CN103950433A - Leveling control system and leveling control method of vehicle-mounted platform - Google Patents

Abstract

The invention discloses a leveling control system and a leveling control method of a vehicle-mounted platform. The system comprises a leveling controller M, the vehicle-mounted platform T, a first supporting leg driving mechanism A1, a second supporting leg driving mechanism A2, a third supporting leg driving mechanism A3, a fourth supporting leg driving mechanism A4, a first leveling supporting leg B1, a second leveling supporting leg B2, a third leveling supporting leg B3, a fourth leveling supporting leg B4, a first supporting leg pressure sensor D1, a second supporting leg pressure sensor D2, a third supporting leg pressure sensor D3, a fourth supporting leg pressure sensor D4, a first supporting leg displacement sensor C1, a second supporting leg displacement sensor C2, a third supporting leg displacement sensor C3, a fourth supporting leg displacement sensor C4 and a biaxial level sensor. According to the quick leveling control system based on the four-supporting-leg vehicle-mounted platform T, provided by the invention, data of the biaxial level sensor is not needed to be monitored in real time, adverse impact to a leveling process due to data bouncing of a level gauge can be avoided, and meanwhile, coupling of an X axis and a Y axis of the biaxial level sensor can be realized.

Description

A kind of levelling control system for vehicle-borne platform and method

Technical field

The present invention relates to a kind of electric control system and method, particularly relate to a kind of levelling control system about platform and method.Background technology

Many military and civilian mobile units all need a high levelling bench accurately, such as feedway, trailer-mounted radar, vehicle-carried microwave detector etc., when these mobile units arrive behind appointed place, just must regulate the levelness of platform, ready for life's work, the leveling process of platform is the process that the plane at platform place is overlapped with horizontal surface gradually.

In levelling control system, conventionally adopt Real-Time Monitoring horizon sensor data to regulate supporting leg extension elongation in the past, and then regulated the method for vehicular platform levelness.This kind of Method And Principle is simple, but the problem of bringing is that the horizon sensor data that caused by action starting and stopping, acceleration and deceleration in leveling flow process are beated and easily formed interference to controlling, and easily produce overshoot, cause vibration, extend the leveling time.The parallel institution that structurally belongs in addition a kind of space due to vehicular platform T and its four supporting legs, the action of each supporting leg can affect X-axis and the Y-axis of horizon sensor simultaneously, and this coupling brings difficulty to leveling control.

Therefore need a kind of leveling disturb little, reliability is high, leveling efficiency is high and can overcome the novel leveling system of horizontal X axle and Y-axis coupling.

Summary of the invention

The object of this invention is to provide a kind of levelling control system for vehicle-borne platform and method, for solving the problems of the technologies described above.

Another object of the present invention is to provide a kind of method of utilizing above-mentioned control system to carry out leveling, for solving the technical matters of vehicular platform leveling difficulty.

A kind of levelling control system for vehicle-borne platform and method, comprise and it is characterized in that, comprise leveling controller, vehicular platform, the first supporting leg driver train, the second supporting leg driver train, the 3rd supporting leg driver train, the 4th supporting leg driver train, the first leveling supporting legs, the second leveling supporting legs, the 3rd leveling supporting legs, the 4th leveling supporting legs, the first support leg pressure sensor, the second support leg pressure sensor, the 3rd support leg pressure sensor, the 4th support leg pressure sensor, the first supporting leg displacement transducer, the second supporting leg displacement transducer, the 3rd supporting leg displacement transducer, the 4th supporting leg displacement transducer, double-shaft level sensor,

First, second, third, fourth support leg pressure sensor and first, second, third, fourth supporting leg displacement transducer are installed respectively on first, second, third, fourth leveling supporting legs successively, first, second, third, fourth supporting leg displacement transducer is electrically connected with the signal input part of leveling controller M, first, second, third, fourth supporting leg driver train is connected with the control signal mouth of leveling controller M, and first, second, third, fourth supporting leg driver train is connected with first, second, third leg, the 4th leveling supporting legs respectively successively;

First, second, the 3rd, the 4th leveling supporting legs is for supported cart carrying platform T, first, second, the 3rd, the 4th support leg pressure sensor is for gathering the support ground pressure of four leveling supporting legs, first, second, the 3rd, the 4th supporting leg displacement transducer is used for gathering first, second, the 3rd, the shifted data of the 4th leveling supporting legs also feeds back to leveling controller M, leveling controller M is used for receiving first, second, the 3rd, the 4th support leg pressure sensor and first, second, the 3rd, the 4th supporting leg displacement transducer collection come shifted data and according to interpretation of result shifted data, first, second, the 3rd, the 4th supporting leg driver train is respectively used to drive first, second, the 3rd leg, the 4th leveling supporting legs, first, second, the 3rd, the 4th support leg pressure sensor is for gathering the force value of four supporting legs.

Utilize levelling control system for vehicle-borne platform of the present invention to carry out the method for leveling control, comprise the following steps:

S1, beginning, system initialization;

S2, stretch out four supporting legs fast;

The image data of S3, four pressure sensors of leveling controller M Real-time Collection, and judge whether to detect pressure signal, if the signal of four pressure sensors do not detected, return to step S2, if the signal of four pressure sensors detected, enter step S4;

S4, stopped moving 3 seconds, after the time to 3 seconds, carry out step S5, if waited for less than continuing;

S5, leveling controller M calculate the pre-elongation of four supporting legs according to pre-defined rule;

S6, leveling controller M calculate four supporting legs speed of stretching in advance separately according to pre-elongation;

S7, basis are stretched four supporting legs of speed transmitting in advance;

S8, judge whether four supporting legs have reached position, if do not reach position, return to step S7, if reached position, enter step S9;

S9, stopped moving 3 seconds, after the time to 3 seconds, carry out step S10, if waited for less than continuing;

S10, judge that accuracy rate after leveling whether within the scope of permissible accuracy, if met the requirements of leveling precision, directly finishes leveling control; If do not reach accuracy requirement, leveling number of times is added to 1;

S11, judge whether leveling number of times is greater than 3, if leveling number of times is greater than 3, directly finish leveling control; If leveling number of times is not more than 3, return to step S5.

Utilize levelling control system for vehicle-borne platform of the present invention to carry out the method for leveling control, comprise the following steps:

SS1, four supporting legs of control stretch out simultaneously fast;

SS2, the pressure of support leg signal gathering by each support leg pressure sensor judge whether supporting leg contacts to earth, if through judging that supporting leg does not contact to earth, return to step SS1; If confirm that supporting leg contacts to earth, enter step SS3;

SS3, vehicular platform has supported in advance and double-shaft level sensor (S) data steady after, calculate be respectively the up to the standard pre-elongation of four supporting legs of state of the vehicular platform of sening as an envoy to according to " the pre-elongation computational algorithm of supporting leg ";

SS4, according to the pre-elongation calculating in SS3, stretch out four supporting legs;

SS5, four supporting legs reach after target length, and action stops, and after level indicator data are steady, whether determined level degree meets the demands, if do not meet and return to step SS3, if whether levelness meets the demands, finish leveling control.

This patent has proposed a kind of fast leveling control policy based on four supporting leg vehicular platforms, this strategy is without Real-Time Monitoring horizon sensor data, avoid level indicator data to beat exchanging advection journey bringing adverse effect, can solve the coupled problem of horizon sensor X-axis and Y-axis simultaneously.

Below in conjunction with accompanying drawing, levelling control system for vehicle-borne platform of the present invention is described further.

Brief description of the drawings

Fig. 1 is the schematic diagram of levelling control system for vehicle-borne platform of the present invention;

Fig. 2 is the leveling control flow chart of levelling control system for vehicle-borne platform of the present invention;

Fig. 3 is the vehicular platform T coordinate schematic diagram of levelling control system for vehicle-borne platform of the present invention.

Detailed description of the invention

As shown in Figure 1, levelling control system for vehicle-borne platform of the present invention comprises leveling controller M, vehicular platform T, the first supporting leg driver train A1, the second supporting leg driver train A2, the 3rd supporting leg driver train A3, the 4th supporting leg driver train A4, the first leveling supporting legs B1, the second leveling supporting legs B2, the 3rd leveling supporting legs B3, the 4th leveling supporting legs B4, the first support leg pressure sensor C1, the second support leg pressure sensor C2, the 3rd support leg pressure sensor C3, the 4th support leg pressure sensor C4, the first supporting leg displacement transducer C1, the second supporting leg displacement transducer C2, the 3rd supporting leg displacement transducer C3, the 4th supporting leg displacement transducer C4, double-shaft level sensor S,

The first support leg pressure sensor D1 and the first supporting leg displacement transducer C1 are installed on the first leveling supporting legs B1, the second support leg pressure sensor D2 and the second supporting leg displacement transducer C2 are installed on the second leveling supporting legs B2, the 3rd support leg pressure sensor D3 and the 3rd supporting leg displacement transducer C3 are installed on the 3rd leveling supporting legs B3, the 4th support leg pressure sensor D4 and the 4th supporting leg displacement transducer C4 are installed on the 4th leveling supporting legs B4;

The signal output part of the first support leg pressure sensor D1, the second support leg pressure sensor D2, the 3rd support leg pressure sensor D3, the 4th support leg pressure sensor D4 and the first supporting leg displacement transducer C1, the second supporting leg displacement transducer C2, the 3rd supporting leg displacement transducer C3, the 4th supporting leg displacement transducer C4 is electrically connected with the signal input part of leveling controller M, and the signal input part of the first supporting leg driver train A1, the second supporting leg driver train A2, the 4th supporting leg driver train A4, the 4th legs B 4 driver trains is connected with the control signal mouth of leveling controller M.

The first supporting leg driver train A1 is connected with the first leveling supporting legs B1, the second supporting leg driver train A2 is connected with the second leveling supporting legs B2, the 3rd supporting leg driver train A3 is connected with the 3rd leveling supporting legs B3, the 4th legs B 4 driver trains are connected with the 4th leveling supporting legs B4; Four supporting leg driver trains adopt respectively hydraulic connecting or mechanical connection between four supporting legs.

First, second, third, fourth leveling supporting legs is for supported cart carrying platform, and the first supporting leg displacement transducer C1 is for gathering the shifted data of the first leveling supporting legs B1 and feeding back to leveling controller M, the second supporting leg displacement transducer C2 for gathering the shifted data of the second leveling supporting legs B2 and feeding back to leveling controller M, the 3rd supporting leg displacement transducer C3 for gathering the shifted data of the 3rd leveling supporting legs B3 and feeding back to leveling controller M, the 4th supporting leg displacement transducer C4 for gathering the shifted data of the 4th leveling supporting legs B4 and feeding back to leveling controller M; Double-shaft level sensor S, for measuring the levelness deviation between each supporting leg, can calculate each supporting leg from leveling controller M and need to continue the supporting leg shift value compensating; Leveling controller M for receive first, second, third, fourth supporting leg displacement transducer collection come shifted data and according to interpretation of result shifted data, the first supporting leg driver train A1 is used for driving the first leveling supporting legs B1, the second supporting leg driver train A2 for driving the second leveling supporting legs B2, the 3rd supporting leg driver train A3 for driving the 3rd leveling supporting legs B3, the 4th supporting leg driver train A4 for driving the 4th leveling supporting legs B4, and first, second, third, fourth support leg pressure sensor is for gathering the force value of four supporting legs.

Leveling control flow of the present invention is as shown in Figure 2, first start to start, leveling controller M controls first, second, the 3rd, 4 wheel driven actuation mechanism starts first, second, the 3rd, the 4th legs B 4, stretch out fast four supporting legs, leveling controller M judgement has or not and monitors pressure sensor signal, if do not monitor pressure sensor signal, repeat to stretch out fast four supporting legs, if monitor pressure sensor signal, stop moving 3S, the 3S time to rear (be vehicular platform stable after, after each sensing data is stable) by calculating the pre-elongation of four supporting legs after leveling controller M analysis data and calculating supporting leg according to pre-elongation and stretch in advance speed, according to four supporting legs of speed transmitting of stretching one's legs, leveling controller M judges according to the data analysis of four displacement transducer collections whether supporting leg reaches position, if do not reach position, again launch supporting leg, if supporting leg has reached position, stop moving 3S, time judges that according to the signal analysis of each sensor leveling precision is whether in the scope requiring to rear leveling controller M, if met the requirements, finish leveling operation, if do not meet leveling accuracy requirement, leveling number of times adds 1(leveling controller M internal processes and is provided with the parameter that records leveling number of times) judge afterwards whether leveling number of times is greater than 3 times, if be greater than 3 times, stop leveling, if leveling number of times is not more than 3 times, recalculate the pre-elongation of four supporting legs, re-start leveling operation.

Now in conjunction with the method for calculating that the pre-elongation of supporting leg is described in detail in detail as Fig. 3, O-XYZ is vehicular platform initial condition system of axes as shown in Figure 3, O-X ' Y ' Z ' is the vehicular platform system of axes after leveling, also comprise vehicular platform T, the first legs B 1, the second legs B 2, the 3rd legs B 3, the 4th legs B 4, the first strong point G1, the second strong point G2, the 3rd strong point G3, the 4th strong point G4, angle between X-axis and X ' is α, angle between Y-axis and Y ' axle is β, by mathematical analysis, setting up from platform initial coordinate O-XYZ to leveling, the transformation matrix of coordinate O-X ' Y ' Z ' is:

$R=\left[\begin{array}{ccc}\cos \mathrm{\α}& 0& \sin \mathrm{\α}\\ -\sin \mathrm{\α}\sin \mathrm{\β}& \cos \mathrm{\β}& \cos \mathrm{\α}\sin \mathrm{\β}\\ -\sin \mathrm{\α}\cos \mathrm{\β}& -\sin \mathrm{\β}& \cos \mathrm{\α}\cos \mathrm{\β}\end{array}\right]$ (formula 1)

If four strong points after leveling are respectively the first strong point G1 ', the second strong point G2 ', the 3rd strong point G3 ', the 4th strong point G4 ', according to formula 1, derive four pre-elongation computing functions of supporting leg as follows:

G1G1’=asinαcosβ+bsinβ+L

G2G2’=-asinαcosβ+bsinβ+L

G3G3’=-asinαcosβ-bsinβ+L

G4G4 '=asin α cos β-bsin β+L (formula 2)

In formula, G1G1 ' is the pre-elongation of the first legs B 1, the pre-elongation of G2G2 ' the second legs B 2, G3G3 ' is the pre-elongation of the 3rd legs B 3, the pre-elongation of G4G4 ' the 4th legs B 4, a is the half of the distance between the first legs B 1 and 2 liang of supporting legs of the second legs B, b is the half of the distance between the first legs B 1 and 4 liang of supporting legs of the 4th legs B, L is that (L is the parameter of setting voluntarily to compensating length, be used for ensureing that four supporting legs keep rising, ensure that G1G1 ', the G2G2 ', G3G3 ', the G4G4 ' that calculate are positive number).

In real work, be divided into two working stages: pre-driving phase, leveling stage.

Pre-driving phase: control four supporting legs and stretch out fast simultaneously, confirm by the each pressure of support leg signal of interpretation whether each supporting leg contacts to earth and support stressed, confirm to have supported stressed supporting leg and stop action, until that four supporting legs have all supported is stressed, stop action until horizon sensor data are steady.

The leveling stage: vehicular platform has supported in advance and double-shaft level sensor S data steadily after, by " the pre-elongation computational algorithm of supporting leg ", calculate respectively as making the vehicular platform state that is up to the standard, " elongation in advance " of four supporting legs.By the principle of " four legs together moving, keep rising ", control each supporting leg taking " pre-elongation " as target continues to stretch out, require each supporting leg to move the time used identical.Supporting leg reaches after target length, and action stops, and after level indicator data are steady, whether determined level degree meets the demands, if discontented lumping weight is gone up a flow process again.So repeatedly, through after leveling flow process once or several times, the levelness of car body reaches accuracy requirement.

The pre-elongation computational algorithm of supporting leg: according to span and principle of coordinate transformation between vehicular platform X-axis, Y-axis levelness and each supporting leg, derive and draw the pre-elongation computational algorithm of supporting leg.Calculate vehicular platform current state to horizontality process according to this algorithm, the target length that each supporting leg need stretch out.

The leveling controller M model used adopting in above-described embodiment is the RC6-9/20 of Rexroth company;

It is the HLT1100-R2-K05-CAN-0950 of HYDAC company that first, second, third, fourth supporting leg displacement transducer adopts model;

It is 511.941603742 of HUBA company that first, second, third, fourth support leg pressure sensor adopts model;

It is the NS-5DMG2-CXD of superior company of the U.S. that double-shaft level sensor S adopts model.

Above-described embodiment is described the preferred embodiment of the present invention; not scope of the present invention is limited; design under the prerequisite of spirit not departing from the present invention; various distortion and improvement that those of ordinary skill in the art make technical scheme of the present invention, all should fall in the definite protection domain of the claims in the present invention book.

Claims (6)

1. a levelling control system for vehicle-borne platform, it is characterized in that, comprise leveling controller M, vehicular platform T, the first supporting leg driver train A1, the second supporting leg driver train A2, the 3rd supporting leg driver train A3, the 4th supporting leg driver train A4, the first leveling supporting legs B1, the second leveling supporting legs B2, the 3rd leveling supporting legs B3, the 4th leveling supporting legs B4, the first support leg pressure sensor C1, the second support leg pressure sensor C2, the 3rd support leg pressure sensor C3, the 4th support leg pressure sensor C4, the first supporting leg displacement transducer C1, the second supporting leg displacement transducer C2, the 3rd supporting leg displacement transducer C3, the 4th supporting leg displacement transducer C4, double-shaft level sensor S,

First, second, third, fourth support leg pressure sensor and first, second, third, fourth supporting leg displacement transducer are installed respectively on first, second, third, fourth leveling supporting legs successively, first, second, third, fourth supporting leg displacement transducer is electrically connected with the signal input part of leveling controller M, first, second, third, fourth supporting leg driver train is connected with the control signal mouth of leveling controller M, and first, second, third, fourth supporting leg driver train is connected with first, second, third leg, the 4th leveling supporting legs respectively successively;

First, second, the 3rd, the 4th leveling supporting legs is for supported cart carrying platform T, first, second, the 3rd, the 4th support leg pressure sensor is for gathering the support ground pressure of four leveling supporting legs, first, second, the 3rd, the 4th supporting leg displacement transducer is used for gathering first, second, the 3rd, the shifted data of the 4th leveling supporting legs also feeds back to leveling controller M, leveling controller M is used for receiving first, second, the 3rd, the 4th support leg pressure sensor and first, second, the 3rd, the 4th supporting leg displacement transducer collection come shifted data and according to interpretation of result shifted data, first, second, the 3rd, the 4th supporting leg driver train is respectively used to drive first, second, the 3rd leg, the 4th leveling supporting legs, first, second, the 3rd, the 4th support leg pressure sensor is for gathering the force value of four supporting legs.

2. levelling control system for vehicle-borne platform according to claim 1, is characterized in that, is provided with compensating length (L) in the computing formula of the pre-elongation of supporting leg, compensating length (L) for ensure the pre-elongation of four supporting legs be all on the occasion of.

3. levelling control system for vehicle-borne platform according to claim 2, is characterized in that, in leveling process, four supporting legs are stretched simultaneously and stopped simultaneously.

4. levelling control system for vehicle-borne platform according to claim 3, is characterized in that,

Described leveling controller (M) model used is the RC6-9/20 of Rexroth company;

It is the HLT1100-R2-K05-CAN-0950 of HYDAC company that first, second, third, fourth supporting leg displacement transducer adopts model;

It is 511.941603742 of HUBA company that first, second, third, fourth support leg pressure sensor adopts model;

It is the NS-5DMG2-CXD of superior company of the U.S. that double-shaft level sensor S adopts model.

5. the method for utilizing the arbitrary described levelling control system for vehicle-borne platform of claim 1 to 4 to carry out leveling control, comprises the following steps:

S1, beginning, system initialization;

S2, stretch out four supporting legs fast;

The image data of S3, four pressure sensors of leveling controller M Real-time Collection, and judge whether to detect pressure signal, if the signal of four pressure sensors do not detected, return to step S2, if the signal of four pressure sensors detected, enter step S4;

S4, stopped moving 3 seconds, after the time to 3 seconds, carry out step S5, if waited for less than continuing;

S5, leveling controller M calculate the pre-elongation of four supporting legs according to pre-defined rule;

S6, leveling controller M calculate four supporting legs speed of stretching in advance separately according to pre-elongation;

S7, basis are stretched four supporting legs of speed transmitting in advance;

S8, judge whether four supporting legs have reached position, if do not reach position, return to step S7, if reached position, enter step S9;

S9, stopped moving 3 seconds, after the time to 3 seconds, carry out step S10, if waited for less than continuing;

S10, judge that accuracy rate after leveling whether within the scope of permissible accuracy, if met the requirements of leveling precision, directly finishes leveling control; If do not reach accuracy requirement, leveling number of times is added to 1;

S11, judge whether leveling number of times is greater than 3, if leveling number of times is greater than 3, directly finish leveling control; If leveling number of times is not more than 3, return to step S5.

6. the method for utilizing the arbitrary described levelling control system for vehicle-borne platform of claim 1 to 4 to carry out leveling control, comprises the following steps:

SS1, four supporting legs of control stretch out simultaneously fast;

SS2, the pressure of support leg signal gathering by each support leg pressure sensor judge whether supporting leg contacts to earth, if through judging that supporting leg does not contact to earth, return to step SS1; If confirm that supporting leg contacts to earth, enter step SS3;

SS3, vehicular platform has supported in advance and double-shaft level sensor (S) data steady after, calculate be respectively the up to the standard pre-elongation of four supporting legs of state of the vehicular platform of sening as an envoy to according to " the pre-elongation computational algorithm of supporting leg ";

SS4, according to the pre-elongation calculating in SS3, stretch out four supporting legs;

SS5, four supporting legs reach after target length, and action stops, and after level indicator data are steady, whether determined level degree meets the demands, if do not meet and return to step SS3, if whether levelness meets the demands, finish leveling control.