CN113587726A - Rocket launching platform leveling method and leveling system thereof - Google Patents
Rocket launching platform leveling method and leveling system thereof Download PDFInfo
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- CN113587726A CN113587726A CN202110873617.4A CN202110873617A CN113587726A CN 113587726 A CN113587726 A CN 113587726A CN 202110873617 A CN202110873617 A CN 202110873617A CN 113587726 A CN113587726 A CN 113587726A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F3/00—Rocket or torpedo launchers
- F41F3/04—Rocket or torpedo launchers for rockets
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Abstract
The invention provides a leveling method and a leveling system of a rocket launching platform, wherein the leveling method divides the rocket launching platform into a first leveling area, a second leveling area and a third leveling area in sequence along the length direction of the rocket launching platform, and the leveling method comprises the following steps: s1, leveling the second leveling area, and simultaneously controlling the first leveling area, the third leveling area and the first leveling area to follow leveling; s2, leveling the first leveling area; and S3, leveling the third leveling area. According to the invention, the technical problem of low leveling precision of the traditional rocket launching platform is solved by leveling the rocket launching platform in different areas.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a leveling method and a leveling system of a rocket launching platform.
Background
Leveling systems play an increasingly important role in the highly automated contemporary society. In the military field, a high-precision multipoint leveling system is an important guarantee for the maneuverability of land-based mechanical weapon equipment; in the civil field, when the foundation construction is carried out in the industries such as bridges, large-scale machinery, shipbuilding, metallurgy, petrochemical engineering and the like, a multi-point leveling system is applied to ensure the normal operation of the construction.
At present, most rocket launching platforms are integrated with vehicles, the platforms mostly adopt 4 supporting points for leveling and 4-6 supporting points, leveling is carried out through supporting legs at the supporting points under hydraulic control or electric control, and in-place switches or angle sensors are arranged on the supporting legs. In the related technology, the traditional leveling system mostly adopts a four-point hydraulic leveling system, the uneven signal of the platform is sent to a control part of an automatic leveling system by adopting the high sensitivity and high adjustment precision of an electrolyte sensor, the angular displacement of the platform and the horizontal plane is converted into the usable recognized voltage to enter an electro-hydraulic servo system, then a servo hydraulic cylinder is correspondingly controlled by a valve core of the electro-hydraulic servo valve, the adjustment of the reference horizontal plane of the platform is carried out by the transmission of a hydraulic-mechanical transmission mechanism, the automatic adjustment of the launching platform reaches the level, and the leveling speed is high. However, the leveling system is used for adjusting the whole platform, and cannot level each supporting point on the platform under different stress conditions, so that the leveling precision is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a leveling method and a leveling system of a rocket launching platform, which aim to solve the technical problem that the traditional rocket launching platform in the related art is low in leveling precision.
The invention provides a leveling method of a rocket launching platform, wherein the rocket launching platform is provided with a length direction, the rocket launching platform at least comprises two first movable supporting legs, two second movable supporting legs, two third movable supporting legs and two auxiliary movable supporting legs which are sequentially arranged along the length direction at intervals, and the two first movable supporting legs, the two second movable supporting legs, the two third movable supporting legs and the two auxiliary movable supporting legs are symmetrically arranged along the axis of the rocket launching platform; the rocket launching platform is divided into a first leveling area, a second leveling area and a third leveling area along the length direction in sequence, a connecting extension line of two first movable supporting legs, a connecting extension line of two second movable supporting legs and the periphery of the corresponding part of the rocket launching platform are enclosed to form the first leveling area, a connecting extension line of two second movable supporting legs, a connecting extension line of two third movable supporting legs and the periphery of the corresponding part of the rocket launching platform are enclosed to form the second leveling area, a connecting extension line of two third movable supporting legs and the periphery of the remaining part of the rocket launching platform are enclosed to form the third leveling area, and two auxiliary movable supporting legs are movably connected below the third leveling area and close to the middle position; the leveling method comprises the following steps:
s1, acquiring a second angle parameter of a second leveling area, adjusting two second movable supporting legs and two third movable supporting legs to move according to the second angle parameter so as to level the second leveling area, and simultaneously controlling the two first movable supporting legs and the two auxiliary movable supporting legs to respectively follow the two second movable supporting legs and the two third movable supporting legs to synchronously move so as to control the first leveling area and the third leveling area to follow the leveling with the second leveling area;
s2, acquiring a first angle parameter of the first leveling area, and adjusting the movement of the two first movable support legs according to the first angle parameter to level the first leveling area;
and S3, acquiring a third angle parameter of the third leveling area, and adjusting the movement of the two auxiliary movable support legs according to the third angle parameter so as to level the third leveling area.
Optionally, in step S1, the step of obtaining a second angle parameter of a second leveling area, adjusting two second movable legs and two third movable legs to move according to the second angle parameter to level the second leveling area, and simultaneously controlling two first movable legs and two auxiliary movable legs to respectively follow two second movable legs and two third movable legs to move synchronously to control the first leveling area, the third leveling area, and the second leveling area to follow leveling includes:
acquiring a second horizontal angle parameter and a second vertical angle parameter of the second leveling area, calculating a second displacement leveling quantity and a second touchdown pressure value of the two second movable supporting legs and the two third movable supporting legs according to the second horizontal angle parameter and the second vertical angle parameter, and controlling the two second movable supporting legs and the two third movable supporting legs to extend or retract at a second movement speed according to the second displacement leveling quantity and the second touchdown pressure value;
obtaining a second angle parameter leveling number, comparing the difference value between the second angle parameter leveling number and the second angle parameter, and stopping adjusting and locking the two second movable supporting legs and the two third movable supporting legs if the absolute value of the difference value is less than or equal to 0.05 degrees to realize the leveling of the second leveling area;
and simultaneously, controlling the two first movable supporting legs to synchronously extend or retract along with the two second movable supporting legs at a second movement speed, controlling the two auxiliary movable supporting legs to synchronously extend or retract along with the two third movable supporting legs at the second movement speed, and controlling the horizontal inclination angle value of the rocket launching platform to be less than or equal to 0.1 degrees.
Optionally, in step S2, the step of obtaining a first angle parameter of the first leveling area, and adjusting the movement of the two first movable legs according to the first angle parameter to level the first leveling area includes:
acquiring a first horizontal angle parameter and a first vertical angle parameter of the first leveling area, calculating a first displacement leveling amount and a first touchdown pressure value of the two first movable supporting legs according to the first horizontal angle parameter and the first vertical angle parameter, and controlling the two first movable supporting legs to extend or retract at a first movement speed according to the first displacement leveling amount and the first touchdown pressure value;
and acquiring a first angle parameter leveling number, comparing the difference between the first angle parameter leveling number and the first angle parameter, and stopping adjusting and locking the two first movable supporting legs if the absolute value of the difference is less than or equal to 0.05 so as to realize the leveling of the first leveling area.
Optionally, in step S3, the step of obtaining a third angle parameter of the third leveling area, and adjusting the movement of the two auxiliary movable legs according to the third angle parameter to level the third leveling area includes:
acquiring a third horizontal angle parameter and a third vertical angle parameter of the third leveling area, calculating a third displacement leveling quantity and a third touchdown pressure value of the two auxiliary movable supporting legs according to the third horizontal angle parameter and the third vertical angle parameter, and controlling the two auxiliary movable supporting legs to extend or retract at a third movement speed according to the third displacement leveling quantity and the third touchdown pressure value;
and acquiring a third angle parameter leveling number, comparing the difference value between the third angle parameter leveling number and the third angle parameter, and stopping adjusting and locking the two auxiliary movable supporting legs if the absolute value of the difference value is less than or equal to 0.05 so as to realize the leveling of the third leveling area.
Optionally, the rocket launching platform further includes two fourth movable legs, the two fourth movable legs are symmetrically disposed along an axis of the rocket launching platform, the two fourth movable legs are located between the two second movable legs and the two third movable legs, the second leveling area includes a fourth area and a fifth area, a connecting line of the two second movable legs, a connecting line of the two fourth movable legs and a periphery of a corresponding portion of the rocket launching platform enclose the fourth area, a connecting line of the two fourth movable legs, a connecting line of the two third movable legs and a periphery of a corresponding portion of the rocket launching platform enclose the fifth area, and the specific step of step S1 includes:
s11, acquiring a fourth angle parameter of a fourth area, adjusting two second movable supporting legs and two fourth movable supporting legs to move according to the fourth angle parameter so as to level the fourth area, and simultaneously controlling the two first movable supporting legs and the second movable supporting legs to move synchronously, and controlling the two third movable supporting legs and the two auxiliary movable supporting legs and the fourth movable supporting legs to move synchronously so as to control the first leveling area, the fifth area, the third leveling area and the fourth area to follow leveling;
s12, acquiring a fifth angle parameter of a fifth area, adjusting the movement of the two third movable support legs according to the fifth angle parameter to level the fifth area, and simultaneously controlling the two auxiliary movable support legs and the third movable support legs to move synchronously to control the third leveling area and the fifth area to follow the leveling.
Optionally, before step S1, the leveling method further includes:
s0, acquiring a horizontal inclination angle parameter of the rocket launching platform, and simultaneously adjusting the two first movable supporting legs, the two second movable supporting legs, the two third movable supporting legs and the two auxiliary movable supporting legs to move according to the horizontal inclination angle parameter so as to finish the rough adjustment operation of the rocket launching platform.
The invention also provides a leveling system of the rocket launching platform, the leveling control system adopts the above leveling method of the rocket launching platform for regulation and control, and the leveling control system comprises:
the rocket launching platform is provided with a first leveling area, a second leveling area and a third leveling area;
a detection assembly mounted to the rocket launch platform; the detection assembly comprises a first detection piece arranged in the first leveling area, a second detection piece arranged in the second leveling area and a third detection piece arranged in the third leveling area; the first detection piece is used for detecting a first angle parameter of a first leveling area, the second detection piece is used for detecting a second angle parameter of a second leveling area, and the third detection piece is used for detecting a third angle parameter of a third leveling area;
the supporting leg assembly is movably arranged below the rocket launching platform; the supporting leg assembly at least comprises two first movable supporting legs, two second movable supporting legs, two third movable supporting legs and two auxiliary movable supporting legs; the two first movable supporting legs, the two second movable supporting legs, the two third movable supporting legs and the two auxiliary movable supporting legs are symmetrically arranged along the axis of the rocket launching platform; the connecting extension lines of the two first movable supporting legs, the connecting extension lines of the two second movable supporting legs and the periphery of the corresponding part of the rocket launching platform are enclosed to form a first leveling area, the connecting extension lines of the two second movable supporting legs, the connecting extension lines of the two third movable supporting legs and the periphery of the corresponding part of the rocket launching platform are enclosed to form a second leveling area, the connecting extension lines of the two third movable supporting legs and the periphery of the remaining part of the rocket launching platform are enclosed to form a third leveling area, and the two auxiliary movable supporting legs are movably connected below the third leveling area, close to the middle position;
a control member communicatively coupled to the sensing assembly and the leg assembly;
the control part acquires a second angle parameter of the second detection part, and adjusts the two second movable supporting legs and the two third movable supporting legs to move according to the second angle parameter so as to level the second leveling area; meanwhile, the control part controls the two first movable supporting legs to synchronously move along with the two second movable supporting legs and controls the two auxiliary movable supporting legs to synchronously move along with the two third movable supporting legs so as to control the first leveling area, the third leveling area and the second leveling area to follow and level;
the control part acquires a first angle parameter of the first detection part, and adjusts the two first movable supporting legs to move according to the first angle parameter so as to level the first leveling area;
and the control part acquires a third angle parameter of the third detection part and adjusts the movement of the two auxiliary movable support legs according to the third angle parameter so as to level a third leveling area.
Optionally, the rocket launching platform further comprises two fourth movable legs, the two fourth movable legs are symmetrically arranged along the axis of the rocket launching platform, the two fourth movable legs are located between the two second movable legs and the two third movable legs, the second leveling area comprises a fourth area and a fifth area, the connecting line of the two second movable legs, the connecting line of the two fourth movable legs and the periphery of the corresponding part of the rocket launching platform enclose to form the fourth area, the connecting line of the two fourth movable legs, the connecting line of the two third movable legs and the periphery of the corresponding part of the rocket launching platform enclose to form the fifth area, the second detecting element comprises a fourth inclination sensor arranged in the fourth area and a fifth inclination sensor arranged in the fifth area,
the detection piece is in communication connection with the fourth inclination angle sensor and the fifth inclination angle sensor;
the control part acquires a fourth angle parameter detected by the fourth tilt sensor, and adjusts the two second movable supporting legs and the two fourth movable supporting legs to move according to the fourth angle parameter so as to level the fourth area, and meanwhile, the control part controls the two first movable supporting legs and the second movable supporting legs to move synchronously, controls the two third movable supporting legs and the two auxiliary movable supporting legs and the fourth movable supporting legs to move synchronously, so as to control the first leveling area, the fifth area, the third leveling area and the fourth area to follow the leveling;
and the control part acquires a fifth angle parameter detected by the fifth tilt sensor, adjusts the movement of the two third movable supporting legs according to the fifth angle parameter so as to level the fifth area, and controls the two auxiliary movable supporting legs and the third movable supporting legs to move synchronously so as to control the third leveling area and the fifth area to follow the leveling.
Optionally, the detection assembly further comprises a horizontal inclination angle detection piece, the horizontal inclination angle detection piece is mounted on the rocket launching platform, and the horizontal inclination angle detection piece is used for detecting the overall horizontal inclination angle of the rocket launching platform;
the control part is in communication connection with the horizontal inclination angle detection part;
the control part obtains the horizontal inclination angle parameter of the horizontal inclination angle detection part, and simultaneously adjusts the two first movable supporting legs, the two second movable supporting legs, the two third movable supporting legs, the two fourth movable supporting legs and the two auxiliary movable supporting legs to move according to the horizontal inclination angle parameter so as to finish the rough adjustment operation of the rocket launching platform.
Compared with the prior art, the invention has the following beneficial effects:
in the technology of the invention, the rocket launching platform is divided into areas, and then different areas are leveled respectively, so that the precise leveling of the rocket launching platform with large volume and heavy weight is realized. Specifically, the whole rocket launching platform is divided into three areas, the leveling mechanism of the platform preferentially levels the middle area of the rocket launching platform (namely the second leveling area mentioned in the invention), and then levels the two end areas of the rocket launching platform (namely the first leveling area and the third leveling area mentioned in the invention), so that the leveling of the whole rocket launching platform is realized. Therefore, the small area of the whole part formula of the huge rocket launching platform is leveled independently, the difficulty of integral leveling is reduced, and the leveling precision of the rocket launching platform is effectively improved.
Drawings
FIG. 1 is a schematic structural view of a rocket launch platform in an embodiment of the present invention;
FIG. 2 is a flow chart of a leveling method in an embodiment of the present invention;
fig. 3 is a flowchart of a leveling method for the interior of the second leveling area according to an embodiment of the present invention.
The reference numbers illustrate:
| 1 | |
13 | Third movable supporting |
| 101 | |
14 | Fourth movable supporting |
| 102 | |
15 | Auxiliary |
| 1021 | |
21 | First detecting |
| 1022 | The |
22 | Second detecting |
| 103 | |
221 | |
| 11 | First movable supporting |
222 | Fifth |
| 12 | Second movable supporting |
23 | Third detecting member |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and beneficial effects of the present invention more clearly apparent, the technical solutions of the present invention are further described below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 3, the invention provides a leveling method for a rocket launching platform, wherein the rocket launching platform 1 has a length direction, the rocket launching platform 1 at least comprises two first movable supporting legs 11, two second movable supporting legs 12, two third movable supporting legs 13 and two auxiliary movable supporting legs 15 which are sequentially arranged along the length direction at intervals, and the two first movable supporting legs 11, the two second movable supporting legs 12, the two third movable supporting legs 13 and the two auxiliary movable supporting legs 15 are symmetrically arranged along an axis of the rocket launching platform 1; the rocket launching platform 1 is divided into a first leveling area 101, a second leveling area 102 and a third leveling area 103 along the length direction in sequence, a connecting extension line of two first movable supporting legs 11, a connecting extension line of two second movable supporting legs 12 and the periphery of the corresponding part of the rocket launching platform 1 are enclosed to form the first leveling area 101, a connecting extension line of two second movable supporting legs 12, a connecting extension line of two third movable supporting legs 13 and the periphery of the corresponding part of the rocket launching platform 1 are enclosed to form the second leveling area 102, a connecting extension line of two third movable supporting legs 13 and the periphery of the remaining part of the rocket launching platform 1 are enclosed to form the third leveling area 103, and two auxiliary movable supporting legs 15 are movably connected below the third leveling area 103 close to the middle position; the leveling method comprises the following steps:
s1, acquiring a second angle parameter of a second leveling area 102, adjusting two second movable supporting legs 12 and two third movable supporting legs 13 to move according to the second angle parameter so as to level the second leveling area 102, and simultaneously controlling two first movable supporting legs 11 and two auxiliary movable supporting legs 15 to respectively follow two second movable supporting legs and two third movable supporting legs 13 to synchronously move so as to control the first leveling area 101, a third leveling area 103 and the second leveling area 102 to follow leveling;
s2, acquiring a first angle parameter of the first leveling area 101, and adjusting the movement of the two first movable supporting legs 11 according to the first angle parameter to level the first leveling area 101;
and S3, acquiring a third angle parameter of the third leveling area 103, and adjusting the movement of the two auxiliary movable supporting legs 15 according to the third angle parameter to level the third leveling area 103.
Optionally, in step S1, the specific steps of acquiring a second angle parameter of the second leveling area 102, adjusting the two second movable legs 12 and the two third movable legs 13 to move according to the second angle parameter so as to level the second leveling area 102, and simultaneously controlling the two first movable legs 11 and the two auxiliary movable legs 15 to respectively follow the two second movable legs and the two third movable legs 13 to synchronously move so as to control the first leveling area 101, the third leveling area 103, and the second leveling area 102 to follow leveling include:
acquiring a second horizontal angle parameter and a second vertical angle parameter of the second leveling area 102, calculating a second displacement leveling amount and a second touchdown pressure value of the two second movable supporting legs 12 and the two third movable supporting legs 13 according to the second horizontal angle parameter and the second vertical angle parameter, and controlling the two second movable supporting legs 12 and the two third movable supporting legs 13 to extend or retract at a second movement speed according to the second displacement leveling amount and the second touchdown pressure value;
acquiring a second angle parameter leveling number, comparing the difference between the second angle parameter leveling number and the second angle parameter, and stopping adjusting and locking the two second movable supporting legs 12 and the two third movable supporting legs 13 if the absolute value of the difference is less than or equal to 0.05 degrees to realize the leveling of the second leveling area 102;
meanwhile, the two first movable legs 11 are controlled to synchronously extend or retract along with the two second movable legs 12 at a second movement speed, the two auxiliary movable legs 15 are controlled to synchronously extend or retract along with the two third movable legs 13 at the second movement speed, and the horizontal inclination angle value of the rocket launching platform 1 is controlled to be less than or equal to 0.1 degrees.
Optionally, in step S2, the specific steps of obtaining a first angle parameter of the first leveling area 101, and adjusting the movement of the two first movable legs 11 according to the first angle parameter to level the first leveling area 101 include:
acquiring a first horizontal angle parameter and a first vertical angle parameter of the first leveling area 101, calculating a first displacement leveling amount and a first touchdown pressure value of the two first movable supporting legs 11 according to the first horizontal angle parameter and the first vertical angle parameter, and controlling the two first movable supporting legs 11 to extend or retract at a first movement speed according to the first displacement leveling amount and the first touchdown pressure value;
and acquiring a first angle parameter leveling number, comparing the difference between the first angle parameter leveling number and the first angle parameter, and stopping adjusting and locking the two first movable supporting legs 11 if the absolute value of the difference is less than or equal to 0.05 degrees to realize the leveling of the first leveling area 101.
Optionally, in step S3, the specific steps of obtaining a third angle parameter of the third leveling area 103, and adjusting the movement of the two auxiliary movable legs 15 according to the third angle parameter to level the third leveling area 103 include:
acquiring a third horizontal angle parameter and a third vertical angle parameter of the third leveling area 103, calculating a third displacement leveling amount and a third touchdown pressure value of the two auxiliary movable supporting legs 15 according to the third horizontal angle parameter and the third vertical angle parameter, and controlling the two auxiliary movable supporting legs 15 to extend or retract at a third movement speed according to the third displacement leveling amount and the third touchdown pressure value;
and acquiring a third angle parameter leveling number, comparing the difference between the third angle parameter leveling number and the third angle parameter, and stopping adjusting and locking the two auxiliary movable supporting legs 15 if the absolute value of the difference is less than or equal to 0.05 so as to level the third leveling area 103.
Optionally, the rocket launching platform 1 further includes two fourth movable legs 14, the two fourth movable legs 14 are symmetrically disposed along the axis of the rocket launching platform 1, the two fourth movable legs 14 are located between the two second movable legs 12 and the two third movable legs 13, the second leveling area 102 includes a fourth area 1021 and a fifth area 1022, a connecting line of the two second movable legs 12, a connecting line of the two fourth movable legs 14 and a periphery of a corresponding portion of the rocket launching platform 1 enclose to form the fourth area 1021, a connecting line of the two fourth movable legs 14, a connecting line of the two third movable legs 13 and a periphery of a corresponding portion of the rocket launching platform 1 enclose to form the fifth area 1022, and the specific step S1 includes:
s11, acquiring a fourth angle parameter of a fourth area 1021, adjusting two second movable legs 12 and two fourth movable legs 14 to move according to the fourth angle parameter, so as to level the fourth area 1021, and simultaneously controlling two first movable legs 11 and the second movable legs 12 to move synchronously, controlling two third movable legs 13 and two auxiliary movable legs 15 and the fourth movable legs 14 to move synchronously, so as to control the first leveling area 101, the fifth area 1022, the third leveling area 103 and the fourth area 1021 to follow leveling;
s12, acquiring a fifth angle parameter of a fifth area 1022, adjusting the movement of the two third movable legs 13 according to the fifth angle parameter to level the fifth area 1022, and simultaneously controlling the two auxiliary movable legs 15 and the third movable legs 13 to move synchronously to control the third leveling area 103 and the fifth area 1022 to follow leveling.
Optionally, before step S1, the leveling method further includes:
s0, acquiring a horizontal inclination angle parameter of the rocket launching platform 1, and simultaneously adjusting the two first movable supporting legs 11, the two second movable supporting legs 12, the two third movable supporting legs 13 and the two auxiliary movable supporting legs 15 to move according to the horizontal inclination angle parameter so as to finish the rough adjustment operation of the rocket launching platform 1.
The invention also provides a leveling system of the rocket launching platform, the leveling control system adopts the above leveling method of the rocket launching platform for regulation and control, and the leveling control system comprises:
a rocket launch platform 1 having a first leveling area 101, a second leveling area 102, and a third leveling area 103;
a detection assembly mounted to the rocket launch platform 1; the detection assembly comprises a first detection piece 21 arranged in the first leveling area 101, a second detection piece 22 arranged in the second leveling area 102 and a third detection piece 23 arranged in the third leveling area 103; the first detecting element 21 is configured to detect a first angle parameter of the first leveling area 101, the second detecting element 22 is configured to detect a second angle parameter of the second leveling area 102, and the third detecting element 23 is configured to detect a third angle parameter of the third leveling area 103;
the supporting leg assembly is movably arranged below the rocket launching platform 1; the leg assembly at least comprises two first movable legs 11, two second movable legs 12, two third movable legs 13 and two auxiliary movable legs 15; the two first movable supporting legs 11, the two second movable supporting legs 12, the two third movable supporting legs 13 and the two auxiliary movable supporting legs 15 are symmetrically arranged along the axis of the rocket launching platform 1; the connecting extension lines of the two first movable supporting legs 11, the connecting extension lines of the two second movable supporting legs 12 and the peripheries of the corresponding parts of the rocket launching platform 1 are enclosed to form a first leveling area 101, the connecting extension lines of the two second movable supporting legs 12, the connecting extension lines of the two third movable supporting legs 13 and the peripheries of the corresponding parts of the rocket launching platform 1 are enclosed to form a second leveling area 102, the connecting extension lines of the two third movable supporting legs 13 and the peripheries of the rest parts of the rocket launching platform 1 are enclosed to form a third leveling area 103, and the two auxiliary movable supporting legs 15 are movably connected below the third leveling area 103 close to the middle position;
a control member (not shown) communicatively coupled to the sensing assembly and the leg assembly;
the control part acquires a second angle parameter of the second detection part 22, and adjusts the two second movable supporting legs 12 and the two third movable supporting legs 13 to move according to the second angle parameter so as to level the second leveling area 102; meanwhile, the control member controls the two first movable legs 11 to move synchronously along with the two second movable legs 12 and controls the two auxiliary movable legs 15 to move synchronously along with the two third movable legs 13, so as to control the first leveling area 101 and the third leveling area 103 to follow the leveling with the second leveling area 102;
the control part acquires a first angle parameter of the first detection part 21, and adjusts the two first movable supporting legs 11 to move according to the first angle parameter so as to level the first leveling area 101;
the control part obtains a third angle parameter of the third detection part 23, and adjusts the two auxiliary movable support legs 15 to move according to the third angle parameter so as to level the third leveling area 103.
Optionally, the rocket launching platform 1 further includes two fourth movable legs 14, the two fourth movable legs 14 are symmetrically disposed along the axis of the rocket launching platform 1, the two fourth movable legs 14 are located between the two second movable legs 12 and the two third movable legs 13, the second leveling area 102 includes a fourth area 1021 and a fifth area 1022, the connecting line of the two second movable legs 12, the connecting line of the two fourth movable legs 14 and the periphery of the corresponding portion of the rocket launching platform 1 enclose to form the fourth area 1021, the connecting line of the two fourth movable legs 14, the connecting line of the two third movable legs 13 and the periphery of the corresponding portion of the rocket launching platform 1 enclose to form the fifth area 1022, the second detecting element 22 includes a fourth tilt sensor 221 disposed in the fourth area 1021 and a fifth tilt sensor 222 disposed in the fifth area 1022,
the detecting part is connected with the fourth tilt sensor 221 and the fifth tilt sensor 222 in a communication way;
the control element obtains a fourth angle parameter detected by the fourth tilt sensor 221, and adjusts the two second movable legs 12 and the two fourth movable legs 14 to move according to the fourth angle parameter so as to level the fourth area 1021, and at the same time, the control element controls the two first movable legs 11 and the second movable legs 12 to move synchronously, controls the two third movable legs 13 and the two auxiliary movable legs 15 and the fourth movable legs 14 to move synchronously, so as to control the first leveling area 101, the fifth area 1022, the third leveling area 103 and the fourth area 1021 to follow leveling;
the control element obtains a fifth angle parameter detected by the fifth tilt sensor 222, and adjusts the movement of the two third movable legs 13 according to the fifth angle parameter to level the fifth area 1022, and at the same time, the control element controls the two auxiliary movable legs 15 and the third movable legs 13 to move synchronously to control the third leveling area 103 and the fifth area 1022 to follow the leveling.
Optionally, the detecting assembly further comprises a horizontal inclination detecting element (not shown in the figure), the horizontal inclination detecting element is installed on the rocket launching platform 1, and the horizontal inclination detecting element is used for detecting the overall horizontal inclination angle of the rocket launching platform 1;
the control part is in communication connection with the horizontal inclination angle detection part;
the control part obtains the horizontal inclination angle parameter of the horizontal inclination angle detection part, and simultaneously adjusts the two first movable supporting legs 11, the two second movable supporting legs 12, the two third movable supporting legs 13, the two fourth movable supporting legs 14 and the two auxiliary movable supporting legs 15 to move according to the horizontal inclination angle parameter so as to finish the rough adjustment operation of the rocket launching platform 1.
In one embodiment, in order to realize the accurate leveling of the rocket launching platform 1 with large volume and heavy weight, the leveling method of the rocket launching platform provided by the invention is selected. Specifically, in this embodiment, the first movable leg 11 is a first leg cylinder, the second movable leg 12 is a second leg cylinder, the third movable leg 13 is a third leg cylinder, and the auxiliary movable leg 15 is an auxiliary leg cylinder. The whole fine adjustment loop comprises a first support leg oil cylinder, a second support leg oil cylinder, a third support leg oil cylinder, an auxiliary support leg oil cylinder, two-way hydraulic locks arranged on the support leg oil cylinders, and ten proportional multi-way valves communicated with the support leg oil cylinders. It should be understood that each support leg oil cylinder is provided with a displacement sensor and a pressure sensor, so that the displacement leveling amount and the ground contact pressure value of each support leg oil cylinder can be monitored in real time. The bidirectional hydraulic lock is used for locking the relative position of the support oil cylinders, so that each support oil cylinder can keep a relatively stable position state after being adjusted. The proportional multi-way valve can change the movement direction (extending or retracting) and the movement speed of the support leg oil cylinder; specifically, the movement speed of the support oil cylinder is controlled by controlling the valve core opening of the proportional multi-way valve. Specifically, when high-pressure oil output by the hydraulic pump station enters a rodless cavity of the supporting leg oil cylinder, the supporting leg oil cylinder can realize extending action; when high-pressure oil output by the hydraulic pump station enters a rod cavity of the supporting leg oil cylinder, the supporting leg oil cylinder can realize retraction. The specific leveling mechanism is as follows:
first, the rocket launching platform 1 is coarsely adjusted. Detecting the horizontal inclination angle of the whole rocket launching platform 1 through a horizontal inclination angle sensor, then opening a large-flow multi-way valve which is communicated with two first leg oil cylinders, two second leg oil cylinders, two third leg oil cylinders and two auxiliary leg oil cylinders, enabling each leg oil cylinder to rapidly extend to touch the ground, and stopping the extension action of each leg oil cylinder after the leg oil cylinder reaches the set ground touch pressure after the leg oil cylinder contacts the ground; and closing the large-flow multi-way valve to finish the rough adjustment operation of the whole rocket launching platform 1. At this time, it is ensured that the actual detection value of the horizontal tilt sensor is less than or equal to 0.1 °.
Then, the rocket launching platform 1 is finely adjusted in different areas.
Leveling of the second leveling area 102: opening a fine adjustment multi-way valve for communicating the two second support leg oil cylinders and the two third support leg oil cylinders, calculating the distance (second displacement leveling quantity) required to move and a second touchdown pressure value of the two second support leg oil cylinders and the two third support leg oil cylinders by a control part according to information (including a second horizontal angle parameter and a second vertical angle parameter) fed back by a second tilt angle sensor, and controlling the two second support leg oil cylinders and the two third support leg oil cylinders to extend or retract according to the value; and then reading the reading value of the second inclination angle sensor of the adjusted second leveling area 102, comparing the difference value of the reading value with the reading value of the second inclination angle sensor when the second leveling area is not leveled, stopping adjustment if the absolute value of the difference value is less than or equal to 0.05 ℃, and locking the two second support leg oil cylinders and the two third support leg oil cylinders through a bidirectional hydraulic lock arranged on the support leg oil cylinders to realize leveling of the second leveling area 102. Meanwhile, the control element controls the two first support leg oil cylinders to synchronously move along with the two second support leg oil cylinders and controls the two auxiliary support leg oil cylinders to synchronously move along with the two third support leg oil cylinders, so that the first leveling area 101, the third leveling area 103 and the second leveling area 102 are controlled to be leveled along with the following.
Leveling of the first leveling area 101: opening a fine adjustment multi-way valve communicated with the two first leg oil cylinders, calculating a distance (a first displacement leveling amount) required by the movement of the two first leg oil cylinders and a first ground contact pressure value by a control element according to information (including a first horizontal angle parameter and a first vertical angle parameter) fed back by a first tilt angle sensor, and controlling the two first leg oil cylinders to extend or retract according to the value; and then reading the reading value of the first inclination angle sensor of the adjusted first leveling area 101, comparing the difference value of the reading value with the reading value of the first inclination angle sensor when the first inclination angle sensor is not leveled, stopping adjustment if the absolute value of the difference value is less than or equal to 0.05 ℃, and locking two first support leg oil cylinders through a bidirectional hydraulic lock arranged on the support leg oil cylinders to realize the leveling of the first leveling area 101.
Leveling of the third leveling area 103: opening a fine adjustment multi-way valve communicated with the two auxiliary supporting leg oil cylinders, calculating a distance (third displacement leveling quantity) required by the movement of the two fourth supporting leg oil cylinders and a third ground contact pressure value by a control part according to information (including a third horizontal angle parameter and a third vertical angle parameter) fed back by a third tilt angle sensor, and controlling the two auxiliary supporting leg oil cylinders to extend or retract according to the value; and then reading the reading value of the third inclination angle sensor of the adjusted third leveling area 103, comparing the difference value of the reading value with the reading value of the third inclination angle sensor when the third inclination angle sensor is not leveled, stopping adjustment if the absolute value of the difference value is less than or equal to 0.05 ℃, and locking two auxiliary support leg oil cylinders through a bidirectional hydraulic lock arranged on the support leg oil cylinders to realize the leveling of the third leveling area 103. So far, the leveling of the whole rocket launching platform 1 is completed.
In another embodiment, to further increase the leveling precision value of the second leveling area 102, the second leveling area 102 is divided into a fourth area 1021 and a fifth area 1022 by two fourth movable legs 14; the fourth area 1021 and the fifth area 1022 are then leveled separately to complete the leveling of the second leveling area 102. It should be understood that the tilt angle detecting sensors are disposed on the fourth section 1021 and the fifth section 1022, so as to facilitate real-time monitoring thereof. Specifically, the fourth section 1021 may be preferentially leveled, and then the fifth section 1022 may be leveled. It should be understood that the leveling sequence of the fourth area 1021 and the fifth area 1022 is not limited, and the leveling sequence can be determined according to actual situations. In this embodiment, the leveling mechanism is described by taking the first leveling of the fourth area 1021 and the second leveling of the fifth area 1022 as an example, and the specific details are as follows:
leveling of fourth region 1021: opening a fine adjustment multi-way valve for communicating the two second support leg oil cylinders and the two fourth support leg oil cylinders, calculating the distance (fourth displacement leveling quantity) required to move between the second support leg oil cylinder and the two fourth support leg oil cylinders and a fourth touchdown pressure value by a control part according to information (including a fourth horizontal angle parameter and a fourth vertical angle parameter) fed back by a fourth tilt sensor 221, and controlling the two second support leg oil cylinders and the two fourth support leg oil cylinders to extend or retract according to the value; and then reading the reading value of the fourth inclination angle sensor 221 of the adjusted fourth area 1021, comparing the difference value of the reading value with the reading value of the fourth inclination angle sensor 221 when the reading value is not adjusted, stopping adjustment if the absolute value of the difference value is less than or equal to 0.05 ℃, and locking the two second support leg oil cylinders and the two fourth support leg oil cylinders through a bidirectional hydraulic lock arranged on the support leg oil cylinders to realize the leveling of the fourth area 1021. Meanwhile, the control member controls the two first movable legs 11 and the second movable leg 12 to move synchronously, and controls the two third movable legs 13 and the two auxiliary movable legs 15 to move synchronously with the fourth movable leg 14, so as to control the first leveling area 101, the fifth leveling area 1022, the third leveling area 103 and the fourth leveling area 1021 to follow leveling.
Leveling of the fifth region 1022: opening a fine adjustment multi-way valve for communicating the two third support leg oil cylinders, calculating the distance (fifth displacement leveling amount) required to move and a fifth ground contact pressure value of the third support leg oil cylinder by using a control element according to information (comprising a fifth horizontal angle parameter and a fifth vertical angle parameter) fed back by a fifth tilt sensor 222, and controlling the two third support leg oil cylinders to extend or retract according to the values; then, the reading value of the fifth tilt sensor 222 in the adjusted fifth area 1022 is read, the difference value between the reading value and the reading value of the fifth tilt sensor 222 when the fifth tilt sensor is not adjusted is compared, if the absolute value of the difference value is less than or equal to 0.05 °, the adjustment is stopped, and two third leg cylinders are locked by a bidirectional hydraulic lock arranged on the leg cylinders, so that the fifth area 1022 is adjusted. At the same time, the control member controls the two auxiliary movable legs 15 and the third movable leg 13 to move synchronously, so as to control the third leveling area 103 and the fifth area 1022 to follow leveling. To this end, the internal leveling of the second leveling zone 102 is completed.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (9)
1. A leveling method of a rocket launching platform is characterized in that the rocket launching platform at least comprises two first movable supporting legs, two second movable supporting legs, two third movable supporting legs and two auxiliary movable supporting legs which are sequentially arranged along the length direction at intervals, wherein the two first movable supporting legs, the two second movable supporting legs, the two third movable supporting legs and the two auxiliary movable supporting legs are symmetrically arranged along the axis of the rocket launching platform; the rocket launching platform is divided into a first leveling area, a second leveling area and a third leveling area along the length direction in sequence, a connecting extension line of two first movable supporting legs, a connecting extension line of two second movable supporting legs and the periphery of the corresponding part of the rocket launching platform are enclosed to form the first leveling area, a connecting extension line of two second movable supporting legs, a connecting extension line of two third movable supporting legs and the periphery of the corresponding part of the rocket launching platform are enclosed to form the second leveling area, a connecting extension line of two third movable supporting legs and the periphery of the remaining part of the rocket launching platform are enclosed to form the third leveling area, and two auxiliary movable supporting legs are movably connected below the third leveling area and close to the middle position; the leveling method comprises the following steps:
s1, acquiring a second angle parameter of a second leveling area, adjusting two second movable supporting legs and two third movable supporting legs to move according to the second angle parameter so as to level the second leveling area, and simultaneously controlling the two first movable supporting legs and the two auxiliary movable supporting legs to respectively follow the two second movable supporting legs and the two third movable supporting legs to synchronously move so as to control the first leveling area and the third leveling area to follow the leveling with the second leveling area;
s2, acquiring a first angle parameter of the first leveling area, and adjusting the movement of the two first movable support legs according to the first angle parameter to level the first leveling area;
and S3, acquiring a third angle parameter of the third leveling area, and adjusting the movement of the two auxiliary movable support legs according to the third angle parameter so as to level the third leveling area.
2. A method for leveling a rocket launch platform as recited in claim 1, wherein in step S1, said step of obtaining a second angle parameter of a second leveling area, adjusting the movement of two said second movable legs and two said third movable legs according to said second angle parameter to level said second leveling area, and simultaneously controlling two said first movable legs and two said auxiliary movable legs to respectively follow the synchronous movement of two said second movable legs and two said third movable legs, so as to control the following leveling of said first leveling area and third leveling area with said second leveling area comprises the specific steps of:
acquiring a second horizontal angle parameter and a second vertical angle parameter of the second leveling area, calculating a second displacement leveling quantity and a second touchdown pressure value of the two second movable supporting legs and the two third movable supporting legs according to the second horizontal angle parameter and the second vertical angle parameter, and controlling the two second movable supporting legs and the two third movable supporting legs to extend or retract at a second movement speed according to the second displacement leveling quantity and the second touchdown pressure value;
obtaining a second angle parameter leveling number, comparing the difference value between the second angle parameter leveling number and the second angle parameter, and stopping adjusting and locking the two second movable supporting legs and the two third movable supporting legs if the absolute value of the difference value is less than or equal to 0.05 degrees to realize the leveling of the second leveling area;
and simultaneously, controlling the two first movable supporting legs to synchronously extend or retract along with the two second movable supporting legs at a second movement speed, controlling the two auxiliary movable supporting legs to synchronously extend or retract along with the two third movable supporting legs at the second movement speed, and controlling the horizontal inclination angle value of the rocket launching platform to be less than or equal to 0.1 degrees.
3. A method for leveling a rocket launch platform as recited in claim 2, wherein in step S2, said step of obtaining a first angle parameter of said first leveling area and adjusting the movement of said first movable legs according to said first angle parameter to level said first leveling area comprises the steps of:
acquiring a first horizontal angle parameter and a first vertical angle parameter of the first leveling area, calculating a first displacement leveling amount and a first touchdown pressure value of the two first movable supporting legs according to the first horizontal angle parameter and the first vertical angle parameter, and controlling the two first movable supporting legs to extend or retract at a first movement speed according to the first displacement leveling amount and the first touchdown pressure value;
and acquiring a first angle parameter leveling number, comparing the difference between the first angle parameter leveling number and the first angle parameter, and stopping adjusting and locking the two first movable supporting legs if the absolute value of the difference is less than or equal to 0.05 so as to realize the leveling of the first leveling area.
4. A method for leveling a rocket launch platform as recited in claim 3, wherein in step S3, said step of obtaining a third angle parameter of said third leveling area, and adjusting the movement of two of said auxiliary movable legs according to said third angle parameter to level said third leveling area comprises the specific steps of:
acquiring a third horizontal angle parameter and a third vertical angle parameter of the third leveling area, calculating a third displacement leveling quantity and a third touchdown pressure value of the two auxiliary movable supporting legs according to the third horizontal angle parameter and the third vertical angle parameter, and controlling the two auxiliary movable supporting legs to extend or retract at a third movement speed according to the third displacement leveling quantity and the third touchdown pressure value;
and acquiring a third angle parameter leveling number, comparing the difference value between the third angle parameter leveling number and the third angle parameter, and stopping adjusting and locking the two auxiliary movable supporting legs if the absolute value of the difference value is less than or equal to 0.05 so as to realize the leveling of the third leveling area.
5. A method for leveling a rocket launch platform according to any one of claims 1 to 4 wherein said rocket launch platform further comprises two fourth movable legs, said two fourth movable legs are symmetrically disposed along the axis of said rocket launch platform and located between said two second movable legs and said two third movable legs, said second leveling area comprises a fourth area and a fifth area, the connecting line of said two second movable legs, the connecting line of said two fourth movable legs and the periphery of the corresponding portion of the rocket launch platform enclose to form the fourth area, the connecting line of said two fourth movable legs, the connecting line of said two third movable legs and the periphery of the corresponding portion of the rocket launch platform enclose to form the fifth area, and said step S1 comprises the specific steps of:
s11, acquiring a fourth angle parameter of a fourth area, adjusting two second movable supporting legs and two fourth movable supporting legs to move according to the fourth angle parameter so as to level the fourth area, and simultaneously controlling the two first movable supporting legs and the second movable supporting legs to move synchronously, and controlling the two third movable supporting legs and the two auxiliary movable supporting legs and the fourth movable supporting legs to move synchronously so as to control the first leveling area, the fifth area, the third leveling area and the fourth area to follow leveling;
s12, acquiring a fifth angle parameter of a fifth area, adjusting the movement of the two third movable support legs according to the fifth angle parameter to level the fifth area, and simultaneously controlling the two auxiliary movable support legs and the third movable support legs to move synchronously to control the third leveling area and the fifth area to follow the leveling.
6. A method of leveling a rocket launch platform as recited in any one of claims 1 through 4, wherein prior to step S1, said method of leveling further comprises the steps of:
s0, acquiring a horizontal inclination angle parameter of the rocket launching platform, and simultaneously adjusting the two first movable supporting legs, the two second movable supporting legs, the two third movable supporting legs and the two auxiliary movable supporting legs to move according to the horizontal inclination angle parameter so as to finish the rough adjustment operation of the rocket launching platform.
7. A leveling system of a rocket launching platform, wherein the leveling control system is regulated by the leveling method of the rocket launching platform as recited in any one of claims 1 to 6, and the leveling control system comprises:
the rocket launching platform is provided with a first leveling area, a second leveling area and a third leveling area;
a detection assembly mounted to the rocket launch platform; the detection assembly comprises a first detection piece arranged in the first leveling area, a second detection piece arranged in the second leveling area and a third detection piece arranged in the third leveling area; the first detection piece is used for detecting a first angle parameter of a first leveling area, the second detection piece is used for detecting a second angle parameter of a second leveling area, and the third detection piece is used for detecting a third angle parameter of a third leveling area;
the supporting leg assembly is movably arranged below the rocket launching platform; the supporting leg assembly at least comprises two first movable supporting legs, two second movable supporting legs, two third movable supporting legs and two auxiliary movable supporting legs; the two first movable supporting legs, the two second movable supporting legs, the two third movable supporting legs and the two auxiliary movable supporting legs are symmetrically arranged along the axis of the rocket launching platform; the connecting extension lines of the two first movable supporting legs, the connecting extension lines of the two second movable supporting legs and the periphery of the corresponding part of the rocket launching platform are enclosed to form a first leveling area, the connecting extension lines of the two second movable supporting legs, the connecting extension lines of the two third movable supporting legs and the periphery of the corresponding part of the rocket launching platform are enclosed to form a second leveling area, the connecting extension lines of the two third movable supporting legs and the periphery of the remaining part of the rocket launching platform are enclosed to form a third leveling area, and the two auxiliary movable supporting legs are movably connected below the third leveling area, close to the middle position;
a control member communicatively coupled to the sensing assembly and the leg assembly;
the control part acquires a second angle parameter of the second detection part, and adjusts the two second movable supporting legs and the two third movable supporting legs to move according to the second angle parameter so as to level the second leveling area; meanwhile, the control part controls the two first movable supporting legs to synchronously move along with the two second movable supporting legs and controls the two auxiliary movable supporting legs to synchronously move along with the two third movable supporting legs so as to control the first leveling area, the third leveling area and the second leveling area to follow and level;
the control part acquires a first angle parameter of the first detection part, and adjusts the two first movable supporting legs to move according to the first angle parameter so as to level the first leveling area;
and the control part acquires a third angle parameter of the third detection part and adjusts the movement of the two auxiliary movable support legs according to the third angle parameter so as to level a third leveling area.
8. A method of leveling a rocket launch platform as recited in claim 7, wherein said rocket launch platform further comprises two fourth movable legs disposed symmetrically along an axis of said rocket launch platform and located between said two second movable legs and said two third movable legs, said second leveling area comprises a fourth area and a fifth area, a connecting line of said two second movable legs, a connecting line of said two fourth movable legs and a periphery of a corresponding portion of the rocket launch platform enclose said fourth area, a connecting line of said two fourth movable legs, a connecting line of said two third movable legs and a periphery of a corresponding portion of the rocket launch platform enclose said fifth area, said second detecting element comprises a fourth tilt sensor disposed in said fourth area and a fifth tilt sensor disposed in said fifth area,
the detection piece is in communication connection with the fourth inclination angle sensor and the fifth inclination angle sensor;
the control part acquires a fourth angle parameter detected by the fourth tilt sensor, and adjusts the two second movable supporting legs and the two fourth movable supporting legs to move according to the fourth angle parameter so as to level the fourth area, and meanwhile, the control part controls the two first movable supporting legs and the second movable supporting legs to move synchronously, controls the two third movable supporting legs and the two auxiliary movable supporting legs and the fourth movable supporting legs to move synchronously, so as to control the first leveling area, the fifth area, the third leveling area and the fourth area to follow the leveling;
and the control part acquires a fifth angle parameter detected by the fifth tilt sensor, adjusts the movement of the two third movable supporting legs according to the fifth angle parameter so as to level the fifth area, and controls the two auxiliary movable supporting legs and the third movable supporting legs to move synchronously so as to control the third leveling area and the fifth area to follow the leveling.
9. A method of leveling a rocket launch platform as recited in claim 8, wherein said detection assembly further comprises a horizontal tilt angle detection element, said horizontal tilt angle detection element being mounted to said rocket launch platform, said horizontal tilt angle detection element being adapted to detect an overall horizontal tilt angle of said rocket launch platform;
the control part is in communication connection with the horizontal inclination angle detection part;
the control part obtains the horizontal inclination angle parameter of the horizontal inclination angle detection part, and simultaneously adjusts the two first movable supporting legs, the two second movable supporting legs, the two third movable supporting legs, the two fourth movable supporting legs and the two auxiliary movable supporting legs to move according to the horizontal inclination angle parameter so as to finish the rough adjustment operation of the rocket launching platform.
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