CN102320289A - A kind of car launcher level adjustment system based on obliquity sensor - Google Patents
A kind of car launcher level adjustment system based on obliquity sensor Download PDFInfo
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- CN102320289A CN102320289A CN201110181455A CN201110181455A CN102320289A CN 102320289 A CN102320289 A CN 102320289A CN 201110181455 A CN201110181455 A CN 201110181455A CN 201110181455 A CN201110181455 A CN 201110181455A CN 102320289 A CN102320289 A CN 102320289A
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- oil cylinder
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Abstract
A kind of car launcher level adjustment system based on obliquity sensor
,Comprise Ultronics control system, preceding left branch leg oil cylinder, preceding right support oil cylinder, the right support oil cylinder of back left branch leg oil cylinder and back; In each support oil cylinder cinclides pressure sensor is housed respectively; Also be provided with ECU control system and two-dimentional obliquity sensor; Said ECU control system comprises ECU and PID controller, and said A and D converter is connected with microcomputer through data line, and said microcomputer is through data line and PID controller; Said ECU comprises microcomputer and A and D converter, and said two-dimentional obliquity sensor is installed on the job platform and with A and D converter and is connected.The present invention adopts hydraulic-driven, and the propulsive effort of system is big, and load-carrying capacity is strong, and wide accommodation is easy to operate, realization leveling control that can be quick, stable, accurate, safe.
Description
Technical field
The present invention relates to a kind of car launcher level adjustment system.
Background technology
Now, the leveling system of using in the engineering field mainly contains two big types: manual leveling system and automatic horizontal control system.And automatic horizontal control system can be divided into two big types according to the actuating unit that adopts is different: electromechanical automatic horizontal control system and fluid pressure type automatic horizontal control system.
The manual leveling system mainly adopts range estimation and manual mode to carry out roughly leveling, or adopts other supplementary means to carry out the secondary adjustment, and required time is long, and precision is low, and stability is not high.
The electromechanical automatic horizontal control system adopts the actuating unit of ball screw as leveling more, and is used in combination supporting leg support of compositions such as retarder, photoelectric encoder, servomotor.But because the load-carrying capacity of ball screw is not strong, the propulsive effort of system is less, therefore is not suitable for heavy mobile vehicle, only is applicable to the mobile vehicle that load is lighter.
The fluid pressure type automatic horizontal control system mainly adopts hydraulic ram as actuating unit, promptly adopts hydraulic ram as supporting leg, the speed displacement of hydraulic ram feedback relative complex in the leveling process, the difficult automatic guidance of realizing.
Summary of the invention
The technical matters that the present invention will solve is, provides a kind of efficient high, and precision is high, and is applied widely, is convenient to realize the car launcher level adjustment system of automatically controlled based on obliquity sensor.
The technical solution adopted for the present invention to solve the technical problems is: based on the car launcher level adjustment system of obliquity sensor
,Comprise Ultronics control system, preceding left branch leg oil cylinder, preceding right support oil cylinder, the right support oil cylinder of back left branch leg oil cylinder and back; Said Ultronics control system is connected with preceding left branch leg oil cylinder, preceding right support oil cylinder, back left branch leg oil cylinder and the right support oil cylinder in back through oil circuit respectively; In left branch leg oil cylinder, preceding right support oil cylinder, the right support oil cylinder cinclides of back left branch leg oil cylinder and back pressure sensor I, pressure sensor II, pressure sensor III 1 and pressure sensor IV are housed respectively before said; Also be provided with ECU control system and two-dimentional obliquity sensor; Said ECU control system comprises ECU and PID controller; Said ECU comprises microcomputer and A and D converter, and said A and D converter is connected with microcomputer through data line, and said microcomputer is through data line and PID controller; Said pressure sensor I, pressure sensor II, pressure sensor III, pressure sensor IV are connected with A and D converter through signal wire (SW) respectively; Said two-dimentional obliquity sensor is installed on the car launcher platform, is connected with A and D converter through signal wire (SW), and said PID controller is connected with the Ultronics control system through data line.
The present invention adopts hydraulic-driven, and the propulsive effort of system is big, load-carrying capacity is strong, and wide accommodation is easy to operate, realization leveling control that can be quick, stable, accurate, safe.
Description of drawings
Fig. 1 is that the embodiment of the invention is formed structure diagram;
Fig. 2 is an embodiment of the invention two dimension obliquity sensor principle of work scheme drawing;
Fig. 3 is an embodiment of the invention two dimension obliquity sensor installation site scheme drawing;
Fig. 4 is that embodiment of the invention two dimension obliquity sensor coordinate is provided with scheme drawing;
Fig. 5 is an embodiment of the invention two dimension obliquity sensor axonmetric chart;
Fig. 6 is an embodiment of the invention oil cylinder diff-H computation model scheme drawing.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
With reference to Fig. 1; Present embodiment comprises Ultronics control system 1, preceding left branch leg oil cylinder 7, preceding right support oil cylinder (not shown), the right support oil cylinder (not shown) of back left branch leg oil cylinder 8 and back; Said Ultronics control system 1 is connected with preceding left branch leg oil cylinder 7, preceding right support oil cylinder, back left branch leg oil cylinder 8 and the right support oil cylinder in back through oil circuit respectively; In left branch leg oil cylinder 7, preceding right support oil cylinder, the right support oil cylinder cinclides of back left branch leg oil cylinder 8 and back pressure sensor I 9, pressure sensor II (not shown), pressure sensor III 110 and pressure sensor IV (not shown) are housed respectively before said; Also be provided with ECU control system 2 and two-dimentional obliquity sensor 11; Said ECU control system 2 comprises ECU 3 and PID controller 6; Said ECU 3 comprises microcomputer 5 and A and D converter 4; Said A and D converter 4 is connected with microcomputer 5 through data line; Said microcomputer 5 is through data line and PID controller 6, and said pressure sensor I 9, pressure sensor II, pressure sensor III 10, pressure sensor IV are passed through signal wire (SW) respectively and be connected with A and D converter 4, and said two-dimentional obliquity sensor 11 is installed on the car launcher platform 12; Be connected with A and D converter 4 through signal wire (SW), said PID controller 6 is connected with Ultronics control system 1 through data line.
With reference to Fig. 2, the principle of work of present embodiment two dimension obliquity sensor 11 is:
Be provided with mutually perpendicular X axle and Y axle in the two dimension obliquity sensor 11.When platform 12 planes that two-dimentional obliquity sensor 11 is detected were in horizontality, then mutually perpendicular X axle and Y axle all dropped on the horizontal surface; When the plane that two-dimentional obliquity sensor 11 is detected is in heeling condition; Then mutually perpendicular X axle and Y axle rotate to new balance position with winding meter initial point O; The plane that this moment, X axle and Y axle were constituted still belongs to the plane parallel of platform 12 with two-dimentional obliquity sensor, promptly the flat inclination that constituted of X axle and Y axle is the angle of inclination on platform 12 planes.Two dimension obliquity sensor 11 detects the size of the leaning angle of X axle, Y axle and absolute horizon; Projection line and the angle of X axle of X axle on absolute horizon of two dimension obliquity sensor 11 is called the X shaft inclination, and projection line and the angle of Y axle of the Y axle of two-dimentional obliquity sensor 11 on absolute horizon is called the Y shaft inclination; OA ' and OB ' are the X axle and the projection line of Y axle on absolute horizon of two-dimentional obliquity sensor 8; Plane X OY is an absolute horizon; OA and OB are the X axle and the Y axle of two-dimentional obliquity sensor 11.
With reference to Fig. 3, the X-direction of two-dimentional obliquity sensor 11 is consistent with car launcher platform 12 longitudinal directions, and the Y direction of principal axis is consistent with car launcher platform 12 horizontal directions; F1, F2, R1, R2 point are represented car launcher platform 12 preceding left branch leg oil cylinders 6, preceding right support oil cylinder, back left branch leg oil cylinder 7, the right support oil cylinder center-point in back respectively; W and L represent horizontal support oil cylinder center-point distance and vertical support oil cylinder center-point distance; W1 representes 11 1 jiaos of O of two-dimentional obliquity sensor apart from the distance of preceding left branch leg with the back left branch leg line line of centres, and L1 representes the distance of 11 1 jiaos of O of two-dimentional obliquity sensor apart from preceding left branch leg and preceding right supporting leg line of centers line.
Principle of work:
When car launcher platform 12 was in horizontality, the output dip angle signal of X axle and Y axle was 0 in the two-dimentional obliquity sensor 11, and when car launcher platform 12 is in heeling condition, X axle and Y axle will be exported non-zero signal in the two-dimentional obliquity sensor 11; The level inclination signal of X axle and Y axle is sent to A and D converter 4 through signal wire (SW) in the two dimension obliquity sensor 11; A and D converter 4 passes to microcomputer 5 after converting thereof into digital signal again; Microcomputer 5 calculates cooresponding four support oil cylinder attachment points height difference in vertical direction on the platform 12 according to this digital signal; This height difference is sent to the PID controller through data line; Obtain the required flow sizes values of corresponding each support oil cylinder through PID controller pid correction; This value is sent to Ultronics control system 1 through data line, and Ultronics control system 1 is changed this value and sent each respective leg oil cylinder piston bar after (mentioning in the following content) and stretch out instruction, the level of implementation platform 12.
It is following that said diff-H specifically calculates principle:
With reference to Fig. 4; One jiao of O with two-dimentional obliquity sensor 11 is the origin of coordinates, the A point by the XY axle on the formation plane a bit, A point and Y axle and the interaxle distance of X are respectively X and Y; X and Y are the intersection point point of A point on X axle and Y axle, the diagonal line center-point that A 〞 introduces for ease of calculating.
With reference to Fig. 5, be the origin of coordinates with one jiao of O of two-dimentional obliquity sensor 11, X axle and Y axle are respectively system of axes X axle and Y axle during level, and vertical direction is the Z axle, upwards for just; When car launcher platform 12 was in, from the above, OXAY was a rectangle;
The X shaft inclination is two-dimentional obliquity sensor 11X axle and the X axle angle at the projection line of absolute horizon, promptly
, use
αExpression;
The Y shaft inclination is two-dimentional obliquity sensor 11Y axle and the Y axle angle at the projection line of absolute horizon, promptly
, use
βExpression;
Because of △ XA
/O and △ YB
/O is a right-angled triangle, then has:
ZX=OX×sinα；
ZY=OY×sinβ；
ZX and ZY represent X and the Y coordinate on Z-direction respectively.
Get according to the principle of similitude:
Get by last two formulas: ZX+ZY=ZA+ZO, in the formula, ZO is the Z axial coordinate of the origin of coordinates; ZO=0.
Then have: ZA=ZX+ZY=OX * sin α+OY * sin β
That is: ZA=X * sin α+Y * sin β
In the formula, ZA is an A point Z-direction coordinate.
With reference to Fig. 5, be the origin of coordinates with one jiao of O point of two-dimentional obliquity sensor 11, according to front institute formula derived, can get F1, F2, R1 and R2 are respectively at the Z axial coordinate:
ZF1=-X1×sinα-Y1×sinβ；
ZF2=-X1×sinα+Y2×sinβ；
ZR1=X2×sinα-Y1×sinβ；
ZR2=X2×sinα+Y2×sinβ；
In the formula:
X1=L1；
X2=L-L1；
Y1=W1；
Y2=W-W1。
The pairing Z axial coordinate of center F1 of left branch leg 7 is made as 0 before existing, F1 after the conversion then, and F2, R1 and R2 coordinate are respectively:
ZF1=0；
ZF2
/=ZF2-ZF1；
ZR1
/=ZR1-ZF1；
ZR2
/=ZR2-ZF1。
With reference to Fig. 6, during calculating, suppose platform 12 distortion that is not distorted, when platform 12 was in heeling condition, the POS of each support oil cylinder was in the same plane all the time on the platform 12.
From figure, can know:
，
The center-point F1 of left branch leg oil cylinder 7 then had for calculating benchmark in the past:
；
；
In the formula:
HF2′=ＺF2′；
HR1′=ＺR1′；
HR2′=ＺR2′；
LF2=Ｗ；
LR1=Ｌ；
Concrete control process is following:
When platform 12 horizontal alignments, introduce PID controller 6, each required support oil cylinder height difference of assurance platform 12 levels that 6 pairs of aforementioned calculation of PID controller are come out is carried out pid correction, obtains the required hydraulic fluid flow rate of each respective leg oil cylinder.
Preceding left branch leg oil cylinder 7 required flow: QF1=0;
Before the required flow of right support oil cylinder: QF2 according to preceding right support oil cylinder diff-H △ HF2 value PID after the gained that calculates;
Back left branch leg oil cylinder 8 required flow: QR1 according to back left branch leg oil cylinder diff-H △ HR1 value PID after the gained that calculates;
Back right support oil cylinder required flow: QR2 according to the right support oil cylinder diff-H △ HR2 value PID in back after the gained that calculates;
Its computing formula is:
In the formula: Q
_ _ _ _ _Calculated flow rate (UFU);
Δ H
_ _ _ _ _Oil cylinder diff-H (mm);
A
C _ _ _ _ _Oil cylinder rodless cavity area (mm
2);
T
S _ _ _ _ _Time (ms).
In the aforementioned calculation, former left branch leg oil cylinder 7 is as calculating benchmark, the value QF2 that it calculates, QR1, QR2 possibly be on the occasion of, also possibly be negative value, both possibly be that the oil cylinder piston bar is stretched out in requirement, also possibly be requirement oil cylinder withdrawal piston rod.But the flow instruction of required control support oil cylinder is less relatively, also needs when adding negative value flow is further changed, and is difficult to satisfy the control requirement.Therefore when concrete control, 1 pair of each support oil cylinder instruction of Ultronics control system is changed.After conversion, the instruction that Ultronics control system 1 is sent all is the support oil cylinder piston rod is stretched out or to stop, and not having the withdrawal action.Detailed process is following:
Get Q
Min=min QF1, and QF2, QR1, QR2} if preceding left branch leg oil cylinder 4 attachment points are not nadirs, then has Q
Min<0, otherwise Q
Min>=0.
Pairing instruction is changed to above-mentioned oil cylinder:
QF1'=QF1+|Q
min|；
QF2'=QF2+|Q
min|；
QR1'=QR1+|Q
min|；
QR2'=QR2+|Q
min|；
In theory, after above-mentioned conversion, min{QF1'; QF2', QR1', QR2'}=0; That is to say that the required flow instruction except that 1 support oil cylinder is 0; The required flow instruction of all the other support oil cylinders is all greater than 0, and promptly flow instruction is that 0 support oil cylinder is slack, and all the other support oil cylinder piston rods all stretch out outward.Because the Hydraulic Pump flow of discharging confirms, and the flow instruction summation that aforementioned calculation drew might be greater than/the flow that can provide less than Hydraulic Pump.
For improving control accuracy, should suitably improve flow instruction, make it be in relatively large command status.Existing to the following further processing of assignment of traffic do.
If Q
Pump≤Q
Sum+ Q
Margin, then: Q
Add=0,
Otherwise:
In the formula:
Q
Pump– Hydraulic Pump delivery rate (UFU);
Q
Sum– calculated flow rate instruction summation (UFU);
Q
MarginThe – flow is reserved the border, so that confirm minimum flow rate instruction (64UFU).
Final Hydraulic Pump to the hydraulic flow that each support oil cylinder provides is:
Preceding left branch leg oil cylinder 7 required flow: QAF1=QF1'+QAdd,
Before the required flow of right support oil cylinder: QAF2=QF2'+QAdd,
Back left branch leg oil cylinder 8 required flow: QAR1=QR1'+QAdd,
The required flow of the right support oil cylinder in back: QAR2=QR2'+QAdd.
Claims (1)
1. car launcher level adjustment system based on obliquity sensor
,Comprise Ultronics control system, preceding left branch leg oil cylinder, preceding right support oil cylinder, the right support oil cylinder of back left branch leg oil cylinder and back; Said Ultronics control system is connected with preceding left branch leg oil cylinder, preceding right support oil cylinder, back left branch leg oil cylinder and the right support oil cylinder in back through oil circuit respectively; In left branch leg oil cylinder, preceding right support oil cylinder, the right support oil cylinder cinclides of back left branch leg oil cylinder and back pressure sensor I, pressure sensor II, pressure sensor III 1 and pressure sensor IV are housed respectively before said; It is characterized in that; Also be provided with ECU control system and two-dimentional obliquity sensor; Said ECU control system comprises ECU and PID controller, and said ECU comprises microcomputer and A and D converter, and said A and D converter is connected with microcomputer through data line; Said microcomputer is through data line and PID controller, said pressure sensor
, pressure sensor II, pressure sensor III, pressure sensor IV be connected with A and D converter through signal wire (SW) respectively; Said two-dimentional obliquity sensor is installed on the car launcher platform; Be connected with A and D converter through signal wire (SW), said PID controller is connected with the Ultronics control system through data line.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101814554A CN102320289B (en) | 2011-06-30 | 2011-06-30 | Obliquity-sensor-based horizontal adjustment system of launcher |
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|---|---|---|---|
| CN2011101814554A CN102320289B (en) | 2011-06-30 | 2011-06-30 | Obliquity-sensor-based horizontal adjustment system of launcher |
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| CN102320289A true CN102320289A (en) | 2012-01-18 |
| CN102320289B CN102320289B (en) | 2012-11-21 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320290A (en) * | 2011-07-01 | 2012-01-18 | 陈海波 | Automatic protection system for high inclination of launch vehicle |
| CN103621379A (en) * | 2013-11-20 | 2014-03-12 | 中国矿业大学 | Sprinkler hydraulic supporting leg automatic leveling device and method |
| CN103941751A (en) * | 2014-03-24 | 2014-07-23 | 北京航天发射技术研究所 | Tilt launch attitude angle non-leveling real-time correction method of launching vehicle control system |
| CN106643631A (en) * | 2016-12-12 | 2017-05-10 | 中建三局第建设工程有限责任公司 | High-supported formwork deformation monitoring and early warning method |
| CN110764522A (en) * | 2019-10-30 | 2020-02-07 | 贵州航天特种车有限责任公司 | Leveling control system and method based on inclination angle compensation |
| CN113306530A (en) * | 2021-06-25 | 2021-08-27 | 中铁十一局集团桥梁有限公司 | Method, device and equipment for leveling carrying trolley and readable storage medium |
| CN115014290A (en) * | 2022-06-02 | 2022-09-06 | 吉林大学 | PID algorithm-based self-parallel pressure disc device |
| CN116923333A (en) * | 2023-07-10 | 2023-10-24 | 南京航空航天大学 | Vehicle alignment and leveling method and device under visual guidance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102320290A (en) * | 2011-07-01 | 2012-01-18 | 陈海波 | Automatic protection system for high inclination of launch vehicle |
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| CN103621379A (en) * | 2013-11-20 | 2014-03-12 | 中国矿业大学 | Sprinkler hydraulic supporting leg automatic leveling device and method |
| CN103621379B (en) * | 2013-11-20 | 2015-09-02 | 中国矿业大学 | A kind of irrigation sprinkler hydraulic leg method for automatically leveling |
| CN103941751A (en) * | 2014-03-24 | 2014-07-23 | 北京航天发射技术研究所 | Tilt launch attitude angle non-leveling real-time correction method of launching vehicle control system |
| CN103941751B (en) * | 2014-03-24 | 2017-07-11 | 北京航天发射技术研究所 | Transmitting vehicle control inclines the uncomfortable flat real-time correcting method in firing attitude angle |
| CN106643631A (en) * | 2016-12-12 | 2017-05-10 | 中建三局第建设工程有限责任公司 | High-supported formwork deformation monitoring and early warning method |
| CN110764522A (en) * | 2019-10-30 | 2020-02-07 | 贵州航天特种车有限责任公司 | Leveling control system and method based on inclination angle compensation |
| CN113306530A (en) * | 2021-06-25 | 2021-08-27 | 中铁十一局集团桥梁有限公司 | Method, device and equipment for leveling carrying trolley and readable storage medium |
| CN113306530B (en) * | 2021-06-25 | 2023-04-28 | 中铁十一局集团桥梁有限公司 | Carrier vehicle leveling method, device, equipment and readable storage medium |
| CN115014290A (en) * | 2022-06-02 | 2022-09-06 | 吉林大学 | PID algorithm-based self-parallel pressure disc device |
| CN116923333A (en) * | 2023-07-10 | 2023-10-24 | 南京航空航天大学 | Vehicle alignment and leveling method and device under visual guidance |
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