Research On Automatic Erection And Withdrawal And Electro-hydraulic Control System Of The Military Radar

Modern warfare requires increasingly high ground radar equipment.In addition to meeting some conventional performances such as anti-jamming capability,the importance of its maneuverability is increasingly emphasized.At present,highly mobile radars mostly use locomotives as their transport carriers.Vehicle-borne radars are easily transported,can adapt to different war environments,and have obvious advantages in field operations.When the vehicle-born radar is withdrawn from the previous position,it is necessary to complete a series of erection/withdrawal actions when transferring to the next position.To do this,it is necessary to design an automatic erection/ withdrawal electro-hydraulic control system with high degree of automation and high reliability.Among them,the automatic leveling system and the antenna lift system are the two most important functional subsystems.The leveling operation is the basis for subsequent antenna erection and other operations,research shows that vehicle radar leveling time accounts for more than one-third of total system setup time,therefore,shortening the leveling time and increasing the leveling accuracy has become an important means for improving radar maneuverability.The stability and rapidity of the antenna erection process are also one of the important factors affecting the mobility of the vehicle-born radar,choosing a reasonable antenna lifting scheme and optimizing the lifting system structure design can significantly improve the working performance and mobility of the onboard radar system.Taking a certain type of military radar vehicle as the research object,deeply analyzes the research achievements and status of the leveling system and lifting system at home and abroad,and draws the research background and significance of the subject.Designed an overall technical plan for the automatic erection/withdrawal system of the radar vehicle,mainly including the design and implementation of leveling systems and lifting systems.The working principle of the hydraulic system and the working flow of the whole vehicle were introduced.The radar vehicle automatic control system was designed and developed based on the CAN bus for the field communication protocol.The system uses the programmable valve controller PLVC+ touch screen control structure.Doing a research on automatic leveling control system,first of all,takes the static analysis of vehicle platform,leads to several leveling control methods,and analysis and comparison.Aiming at the requirements of rapidity and high precision of vehicle-borne automatic leveling device,a leveling control strategy combining angle error control leveling method and chase highest point leveling method was proposed.In addition,the integral detached PID control was introduced on the basis of traditional PID control.Doing a research on antenna lifting synchronous control system,including multi-stage lifting cylinder design calculation and strength check,established a mathematical model of lifting hydraulic system,and analyzed the factors affecting the output displacement characteristics of lifting cylinders.A variety of synchronous control methods are studied and compared.For the multi-stage oil cylinder synchronous control system,there are nonlinear factors such as strong impact,strong coupling and time-varying parameters.The cross-coupling synchronous control strategy is used to design the synchronous controller structure.To implement specific control strategies and control algorithms for system software development and programming.Including the development of the main controller PLVC program,the composition of the system software and the function of each function module are introduced,and the interface program of the touch screen of the handheld terminal is designed at the same time.Finally,the system is respectively conducted auto-leveling test and antenna synchronous lifting test.The test results show that the system can efficiently complete each erection/withdrawal action.The adopted control strategy and control algorithm have good control accuracy and anti-jamming capability.The leveling accuracy is within 0.04 °,the automatic leveling time does not exceed 30 s,the synchronization accuracy is within 5 mm,and the stability of the antenna lifting process is great.