CN101551673A - Automatic leveling system of multipoint electric support platform - Google Patents
Automatic leveling system of multipoint electric support platform Download PDFInfo
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- CN101551673A CN101551673A CNA2009100587467A CN200910058746A CN101551673A CN 101551673 A CN101551673 A CN 101551673A CN A2009100587467 A CNA2009100587467 A CN A2009100587467A CN 200910058746 A CN200910058746 A CN 200910058746A CN 101551673 A CN101551673 A CN 101551673A
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Abstract
The invention refers to an automatic leveling system of a multipoint electric support platform. The automatic leveling system of a multipoint electric support platform has advantages that the lifting weight is heavy; the stress distributes evenly and is controllable; the electric support performing mechanism touches the ground rapidly and reliably; the repetitiveness of the leveling precision is fine; the precision is high; the system is safe and convenient; the maintenance is convenient; the system information is visible; and the electric wiring is simple. In the system, a CAN bus network is arranged for controlling a leveling servo motor to move; a leveling display and control cabinet forms a control and display centre of the whole system working state, data and system fault codes via the control program software and hard ware drive program software arranged by a central digital controller; the central digital controller and the leveling display and control cabinet connected to the central digital controller together with an intelligent control box form closed loop control which performs mechanism grounding control, location control and gradient control to the support legs of the system leveling platform. The system has fine repetitiveness, stable working, high leveling precision, complete safety protection measures and convenient and reliable establishment and displacement.
Description
Technical field
The present invention relates to a kind of leveling system of multi-point support, especially be applied to the multi-point support platform erection system of the high precision of specific (special) requirements, big load, multiaxis platform, mobile unit.The multipoint electric automatic horizontal control system that the present invention relates in describing, be leveling system, but can think that leveling system that the present invention relates in describing can also be applicable to other various leveling that many other platforms of fulcrum that leveling requires are arranged based on a plurality of multi-point support of mobile unit.As mine excavator, electronic automatic horizontal control systems such as vehicle satellite television receiver, bridge support equipment, medical detection platform, missile truck
Background technology
Many movable equipments are when equipment uses in the prior art, all the installed surface of equipment are had the level requirement usually, and this surface level will provide a detection reference for equipment.Generally can obtain a level reference by three fulcrums adjusting installed surface for skinny device according to 3 axioms of determining a plane.This can realize the adjustment to the plane with 4 leveling systems for the less relatively platform of physical dimension.But it is big or load is very heavy for area, supporting leg surpasses the macrotype platform equipment of the multi-point support more than 6, particularly under the bad situation of device support face rigidity, rely on the manual leveling technology of general time-consuming effort again and be the leveling system of power source, just be difficult to obtain level reference by said method with hydraulic pressure.The factor affecting such as landform, geologic structure that certain slope is particularly always arranged, require platform under the situation of any inclination angle, all the time keep level with surface level, must support under huge equipment and the heavy load condition by a plurality of fulcrums, by the eye-level instrument, with manually going each fulcrum of lifting to make its level, the difficulty of its leveling is conspicuous.With hydraulic pressure is the leveling system of power source, owing to exist the empty leg in plane that intercouples, is coupled between the axle many in the multiaxis leveling system, there all have the plane to transfer usually to be uneven, the problem of horizontal stable degree difference.At present domestic ripe in electromechanical three point self-adapted leveling technology.The dynamo-electric leveling system of the platform of the multi-point support of electrical wiring complexity, the report of existing a few isolated words and phrases.Wherein, Chinese patent application number is 200720032740.9 to disclose the utility model patent that a kind of name is called " the automatic levelling control system of locomotive crane supporting leg ".This system forms by oil pressure pump, RC controller, level angle sensor, proportion magnetic valve, support oil cylinder, support oil cylinder displacement transducer that the CAN bus connects.The level angle sensor is exported to the RC controller with detection signal and is amplified and direction determining, open corresponding proportion magnetic valve by driving circuit, allow landing leg hydraulic cylinder move, the support oil cylinder displacement transducer will detect the spool position signal feedback to RC controller input end, realize the automatic leveling of supporting leg.Above-mentioned hydraulic leveling system patent weak point is:
1 in the world, because the external leakage and the internal leakage of hydraulic system also there are not under the solution situation so far, still there is long-time stability difference problem in this system.
Higher to environmental requirement during the maintenance of 2 its hydraulic systems that adopted, the pollution that fluid brings causes the obstruction of solenoid valve easily, makes the system can't operate as normal.
The RC controller that 3 these systems use is a kind of non intelligent controller, does not carry out safety and Protection, and this is that the defective that jeopardizes personnel, device security is arranged to a mechanical-electrical-hydraulic integration system.
4 when the multiple spot leveling, this system only depends on the level angle sensor that detection signal is exported to the RC controller to amplify and direction determining, open corresponding proportion magnetic valve by driving circuit, in the leveling process, because the pressure of each point is inconsistent in the fluid pressure line, and empty leg phenomenon easily takes place.When the stressed variation of body structure is unreasonable, can cause in the equipment car leveling process and slowly move, cause the vehicle body distortion easily, damage equipment.
Summary of the invention
The objective of the invention is weak point at above-mentioned prior art existence, provide a kind of lifting weight big, be convenient to safeguard, stressed adjustable, the supporting leg of being evenly distributed contacts to earth fast and reliable, leveling precision good reproducibility, precision height, safety and convenient, be convenient to safeguard, visual, the simple multipoint electric automatic horizontal control system of electrical wiring of system information.
Purpose of the present invention can obtain by following measure.A kind of automatic horizontal control system of multipoint electric support platform, mainly comprise, the central numeral controller, servo-driver, the electric operator of band position and torque sensor, digital gradienter, intelligence controls box and leveling shows the control cabinet, it is characterized in that: this system is provided with the servomotor of CAN bus network control leveling, leveling shows the control program software and hardware driver software that control cabinet (1) is provided with by central numeral controller (3), form the total system duty, data, the control display centre of system failure code, the coupled leveling of central numeral controller (3) shows control cabinet (1) and intelligence is controlled box (2) together, composition is to the control of contacting to earth of leveling platform legs topworks of system, position control, and the closed-loop control of degree of tilt control, the signal that position that central numeral controller (3) links to each other with electric operator (7) consubstantiality according to digital gradienter (6) and torque sensor are fed back, by the computing of the synchronous intellectual leveling algorithm of multiple spot, provide control signal by the leveling system control program to servo-driver (5), the order that AC servo driver (5) is sent according to central numeral controller (3) drives the motor of each electric operator (7).
The present invention has following beneficial effect than prior art.
The present invention is based on and carry car (platform) electric operator in the course of the work; the multipoint electric automatic horizontal control system that can keep level automatically; with the AC servo control system is core, by moment detection and position transducer and core controller in conjunction with finishing the protection of system motion abnormal motion.The AC servo mode that system drive adopts has complete speed synchronization, combines with synchronous intellectual leveling algorithm and can obtain level and smooth leveling process and accurate leveling result.
With higher level lanquage establishment leveling system control program and hardware drive program, realized that the digitizing of controller and servo-driver mechanism inserts.
The synchronous intellectual leveling algorithm of multiple spot is considered X and the two-way horizontal tilt degree of Y-axis on the leveling algorithm as a whole object, adjust simultaneously, simultaneously convergence.Solved the drawback of " attending to one thing and lose sight of another " in traditional leveling algorithm.Make the speed of vehicle body (platform) leveling accelerate greatly, especially be suitable for the leveling requirement that existence intercouples between the multiaxis.This kind leveling algorithm is tending towards rationally the structure stress variation of vehicle body, can not cause vehicle body (platform) position slowly moving and device damage in the leveling process.
Central numeral controller and many message digits show the control screen is formed system-wide duty, data, system failure code by software setting display centre; Simultaneously can finish the setting of user by the operation of touch screen interface to running parameter.Duty.
All adopted the closed loop control method of controlling thought based on PID for the control of contacting to earth of carrying car or platform, position control and degree of tilt control in the leveling system, it has relatively large insensitivity to the model parameter of different sensors and performance element.And realized that with the mathematical operation of minimum and debugging cost the quick convergence control of aim parameter deviation, moment detect and the position sensing abnormity protection function.
Show the overall monitor device that the control screen has constituted movable information by PCC or PLC controller, electric operator and driver, digital gradienter, man-machine interface touch LCD.The real-time digital that can show elevating movement state, the spacing state of each electric operator, contact to earth state and fault alarm state, force-bearing situation in real time shows.Can also pass through software setting, finish the demonstration of working state of system and data, system failure code.By to showing the operation of control screen, finish the setting of user to running parameter.Using intelligence to control box finishes and controls the multipoint electric automatic horizontal control system is wired.Adopt the signal transmission of CAN bus network control total system and the motion of leveling servomotor, the data transfer of sensor has been broken away from traditional signal wire connected mode, has simplified electrical wiring widely, has improved the reliability and the maintenanceability of system.The central signal control device can be at a high speed, motion is controlled to electric operator accurately, and it is comprehensively concrete more to servo-driver unit real-time status information monitoring, and can be at a high speed, accurately to electric operator motion control, the system information real-time status monitoring, finish the leveling of multiple spot automatic electric.
In the leveling system of many fulcrums, the stressed uniform regulation and control of each electric operator, the electric operator fast and reliable of contacting to earth, and after leveling, can under the prerequisite that guarantees levelness, can repeat repeatedly to carry out leveling.Leveling highly has fabulous repeatability.By the stroke that computed in software goes out the protection of electric operator limit travel, electric operator limit load are protected, the servo-driver alarm and protection makes it have stronger overload capacity.When electric operator moves to maximumly when spacing, the motor overload stall of short time still can not cause structural failure.
The ac digital servo-driver has complete speed synchronization, and moment detects and abnormity protection function, can fully realize the driving detection technique requirement of native system to electronic support.The electric operator of high transmission accuracy is the carrying of total system, adjustment makes system's perfection be achieved the high level of accuracy face reposefully.
The present invention adopts the control of CAN bus network and data transfer, system's installation and maintenance and with at a high speed, accurately motor movement is controlled, system information is carried out condition monitoring in real time.Having overcome time-consuming effort again of conventional manual formula multiple spot leveling mode and hydraulic pressure is the shortcoming of the leveling system horizontal stable degree difference of power source.Solved between multiaxis, the multipoint electric leveling system axle intercouple, injustice, empty leg are transferred in the plane, set up problem such as overlong time.Guaranteed the security of Large-Scale Equipment when leveling.Can satisfy and carry the request for utilization of vehicle device the multipoint electric automatic horizontal control system.
Through many of this projects (station) test determination, this system's good reproducibility, working stability, leveling precision height, safety precautions is perfect, set up that to remove the debit just reliable, can satisfy and carry the request for utilization of car (platform) equipment to the multipoint electric automatic horizontal control system.The test determination result is as shown in table 1.
The electronic automatic horizontal control system test record of table 1 year car
| Sequence number | Content | Test value/specified | Test result | |
| 1 | Static test | Normally | Normally | |
| 2 | Dynamic test | Normally | Normally | |
| 3 | The leveling precision | ≤1.5′ | 53″ | |
| 4 | The leveling time | ≤8min | 2.5 |
|
| 5 | Automatic levelling function | Normally | Normally | |
| 6 | The neat function that rises | Normally | Normally | |
| 7 | Function is fallen together | Normally | Normally | |
| 8 | Independent elevating function | Normally | Normally | |
| 9 | Mechanism's AutoLock feature | Normally | Normally | |
| 10 | Possesses the hand-operated lifting function | Normally | Normally | |
| 11 | The self-locking of system cut-off mechanism | Normally | Normally | |
| 12 | The stroke protection is crossed by mechanism | Normally | Normally | |
| 13 | The fault Presentation Function | Normally | Normally |
Because it is comparable that the present invention and similar electromechanical and fluid pressure type leveling system do not have greater than the system more than 6 o'clock, the present invention only compares with existing leveling system, and its comparative result is as shown in table 2.
Table 2
| 3 leveling systems | 4 leveling systems | The multiple spot automatic horizontal control system | 4 leveling systems of fluid | |
| Precision | ||||
| 1′ | 1.2′ | 1′ | 1.2′ | |
| The building and withdrawing time | Short | Longer | Short | Longer |
| Stability | Good | Good | Good | Difference |
| Have or not empty leg | Do not have | Have | Do not have | Have |
| Overload protection function | Better | Better | Good | Better |
Description of drawings
Further specify the present invention below in conjunction with drawings and Examples.
Accompanying drawing 1 is that multiple spot automatic electric leveling system of the present invention is formed structural representation.
Accompanying drawing 2 is leveling system control program software principle block diagrams of the present invention.
Accompanying drawing 3 is signal cable connection diagrams of system of the present invention.
Among Fig. 1: 1 leveling shows the control cabinet, and 2 intelligence are controlled box, 3 central numeral controllers, 5 servo-drivers, 6 digital gradienter, 7 electric operators, 8 workbenches.
Embodiment
Consult Fig. 1, the automatic horizontal control system of some electric support platform mainly comprises, is the dot matrix electric operator 7 of geometric distributions in bottom, workbench 8 plane arbitrarily according to the position of other interferences of car or platform; Be positioned on workbench 8 planes, in order to real-time detection leveling and monitor workbench 8 or the digital gradienter 6 of body distortion situation; The central numeral controller of forming by programmable calculator PCC controller or PLC control program and hardware driver software 3; Can the real-time monitoring system information state and finish the setting of user to running parameter, and display working condition, levelness, supporting leg stretch out information such as height, supporting leg carrying, system failure code, and have the apparent cabinet of controlling of leveling of touch screen interface operation; Topworks is sent the intelligence of certain motor message and control box 2.Drive.Motor message according to central numeral controller 3 sends drives the servo-driver 5 that topworks moves.It is master controller that central numeral controller 3 adopts the PCC controller, and it is that core shows the control unit that the apparent control of leveling cabinet 1 can adopt Power Panel, and servo-driver 5 can adopt the ECS ac digital servo-driver of Lenze company.
Leveling shows control cabinet 1 is formed total system duty, data, system failure code by the software of central numeral controller 3 settings display centre.Central numeral controller 3 shows control cabinet 1 with the leveling that links to each other and intelligence is controlled box 2, the supporting leg topworks that system the is connected platform control of contacting to earth.Controlling order and can controlling box 2 by intelligence and assign of central numeral controller 3 finished and controlled the multipoint electric automatic horizontal control system is wired.Connect lifting, the leveling campaign that the electric operator 7 of central numeral controllers 3 is being undertaken whole locomotive body or platform by servo-driver 5.
Intelligence is controlled box 2 is controlled order for operating personnel assign device.It is interactive platform that leveling shows control cabinet 1, for the user provides working state of system and data, failure message; Simultaneously can finish the setting of user by the operation of touch screen interface to running parameter.Leveling shows control cabinet 1 by software setting, finishes the demonstration of working state of system and data, system failure code.The digital gradienter 6 that links to each other with central numeral controller 3 is to provide high-precision horizontal data device for system.Central numeral controller 3 detects the signal that is fed back according to position and the torque sensor that digital gradienter 5 links to each other with electric operator 7 consubstantialities, by the computing of the synchronous intellectual leveling algorithm of multiple spot.The leveling system control program provides the control signal to ac digital servo-driver 5.AC servo driver 5 is according to the order of central numeral controller 3, and the motor of high transmission accuracy electric operator 7 is driven.The core of the apparent control of leveling cabinet 1 shows the display centre that the software that passes through 3 settings of central numeral controller in the control unit is formed total system duty, data, system failure code, the information state of real-time monitoring system.Simultaneously can finish the setting of user by the operation of touch screen interface to running parameter.Have levelness in duty, the data presentation, electric operator stretches out height, electric operator carrying, system failure code etc.; The stretching speed that has electric operator 7 in being provided with of running parameter is set, electric operator 7 demarcation of load or the like of contacting to earth.
Central numeral controller 3 is made up of programmable computer controller PCC and control program software and hardware driver software, and the servomotor by CAN bus network control leveling electric operator 7, at a high speed, accurately motor movement is controlled.The serial line interface of central numeral controller 3 configuration standards is connected intelligence and controls box 2 and the apparent control of leveling cabinet 1 with special-purpose lan interfaces.
Central numeral controller 3 shows control cabinet 1 core apparent control unit with the leveling that links to each other and intelligence is controlled box, composition is striden the closed-loop control that CPU transplants, software debugging follows the tracks of and control that the electric operator that is connected platform is contacted to earth, position control and degree of tilt are controlled to system's real-time multi-task management.Intelligence is controlled between box 2 and the central numeral controller 3 and is connected with cable 4.Control order and also can control box 2 and assign, finish and control the multipoint electric automatic horizontal control system is wired by intelligence.1 to n electric operator 7 connects platform or carries the chassis crossbeam by the flange installed surface, and the sensor that is attached thereto respectively, driver connect central numeral controller 3.Lifting, leveling campaign that the electric operator 7 that connects with central numeral controller 3 is being undertaken whole locomotive body or platform.
Central numeral controller 3 and digital gradienter 6 connect to form the horizontal signal feedback channel, and the planar horizontal signal that feeds back carried out the synchronous intellectual leveling algorithm of multiple spot by central numeral controller 1 software program, model parameter to different sensors and electric operator unit performs mathematical calculations, and realizes the quick convergence control of aim parameter deviation.
Central numeral controller 3 and intelligence are controlled box 2 composition orders and are controlled passage.Intelligence is controlled box 2 and is sent and control instruction central numeral controller 3 and start the corresponding software module of its inside according to its order, and topworks is sent certain motor message.The alleged intelligent actuation means of present embodiment is that intelligence is controlled box.
Central numeral controller 3 and ac digital servo-driver 5 have been formed motion and have been driven passage, central numeral controller 3 sends corresponding motor message according to the actual conditions of other passage to each driver, and digit driver drives electric operator 7 according to this signal and moves accordingly.
Central numeral controller 3 is formed position, force feedback passage with the sensor of each electric operator 7.Central numeral controller 3 is according to the motion orientation of this electric operator 7 of this signal deciding.And the installation site of the high transmission accuracy electric operator 7 of every bit can be geometric distributions arbitrarily according to the position of other interferences of car or platform.
Multipoint electric topworks 7 arranges arbitrarily in the plane of required adjustment.Each electric operator 7 is in the plane of required adjustment, and is uniform or not uniform.Electric operator flange installed surface is connected with bolt with year car or platform, and has leveling switch board 1 driving cable, signal cable, sensor cable to be connected with it.System changes functional blocks as the case may be can finish the automatic leveling of multipoint electric.
When certain servo-driver 5 is reported to the police tripping operation because of certain reason triggers; this electric operator 7 can't move by instruction speed; the accident of workbench 8 attitudes changes in order to avoid in this case; native system is avoided the damage of platform and equipment to having made the security safeguard measure of the motion that stops all motors under this fortuitous event.
Consult Fig. 2.The present invention is by the multiple spot automatic electric leveling system control program and the hardware drive program application software of structuring, modular design method design, comprise single electric operator ascending, descending motion control program, topworks's motion state display routine, systematic parameter access/setting program, the neat ascending, descending motion control program of electric operator, topworks's motion driver, automatic leveling motion control program, the levelness display routine, the level meter data acquisition program, the fault display routine, a plurality of relatively independent task modules of fault detection program.According to the interface specification of strict difinition, transmit information mutually between each task module.Can guarantee effectively when system device or operation require change, all will be local, concentrated and single to the influence of Control Software.
The task of each program module is respectively:
The keyboard instruction delivery module: the task of this module is used to handle the key controlling command of manual control box and lighting/extinguish/indication of glimmering of LED.
Systematic parameter access/setting program module: the prestore running parameter of this system of this module, and be the different requirements of adaptive system work, under the prerequisite of not doing to change at target software, system operational parameters is configured, this system operational parameters can be by Automation Studio online modification when debugging, and the terminal device and the software of CAN mouth are revised setting.
The neat ascending, descending motion control program of electric operator module, single electric operator ascending, descending motion control program module: these two modules are according to information that the systematic parameter access/the setting program module is sent here, different recalls information is passed to topworks's driver module, and can monitor the duty of electric operator part.
Automatic leveling motion control program module: the main task of this module is the level meter data of sending here according to horizontal data capture program module, according to the computing of synchronous intellectual leveling algorithm, makes each supporting leg motion Command Control Order.
Level meter data acquisition program module: this module controls bottom communication driver obtains the X and the Y-axis inclination data of the digital gradienter of certain address number by the RS-422 bus.
Levelness display routine module: this module is carried out the data of level meter data acquisition program module levelness in real time by the conversion of this module and is shown on the apparent control screen of information data.
The fault detection program module: the fault detection program module is monitored system-wide ruuning situation.
Fault display routine module: this module is carried out the information of fault detection program module fault in real time by the conversion of this module and is shown on the apparent control screen of information data.
The establishment of this system software is that coupling system work is carried out, its information flow is as follows: when the keyboard instruction delivery module receives after intelligence controls the control command of box, handle the intelligent key controlling command of controlling box 2 and give automatic leveling motion control program module, and send lighting/extinguish/indication of glimmering of LED according to order with it.
Automatically after leveling motion control program module is received the information of keyboard instruction delivery module transmission, after different information via computings, look into according to different results and to get the parameter that letter that systematic parameter access/setting program module stores is answered, send the neat ascending, descending motion control program of electric operator module, single electric operator ascending, descending motion control program module.The neat ascending, descending motion control program of electric operator module, single leg ascending, descending motion control program module are passed to topworks's driver with different recalls information, and monitor the duty of electric operator.Electric operator motion driver module just sends the corresponding instruction drive signal to electric operator after receiving information.Simultaneously its mechanism kinematic feedback signal of also electric operator motion driver module being received is sent electric operator motion driving condition display routine module, and this movable information shows by after this resume module fault being shown the control screen in information data.
The fault detection program module is monitored system-wide ruuning situation, in real time failure message is sent fault display routine module, carries out fault in real time on the apparent control screen of information data by the conversion of this module and shows.
Consult Fig. 3.The signal cable design of native system embodiment as main control unit, is finished the various signal transfer functions of system with the PCC controller by four communication ports connection remote control computers, digital gradienter 6, the apparent control of cores unit, servo-driver 5.The signal transmission tasks of each interface of PCC controller is as follows:
Each interface of PCC controller is associated with remote control computer by the RS232 bus respectively, accepts the steering order and the parameter setting of remote control computer and reports designated parameter; Be associated with leveling and show the apparent control of the core unit of controlling in the cabinet 1, accept the steering order and the parameter setting of PCC controller, functions such as information demonstration; Link by RS422 bus and digital gradienter, read major-minor horizon sensor horizontal information in the mode of question and answer.Link by high-speed CAN bus and each servo controller, control each electric operator 7 various motion in real time, read electric operator 7 sensing datas and motion state data.
Claims (11)
1. the automatic horizontal control system of a multipoint electric support platform, mainly comprise, the central numeral controller, servo-driver, the electric operator of band position and torque sensor, digital gradienter, intelligence controls box and leveling shows the control cabinet, it is characterized in that: this system is provided with the servomotor of CAN bus network control leveling, leveling shows the control program software and hardware driver software that control cabinet (1) is provided with by central numeral controller (3), form the total system duty, data, the control display centre of system failure code, the coupled leveling of central numeral controller (3) shows control cabinet (1) and intelligence is controlled box (2) together, composition is to the control of contacting to earth of leveling platform legs topworks of system, position control, and the closed-loop control of degree of tilt control, the signal that position that central numeral controller (3) links to each other with electric operator (7) consubstantiality according to digital gradienter (6) and torque sensor are fed back, by the synchronous intellectual leveling computing of multiple spot, provide control signal by the leveling system control program to servo-driver (5), the order that AC servo driver (5) is sent according to central numeral controller (3) drives the motor of each electric operator (7).
2. the automatic horizontal control system of multipoint electric support platform as claimed in claim 1, it is characterized in that, central numeral controller (3) and digital gradienter (5) connect to form the horizontal signal feedback channel, and the control program software program that the planar horizontal signal that feeds back contains by central numeral controller (3) carried out the synchronous intellectual leveling computing of multiple spot, the model parameter of different sensors and actuator unit is performed mathematical calculations realize the quick convergence control of aim parameter deviation.
3. the automatic horizontal control system of multipoint electric support platform as claimed in claim 1, it is characterized in that, central numeral controller (3) and intelligence are controlled box (2) and are connected to form order and control passage, intelligence is controlled box (2) and is sent and control instruction, central numeral controller (3) sends relevant motor message according to the corresponding software module of its its inside of order startup to the electric operator (7) that connects by corresponding servo-driver (5).
4. the automatic horizontal control system of multipoint electric support platform as claimed in claim 1, it is characterized in that, central numeral controller (3) and servo-driver (5) connect to form motion and drive passage, the central numeral controller sends corresponding motor message according to the actual conditions of other passage to each servo-driver (5), and driver drives electric operator (7) according to this signal and moves accordingly.
5. the automatic horizontal control system of multipoint electric support platform as claimed in claim 1, it is characterized in that, central numeral controller (3) sensor continuous with being connected each electric operator (7) formed position, moment feedback channel, and central numeral controller (3) determines the motion orientation of electric operator (7) according to the motor message from signal servo-driver (5).
6. the automatic horizontal control system of multipoint electric support platform as claimed in claim 1, it is characterized in that, central numeral controller (3) is according to the feedback signal of the digital gradienter (6) that links to each other, and the intellectual leveling computing of application of synchronized provides the required amount of exercise of each topworks.
7. the automatic horizontal control system of multipoint electric support platform as claimed in claim 1 is characterized in that, intelligence is controlled wired each electric operator (7) of controlling of box and adjusted.
8. the automatic horizontal control system of multipoint electric support platform as claimed in claim 1, it is characterized in that, control program software and hardware driver software, comprise, systematic parameter access/setting program module, be applied to system operational parameters is configured, when debugging, pass through Automation Studio online modification; Electric operator ascending, descending motion control program module, single electric operator ascending, descending motion control program module, above-mentioned two modules are according to information that the systematic parameter access/the setting program module is sent here, different recalls information is passed to topworks's driver module, and monitor the duty of electric operator part; Automatic leveling motion control program module, the main task of this module is the level meter data of sending here according to horizontal data capture program module, according to the computing of synchronous intellectual leveling algorithm, makes each supporting leg motion Command Control Order; Level meter data acquisition program module, this module controls bottom communication driver by the RS-422 bus, obtains the X and the Y-axis inclination data of the digital gradienter of certain address number; Levelness display routine module, this module are carried out the data of level meter data acquisition program module levelness in real time by the conversion of this module and are shown on the apparent control screen of information data; The fault detection program module is used for system-wide ruuning situation is monitored; Fault display routine module, this module are carried out the information of fault detection program module fault in real time by the conversion of this module and are shown on the apparent control screen of information data; According to the interface specification of strict difinition, transmit information mutually between above-mentioned each task module.
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| CN102053624A (en) * | 2010-12-15 | 2011-05-11 | 安徽博微长安电子有限公司 | Leveling method based on four-point support and electromechanical automatic leveling system |
| CN102535317A (en) * | 2012-01-06 | 2012-07-04 | 北京市路兴公路新技术有限公司 | Rapid testing device for pavement deflection |
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| CN102929295A (en) * | 2012-11-08 | 2013-02-13 | 中国地质大学（武汉） | Automatic leveling control device based on single chip microcomputer (SCM) |
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2009
- 2009-03-30 CN CN2009100587467A patent/CN101551673B/en not_active Expired - Fee Related
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| CN107915168A (en) * | 2017-11-24 | 2018-04-17 | 广东浩翔机械制造有限公司 | The lifting gear and its installation method of the interchangeable coaxial automatic fine tuning of type |
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| CN109357136A (en) * | 2018-11-30 | 2019-02-19 | 中国人民解放军火箭军工程大学 | A kind of automatic leveling signal receiver tripod deployment system and implementation method |
| CN109696927A (en) * | 2019-03-05 | 2019-04-30 | 湖南鸿辉科技有限公司 | A kind of marine worker hoistable platform automatic horizontal control system and method |
| CN109696927B (en) * | 2019-03-05 | 2023-11-24 | 湖南鸿辉科技有限公司 | Automatic leveling system and method for maritime work lifting platform |
| CN110030981A (en) * | 2019-03-11 | 2019-07-19 | 中国科学院西安光学精密机械研究所 | A kind of vehicular platform and its automatic stabilisation method for supporting based on torque motor |
| CN110030981B (en) * | 2019-03-11 | 2020-07-31 | 中国科学院西安光学精密机械研究所 | Vehicle-mounted platform based on torque motor and automatic stable supporting method thereof |
| CN110375923A (en) * | 2019-08-19 | 2019-10-25 | 成都零启自动化控制技术有限公司 | A kind of automatic horizontal control system and method |
| CN111221356A (en) * | 2020-04-21 | 2020-06-02 | 贵州航天天马机电科技有限公司 | Automatic monitoring and adjusting device and method for levelness of transfer erecting rack |
| CN113325763A (en) * | 2021-05-26 | 2021-08-31 | 湖北三江航天万峰科技发展有限公司 | Rocket automatic straightening device based on CAN bus control |
| CN113899246A (en) * | 2021-07-30 | 2022-01-07 | 重庆零壹空间科技集团有限公司 | Ten-point leveling method of rocket launching platform and control system thereof |
| CN114488916A (en) * | 2022-04-14 | 2022-05-13 | 常州市凯迪电器股份有限公司 | Electric lifting table control method based on integrated table push and CAN bus communication |
| CN117006383A (en) * | 2023-07-10 | 2023-11-07 | 中国人民解放军海军工程大学 | Low-power-consumption distributed intelligent rigid supporting system for leveling uniform load of large-scale equipment |
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