With the development of defense technology, according to the needs of the mission, more and more military weapons need to change the working place at any time. In order to ensure the maneuverability of these military weapons, vehicles are often used as transport carriers, and large weapons such as rockets are installed on the vehicles. After the vehicle arrives at the destination, the platform can be quickly adjusted to the level and then work by means of the platform. After the work is completed, the platform can be quickly removed and transferred. It not only ensures the working performance of the weapon, but also improves the maneuverability.
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Traditionally, the horizontal adjustment of the platform has been mainly done manually, which requires some personnel to manually adjust the jack, and another part of the personnel to observe the blisters position of the level. This leveling method is time-consuming and laborious, and has low precision and poor anti-overturning ability. With the improvement of the leveling time and the leveling accuracy requirements, the past leveling method is far from meeting the needs of the actual situation, and the automatic leveling control technology with short time, high precision and strong anti-overturning capability has emerged.
In military applications, the automatic leveling control system is widely used in mobile launchers, missile vehicles, tank fire control consoles and other equipment. Taking rocket launchers as an example, rocket launchers are widely used in high-tech warfare. In order to improve their survivability, they also put forward higher requirements for their maneuverability. The main factor that constrains the maneuverability of the rocket launcher is the time it takes to set up and adjust to the horizontal state after the rocket launcher enters the position. Automatic leveling devices are key equipment to eliminate this constraint. With the development of electronic components and automatic control technology, the automatic leveling device adopts many new devices and new methods, so that the leveling time and leveling accuracy are strictly in line with the battlefield requirements.
The purpose of designing the rocket launcher body leveling device is to enable the rocket carrier to be quickly erected while parked, and to realize rapid measurement, calculation and wireless data transmission of the weapon system platform inclination, so that it can reach the level quickly and accurately, that is, guarantee The maneuverability of the system is maximized under the conditions of the rocket launcher's performance.
Overview of the development trend of automatic leveling systems
At present, the leveling technology has gradually matured, but with the continuous improvement of the weapon mobility requirements, the requirements for leveling time and leveling accuracy have been correspondingly improved, and the automatic control leveling technology that is compatible with it has also been continuously developed. The main development direction of the automatic leveling system is:
(1) Accuracy: The accuracy of the system depends mainly on the resolution of the tilt sensor. With the application of new structures, new materials, new processes and new technologies in high-precision tilt sensors, the performance of the tilt sensor is greatly improved. The tilt sensor is moving from the traditional liquid pendulum, gas pendulum principle to servo acceleration and force balance. The principle of gravity pendulum has been developed, and the resolution of the tilt sensor has reached 0.001 degree or higher.
(2) Stability: In order to meet the needs of modern weapons with high maneuverability and rapid response capability, the vehicle platform is required to have higher stability, and the electromechanical servo system is used instead of the electro-hydraulic servo system, plus the reliability and anti-jamming technology of the single-chip system. The continuous development has laid the foundation for the stable and reliable operation of the single-chip system. In particular, the development of computer and sensor technology has enabled the implementation of highly stable leveling systems.
(3) Rapidness: At present, the response speed of the tilt sensor has been significantly improved. The response time of the new tilt sensor is 5 milliseconds, the response speed is 200 times/second, and the application of advanced control algorithms in the system makes the leveling The system's leveling time is greatly shortened, which increases the speed of the weapon system.
(4) Operability: The man-machine interactive display panel is designed in the automatic leveling system, and the state of the system and various real-time parameters are displayed through the graphical interface, and the parameters of the system are set according to the work requirements. The panel is equipped with multiple function keys, which can be freely defined as needed to achieve various operations of the leveling system. These will greatly improve the operability of the system.
Overall design of the car body leveling device
The overall design of the rocket launcher leveling device includes: selection of the tilt sensor, data processing and wireless data transmission circuit design. The car body leveling device casing is integrally processed with aluminum alloy, with built-in inclination sensor, circuit board, battery and wireless transmitting module. The horizontal inspection seat and the casing are fixed by screws, and high-quality alloy steel is used. The surface finish and level are better. The standard of the level, the transmitter antenna is located above the casing, screwed on when used, can be folded down or screwed down when packing. The control principle of the car body leveling device is shown in Figure 1.
Figure 1 Schematic diagram of the vehicle body leveling device control
Tilt sensor and sensor package data output format
Dip sensor selection
The inclination sensor is used to sense the vertical and horizontal inclination of the rocket gun body. The basic technical requirements are: 1 accuracy is higher than ±0.012 °; 2 ambient temperature is -40 °C to +55 °C. According to these requirements, the TW-TS1110 tilt sensor of Beijing Xingwang Yuda Technology Co., Ltd. was selected. The sensor uses a high-speed digital processor to process multi-dimensional gravity acceleration information and attitude angle calculation, and adopts an angle digital output mode with an output speed of 5 Hz and a measurement range of ±15°. Measurement accuracy: When the inclination angle is ≤±5°, the accuracy is ±0.005°; when the inclination angle is ≤±15°, the accuracy is ±0.01°; when the inclination angle is ≤±30°, the accuracy is ±0.035°. The sensor uses the lithography resistance technology to compensate the nonlinear error, which solves the phenomenon that the traditional tilt sensor can guarantee the accuracy only in a small range, so that the tilt sensor linearizes in the whole measurement range and maintains the same rated accuracy index. The sensor also adopts the start zero test compensation technology, which has fast and stable output capability with a single point repeatability of 0.0015°. The dynamic digital filtering technology has low output noise and high resolution with a resolution of 0.002°. Dynamic zero and scale factor self-correction technology. Suitable for a variety of environments, the ambient temperature is -40 ° C ~ +55 ° C.
Sensor package data output format
1 Send data format definition
1 ASCII code transmission format (single angle): 24 FF XX XX XX XX XX 0D 0A
Description - 24: Header ID $; FF: sign bit of angle value (+2b/-2d); XX: ASCII code angle value (30~39); 0D 0A: Angle send suffix identifier (line feed, carriage return) ).
2 binary code transmission format (single angle): AA XX XX CC
AA: Angle Send Header Identifier; XX: Signed Binary Number. 5 degree inclination scale: 6000bit/degree; 15 degree inclination scale: 2000bit/degree; 30 degree inclination scale: 1000bit/degree; 60 degree inclination scale: 500bit/degree.
CC: check code; CC = data byte 1 + data byte 2.
2 Accept the command format definition
The read angle command format is shown in Figure 2. This command is only valid in the answer mode. Each sensor has a fixed ID word (FFFF) and a user ID word (user settable, initial 0000), and both ID words are readable.
Figure 2 read angle command format
Data processing and wireless data transmission circuit design
The wireless data transmission system is an abbreviation of the wireless digital transmission system. The system uses the wireless data transmission module as a platform to realize wireless transmission of digital information between digital terminals without affecting the equipment function. The main task of data processing and wireless data transmission is to receive the data output of the tilt sensor, calculate the angle to be adjusted of each jack relative to the horizontal plane of the vehicle body, and transmit it to the manipulation indicator through the wireless data transmission module.
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