 4 and Figure 5 As shown. In Figure 4 The system includes a deceleration limit sensor and a positioning sensor for generating a deceleration trigger signal. The deceleration limit sensor is positioned on one side of the mobile launch platform near the launch area, and the positioning sensor is positioned on the same side of the transport track at the marked deceleration position. Both the deceleration limit sensor and the positioning sensor can be general-purpose products employing technologies such as current sensing or magnetic sensing.

[0082] In one embodiment of the invention, a deceleration button is also included. The deceleration button forms a trigger signal input terminal of the drive control system. A deceleration trigger signal is generated by manually operating the deceleration button through alignment marks placed at corresponding positions of the deceleration limit sensor and the positioning sensing device. The drive control system controls the moving speed or acceleration of the mobile launch platform based on the deceleration trigger signal.

[0083] exist Figure 5 The system includes two sets of stop limit sensors and station sensing devices to generate stop trigger signals. The two stop limit sensors are respectively installed on both sides of the movable launch platform near the launch area, and the two station sensing devices are located at marked stop positions on the same side of the transfer track. There is a gap between the stop positions of the two station sensing devices, with one being closer to the direction the movable launch platform is approaching. The stop limit sensors and station sensing devices can be general-purpose products using technologies such as current sensing or magnetic sensing.

[0084] In one embodiment of the invention, a stop button is also included. The stop button forms a trigger signal input terminal of the drive control system. A stop trigger signal is generated by manually operating the stop button through alignment marks placed at corresponding positions of the stop limit sensor and the workstation sensing device. The drive control system controls the moving launch platform to stop accelerating and decelerate according to the stop trigger signal.

[0085] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for accurate positioning of a mobile launch platform, characterized in that, The application comprises: forming a uniform speed rate of the active launching platform in the deceleration stage according to a deceleration trigger signal in the transfer process; forming a sliding stop state of the active launching platform in the stop stage according to a stop trigger signal; forming a speed control strategy of the active launching platform in the micro-motion stage according to the error distance between the sliding stop position and the positioning point, and controlling the active launching platform to move to the error range of the positioning point.

2. The method of claim 1, wherein, The source of the deceleration trigger signal comprises: a matched deceleration limit sensor and a positioning sensing device, a deceleration trigger signal is formed when the two approach each other through the deceleration limit sensor arranged on the active launching platform and the positioning sensing device arranged at a specific end position.

3. The method of claim 2, wherein, The source of the deceleration trigger signal comprises: a matched deceleration limit sensor and a positioning sensing device, a deceleration trigger signal is formed when the two approach each other through the deceleration limit sensor arranged on the active launching platform and the positioning sensing device arranged at a specific end position.

4. The method of claim 1, wherein, The source of the stop trigger signal comprises: a first matched stop limit sensor and a work station sensing device, a stop trigger signal is formed when the two approach each other through the stop limit sensor arranged on the active launching platform and the work station sensing device arranged at a specific end position.

5. The method of claim 4, wherein, The source of the stop trigger signal further comprises: a second matched stop limit sensor and a work station sensing device, a stop trigger signal is formed when the two approach each other through the stop limit sensor arranged on the active launching platform and the work station sensing device arranged at a specific end position. The two sets of stop limit sensors and work station sensing devices constitute a redundant design. The installation position of the first matched work station sensing device is closer to the direction of the active launching platform than that of the second matched work station sensing device.

6. The method of claim 4, wherein, The source of the stop trigger signal comprises: a matched stop limit sensor and a work station sensing device, a stop trigger signal is formed when the two approach each other through the stop limit sensor arranged on the active launching platform and the work station sensing device arranged at a specific end position.

7. The method of claim 1, wherein, The speed control strategy comprises: establishing an adjustment starting point of the micro-motion stage according to the time and position when the active launching platform reaches the sliding stop state; determining a preset distance adjustment time length t between the adjustment starting point and the positioning point; determining section time nodes t1, t2, t3 of the acceleration section, the uniform speed section and the deceleration section according to the preset distance adjustment time length t; According to the maximum peak speed requirement v of the time node t1 of the acceleration section max and the acceleration section time length t1-t0 sets the acceleration; setting the uniform speed section time length t2-t1 according to the sliding time length t3-t2 of the deceleration section.

8. An active launch platform precision positioning apparatus, characterized by, The application comprises: a deceleration stage control module for forming a uniform speed rate of the active launching platform in the deceleration stage according to a deceleration trigger signal in the transfer process; a sliding stage control module for forming a sliding stop state of the active launching platform in the stop stage according to a stop trigger signal; an error micro-motion adjustment module for forming a speed control strategy of the active launching platform in the micro-motion stage according to the error distance between the sliding stop position and the positioning point, and controlling the active launching platform to move to the error range of the positioning point.

9. An active launch platform precision positioning apparatus, comprising: The application comprises: a deceleration limit sensor and a positioning sensing device for forming a deceleration trigger signal, the deceleration limit sensor is arranged on one side of the active launching platform close to one end of the launching area, and the positioning sensing device is arranged at a deceleration position marked on the transfer track on the same side.

10. The active launch platform precision positioning apparatus of claim 9, wherein, The application further comprises: The application discloses a matched stop limit sensor and work station sensing device for forming a stop trigger signal, which adopts two sets of stop limit sensors and work station sensing devices, two stop limit sensors are arranged on the two sides of the movable launching platform near the launching area, and two work station sensing devices are arranged on the same side of the transfer track at the marked stop positions. The stop positions where the two work station sensing devices are arranged have a spacing, and one of the stop positions is closer to the movable launching platform.

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