Research On Multi-point Leveling System Of Rocket Based On Inclination And Load

The main function of the rocket multi-point leveling system is to adjust the tilt angle of the rocket body and the load of each supporting arm,which can meet the rocket launch attitude requirement,and to ensure the reliable support for the rocket body by the supporting arms.At present,the function of adjusting the rocket inclination automatically can be realized by the existing leveling system.However,the load adjustment of each arm mainly depends on manual experience,thus the leveling efficiency and reliability are relatively low.In order to solve the problem,a new type of 12-point leveling system for large launch vehicle is taken as the research object.In this paper,the characteristics of the leveling system are analyzed and the control strategies of inclination adjustment and load adjustment for multi-point leveling are studied.The specific work is as follows:(1)The source and significance of the project is expatiated,the present research status of rocket inclination adjustment method,leveling technology in related fields and synchronous control strategy are summarized.Moreover,the structure and principle of multi-point leveling system are explained.In addition,the main research contents of this paper are put forward.(2)The composition and working principle of 12-point leveling system are analyzed,the transfer function model concerning the leveling system is founded,and the static and dynamic characteristics of the system are analyzed by means of Bode diagram and Simulink modeling,etc.Moreover,the main factors affecting the synchronization error of the arm are put forward.(3)Due to the particularity of rocket connecting mechanism and the hyperstatic 12-point supporting structure,the dynamic model of rocket body and arm is established.The variation of load with displacement for each arm is studied by comparison of simulation and experiment.(4)The load auto-adjustment method based on deviation compensation is presented,the mechatronics-hydraulics-integrated model of multi-point leveling system is established,and the effectiveness of load auto-adjustment strategy is verified by the simulation.The control method of arms displacement synchronization is optimized by fuzzy PID algorithm,by which the response time is shortened and the synchronization error is reduced.A dual-objective control scheme of inclination and load is proposed to enable load auto-adjustment of arms during leveling or synchronized lifting action.In this paper,comprehensive research concerning the rocket multi-point leveling system is carry out,the dual-objective control stragegy of inclination and load is proposed and multi-disciplinary simulation is conducted.The method can improve the efficiency of rocket leveling and simplify the operation.The research of this study provides a theoretical foundation and technical approach for the performance improvement of the existing multi-point leveling system and the development of subsequent large-scale heavy-load leveling system.