Research On Modeling And Algorithm Of Missile Launch Vehicle’s Leveling And Erecting System

In order to improve the survivability of the land-based missiles, method of mobile launch is widely used at present, and road mobile launch applied most, in which missile launch vehicles are used to carry and launch missiles. Leveling and erecting of launch vehicle is the key technology of mobile launch, which directly affects the preparation time of launch and the hit precision of the missiles. To improve the speed and accuracy of leveling and erecting of the launch vehicle, the thesis designs the algorithm of leveling and erecting, develops the program based on the Vx Works operating system, and the experiment is carried out.First, the hydraulic system of the launch vehicle is modeled, and the model of the main components including proportional valve, load-sensitive pump and hydraulic cylinder is established, after which the dynamic analysis is carried out. Then the structure of the vehicle is modeled, the load and deformation of the vehicle body and the erectiong machine is studied.Then the algorithm of leveling and erecting is researched. The algorithm of leveling first designs the algorithm of leg touchdown, and then chooses two leveling strategies that are three points by high method and angle error control method to design the algorithm. The algorithm of erecting uses tracking control strategy and plans the time history of inclined angle, the algorithm is designed based on the curve of the plan. Simulink is used to simulate the designed algorithm of leveling and erecting.Fianlly, based on the Vx Works operating system, the algorithm is converted to C language program and tested in the real launch vehicle. First, task mechanism, synchronization and communication of task and time mechanism of the Vx Works operating system are introduced as well as the composition of the test system. Then experiments of algorithm of leveling and erecting are carried out. Fianlly, the test results are compared with the simulation results. The results of simulation and test show that the algorithm can achieve leveling and erecting in a short tiem, and meet the requirements of accuracy.