CN109709798A - A kind of vehicle mounted square cabin automatic hoisting mechanism based on PID, method and shelter system - Google Patents
A kind of vehicle mounted square cabin automatic hoisting mechanism based on PID, method and shelter system Download PDFInfo
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- CN109709798A CN109709798A CN201811632754.3A CN201811632754A CN109709798A CN 109709798 A CN109709798 A CN 109709798A CN 201811632754 A CN201811632754 A CN 201811632754A CN 109709798 A CN109709798 A CN 109709798A
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Abstract
The invention discloses a kind of shelter automatic hoisting mechanism, method and shelter system based on PID, elevating mechanism includes the vehicular platform for being used to support vehicle mounted square cabin, it is separately provided for the lifting unit for adjusting the leveling unit of its horizontality and rising or falling for adjusting the vehicle mounted square cabin on vehicular platform, further includes detection unit and control unit；Vehicle mounted square cabin system further includes shipping platform and vehicle mounted square cabin；The present invention passes through automatic control technology, pid control algorithm, the sensor communication technology and hydraulic control technology, solves the problems, such as the automatic steady lifting of vehicle mounted square cabin, make the effect of vehicle mounted square cabin or mobile unit apparatus system normally and efficiently run, realize the fast automatic steady lifting of the vehicle fast leveling and shelter of vehicle mounted square cabin, this system structure is simple, realization process is accurate, greatly enhances automatization level, the motor-driven horizontal and service life of vehicle mounted square cabin.
Description
[technical field]
The invention belongs to communication system technical field of auxiliary equipment, and in particular to a kind of vehicle mounted square cabin based on PID is automatic
Elevating mechanism, method and shelter system.
[background technique]
In the information age, the communication technology plays particularly important effect, especially in trailer-mounted radar, vehicular communication equipment
It is widely used.Vehicular communication equipment usually requires motor-driven to behind scheduled place, and quick mounting arrangements are good vehicle-mounted
Reference platform and mobile unit, it is ensured that mobile unit normally can accurately be run.
It in system operation, needs that vehicle-mounted chassis is supported and is leveled, to ensure that mobile unit is stable at one
On horizontal plane, otherwise in shelter during automatic lifting, the friction between each component of elevating mechanism just be will increase, with shelter
Height increases, and the whole center of gravity of system will deviate, and brings hidden danger to the normal operation and equipment safety of total system.
There are more deficiency in existing vehicle mounted square cabin, automatically levelling and function of auto-lift can not achieve, can make shelter
Whole center of gravity is uneven in adjustment lifting process, causes that each component deterioration is larger, the service life is reduced, and causes to pacify to equipment normal operation
Full hidden danger.
[summary of the invention]
The object of the present invention is to provide a kind of shelter automatic hoisting mechanism, method and shelter system based on PID, to solve
Vehicle mounted square cabin can not achieve the problem of automatically levelling and automatic lifting in use.
The invention adopts the following technical scheme: a kind of vehicle mounted square cabin automatic hoisting mechanism based on PID, including be used to support
The vehicular platform of vehicle mounted square cabin is separately provided for adjusting the leveling unit of its horizontality and for adjusting on vehicular platform
The lifting unit that vehicle mounted square cabin rises or falls；
It further include detection unit, detection unit is for obtaining leveling unit, lifting unit, vehicular platform and vehicle mounted square cabin
Status information, and it is sent to control unit, control unit is used to receive the status information of detection unit sending and is believed according to state
Breath calculates adjustment parameter, is also used to control the movement of leveling unit or lifting unit according to adjustment parameter, vehicle-mounted flat to realize
The automatic leveling and automatic lifting of platform and vehicle mounted square cabin.
Further, leveling unit is made of horizontal hydraulic cylinder group and vertical hydraulic cylinder group；
Horizontal hydraulic cylinder group includes four horizontal leveling hydraulic cylinders for being horizontally set on vehicular platform quadrangle respectively；
Vertical hydraulic cylinder group includes four vertical leveling hydraulic cylinders, and each vertical leveling hydraulic cylinder is correspondingly arranged in level
The outer end of the hydraulic stem of hydraulic cylinder is leveled, and the hydraulic column of each vertical leveling hydraulic cylinder is straight down.
Further, lifting unit is arranged on vehicular platform, by four liftings for being separately positioned on vehicular platform quadrangle
Hydraulic cylinder composition, the hydraulic column outer end of each lifting hydraulic cylinder is each attached to the bottom of vehicle mounted square cabin.
Further, detection unit includes the double-shaft tilt angle sensor being set in the middle part of vehicle mounted square cabin, double-shaft tilt angle sensing
Device is used to obtain the obliquity information of vehicle mounted square cabin and is sent to control unit；
It further include the cylinder barrel first and last position for being set to each horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder
The approach switch sensor set, each approach switch sensor are connected to control unit, and are used for control unit transmission pair
The telescopic state information of the horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder answered；
It further include the force snesor for being set to each vertical leveling Barrel of Hydraulic Cylinders bottom, each force snesor is connected to
Control unit, and for control unit send it is corresponding it is vertical leveling hydraulic cylinder by force information；
It further include the survey being set in the cylinder barrel of each horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder
Away from sensor, each distance measuring sensor is connected to control unit, and for sending corresponding horizontal leveling liquid to control unit
The moving distance information of the hydraulic column of cylinder pressure, vertical leveling hydraulic cylinder and lifting hydraulic cylinder.
Further, control unit is made of controller, motor driver and touch display screen；
Controller is for calculating and generating according to obliquity information, telescopic state information, by force information and moving distance information
Control information；It is also used to send control information to motor driver；
Motor driver is for controlling corresponding each horizontal leveling hydraulic cylinder according to the control information, vertically leveling hydraulic cylinder
With stretching for lifting hydraulic cylinder；
Touch display screen is used to show the flexible of each horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder
Position and operation deviation；It is also used to show the operating status of vehicle mounted square cabin automatic hoisting mechanism；It is also used to obtain external input letter
Breath, and it is sent to controller.
Another technical solution of the invention: a kind of vehicle mounted square cabin automatic lifting method based on PID uses above-mentioned vehicle
Shelter automatic hoisting mechanism is carried, especially by the automatic lifting of the real-time vehicle mounted square cabin of following steps:
After receiving external input information, leveling adjusting is first carried out:
Controller obtains the leveling status information of leveling unit by detection unit, calculates and gives birth to according to leveling status information
Information is controlled at leveling unit, leveling unit control information is sent to leveling unit, to control leveling unit movement, until vehicle
Carrying platform is horizontality；
Carry out lift adjustment again: controller control lifting unit starts and vehicle mounted square cabin is driven to go up and down, and controller passes through inspection
The jacking condition information that unit obtains lifting unit is surveyed, lifting unit control information is calculated and generated according to jacking condition information,
By lifting unit control information be sent to lifting unit, with control lifting unit movement, until vehicle mounted square cabin be horizontality and
It goes up and down to specified altitude assignment.
Further, adjusting is leveled method particularly includes:
Controller passes through the approach switch sensor acquisition pair on each level leveling hydraulic cylinder and vertical leveling hydraulic cylinder
The retracted position of the horizontal leveling hydraulic cylinder and vertical leveling hydraulic cylinder answered；
When controller has detected that vertical leveling hydraulic cylinder is not shunk completely, controlled by motor driver corresponding
Vertical leveling hydraulic cylinder is shunk completely, until all vertical leveling hydraulic cylinders are shunk completely；
It is fully extended that controller by motor driver controls each horizontal leveling hydraulic cylinder；
Controller is stretched out by each vertical leveling hydraulic cylinder of motor driver control, until controller receives each power and passes
The stress value that sensor detects is all larger than equal to preset threshold；
It selectes and vertically levels hydraulic cylinder on the basis of any vertical leveling hydraulic cylinder, controller passes through double-shaft tilt angle sensor
Obtain the longitudinal gradient α and cross dip β of vehicle mounted square cabin；
Corresponding vertical leveling hydraulic cylinder stretching or contract by distance L are calculated according to longitudinal gradient α1, as α > 0, L1=-
tanα*x；As α < 0, L1=tan | α | * x；As α=0, L1=0；Wherein, x is between two longitudinally perpendicular leveling hydraulic cylinders
Distance；
Stretching or the contract by distance L of its corresponding vertical leveling hydraulic cylinder are calculated according to cross dip β2, as β > 0,
L2=-tan β * y；As β < 0, L1=tan | β | * y；As β=0, L2=0；Wherein, y is vertically leveled hydraulic for two transverse directions
The distance between cylinder；
Corresponding vertical leveling hydraulic cylinder stretching or contract by distance L are controlled by controller1And L2, control is remaining not to be adjusted
Non-referenced vertical leveling hydraulic cylinder stretch out or shrink, until the stress value that its corresponding force snesor detects is all larger than and is equal to
Preset threshold, i.e. vehicular platform are horizontality.
Further, lift adjustment method particularly includes:
When vehicle mounted square cabin lifting, selecting any lifting hydraulic cylinder is benchmark lifting hydraulic cylinder, and controller passes through twin shaft
Obliquity sensor obtains the vertical inclination angle a1 and cross dip a3 of vehicle mounted square cabin, is calculated according to vertical inclination angle a1 and cross dip a3
Obtain oblique inclination angle a2,
Corresponding lifting hydraulic cylinder stretching or contract by distance L are calculated according to vertical inclination angle a13, as a1 > 0, L3=-
tana1*b；As a1 < 0, L3=tan | a1 | * b；As a1=0, L3=0；Wherein, b is between two longitudinal lifting hydraulic cylinders
Distance；
Stretching or the contract by distance L of its corresponding lifting hydraulic cylinder are calculated according to cross dip a34, as a3 > 0, L4
=-tana3*a；As a3 < 0, L4=tan | a3 | * a；As a3=0, L4=0；Wherein, a is two lateral lifting hydraulic cylinders
The distance between；
Stretching or the contract by distance L of its corresponding lifting hydraulic cylinder are calculated according to cross dip a25, as a2 > 0, L5
=-tana2*c；As a2 < 0, L5=tan | a2 | * c；As a2=0, L5=0；Wherein, c is two oblique lifting hydraulic cylinders
The distance between；
Corresponding lifting hydraulic cylinder stretching or contract by distance L are controlled by controller3、L4And L5After move synchronously, until vehicle
Shelter is carried to go up and down to specified altitude assignment.
Another technical solution of the invention: a kind of vehicle mounted square cabin system based on PID is based on including above-mentioned one kind
The vehicle mounted square cabin automatic hoisting mechanism of PID, vehicle mounted square cabin automatic hoisting mechanism are set on shipping platform, and vehicle mounted square cabin rises automatically
Vehicle mounted square cabin is provided on descending mechanism.
The beneficial effects of the present invention are: the present invention passes through automatic control technology, pid control algorithm, the sensor communication technology
And hydraulic control technology, it solves the problems, such as the automatic steady lifting of vehicle mounted square cabin, makes vehicle mounted square cabin or mobile unit device
The effect of system normally and efficiently run realizes the vehicle fast leveling of vehicle mounted square cabin and the fast automatic steady liter of shelter
Drop, this system structure is simple, realizes that process is accurate, greatly enhances automatization level, the motor-driven level of vehicle mounted square cabin
And service life.
[Detailed description of the invention]
Fig. 1 is vehicle mounted square cabin automatic hoisting mechanism structural schematic diagram of one of the embodiment of the present invention 1 based on PID；
Fig. 2 is that Principles of Regulation figure is leveled in the embodiment of the present invention 2；
Fig. 3 is lift adjustment schematic diagram in the embodiment of the present invention 2；
Fig. 4 is touch display screen display status information in the embodiment of the present invention 1 with reference to figure；
Fig. 5 is the usage state diagram of the vehicle mounted square cabin system of the embodiment of the present invention 3.
Wherein: 1. vehicle mounted square cabins；2. shipping platform；3. lifting unit；4. leveling unit；5. control unit.
[specific embodiment]
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Embodiment 1:
Present embodiment discloses a kind of vehicle mounted square cabin automatic hoisting mechanism based on PID, as shown in Figure 1, including for branch
The vehicular platform of vehicle mounted square cabin 1 is supportted, is separately provided for adjusting the leveling unit 4 of its horizontality and be used on vehicular platform
Adjust the lifting unit 3 that vehicle mounted square cabin 1 rises or falls.Leveling unit 4 is installed on the lower section of vehicular platform in the present embodiment, with
It realizes and vehicular platform is leveled and is supported.
Leveling unit 4 is made of horizontal hydraulic cylinder group and vertical hydraulic cylinder group.Horizontal hydraulic cylinder group is set including level respectively
Set four horizontal leveling hydraulic cylinders at 1 four jiaos of vehicular platform；Vertical hydraulic cylinder group includes four vertical leveling hydraulic cylinders, each
Vertical leveling hydraulic cylinder is correspondingly arranged in the outer end of the hydraulic stem of horizontal leveling hydraulic cylinder, and each vertical leveling hydraulic cylinder
Hydraulic column straight down, pressure is on the ground or on building or on platform that other are used to support.Pass through horizontal hydraulic cylinder
Level tune and the support of vehicular platform may be implemented in group and vertical hydraulic cylinder group, can support shipping platform and leave ground,
And according to sensor automatic leveling carrying platform.
Lifting unit 3 is arranged on vehicular platform, by four lifting hydraulic cylinder groups for being separately positioned on vehicular platform quadrangle
At the hydraulic column outer end of each lifting hydraulic cylinder is each attached to the bottom of vehicle mounted square cabin 1.
The automatic hoisting mechanism further includes detection unit, and detection unit is for obtaining leveling unit 4, lifting unit 3, vehicle-mounted
The status information of platform and vehicle mounted square cabin 1, and it is sent to control unit 5, control unit 5 is used to receive the shape of detection unit sending
State information simultaneously calculates adjustment parameter according to status information, is also used to control leveling unit 4 or lifting unit 3 according to adjustment parameter
Movement, to realize the automatic leveling and automatic lifting of vehicular platform and vehicle mounted square cabin 1.
Detection unit includes the double-shaft tilt angle sensor for being set to 1 middle part of vehicle mounted square cabin, and double-shaft tilt angle sensor is for obtaining
It takes the obliquity information of vehicle mounted square cabin 1 and is sent to control unit 5.
Detection unit further includes the cylinder for being set to each horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder
The approach switch sensor of cylinder first and last position, each approach switch sensor are connected to control unit 5, and for single to control
Member 5 sends the telescopic state information of corresponding horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder, i.e. hydraulic cylinder
The movement position of middle hydraulic column.
Detection unit further includes the force snesor for being set to each vertical leveling Barrel of Hydraulic Cylinders bottom, each force snesor
Be connected to control unit 5, and for control unit 5 send corresponding vertical leveling hydraulic cylinder by force information.
Detection unit further includes the cylinder for being set to each horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder
Distance measuring sensor in cylinder, each distance measuring sensor are connected to control unit 5, and corresponding for sending to control unit 5
The moving distance information of the hydraulic column of level leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder.
Control unit 5 is made of controller, motor driver and touch display screen.Controller selects embedded controller,
It connects, is used for according to obliquity information, telescopic state information, (stress is believed by force information with each sensor and motor driver
Breath needs and presets to be compared by force threshold, illustrates firm supporting when being greater than and being preset by force threshold by force information) and it is mobile
Range information calculates and generates control information, is also used to send control information to motor driver, with the liquid to whole system
Voltage-controlled system, leveling control, shelter elevating control use PID control that is, according to the deviation of vehicle mounted square cabin difference hydraulic cylinder heave amplitude
Rate eliminates deviation, and shelter automatic steady is enable to go up and down.
It connects each equipment by controlling cable, when not operating, places it in the control cabinet of vehicular platform, needs
When operation, it is taken out from control cabinet, far from operation control is carried out after vehicular platform a distance, avoids controlling in operation
It generates unexpected in journey and operator is damaged.
Control unit 5 is the control core of whole system, is passed respectively with double-shaft tilt angle by serial ports RS485, serial ports RS422
Sensor is connected with motor driver.User is inputted by touch display and is instructed, and is exported by controller to each executing agency
Control instruction, and closed-loop control implementing result is carried out, and the status information of entire mechanism is presented to by operator by display
Member.
Motor driver is for controlling corresponding each horizontal leveling hydraulic cylinder according to the control information, vertically leveling hydraulic cylinder
With stretching for lifting hydraulic cylinder；
As shown in figure 4, touch display screen is for showing each horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting liquid
The telescopic location and operation deviation of cylinder pressure, are also used to show the operating status of 1 automatic hoisting mechanism of vehicle mounted square cabin, are also used to pass through
Touch screen obtains the information of outside operator's input, and sends this information to controller, so that controller is transported in real time
It calculates, control is adjusted to entire mechanism in real time, enables the steady automatic lifting of vehicle mounted square cabin.
It in the present embodiment further include having Power Management Unit, Power Management Unit includes diesel-driven generator, 220V-50Hz
Alternating Current Power Supply module, 24V direct current supply module, 12V DC power supply module, 5V direct current supply module, filter can be respectively
Control unit and adjusting unit power supply.
Embodiment 2:
Present embodiment discloses a kind of vehicle mounted square cabin automatic lifting method based on PID, uses the vehicle mounted square cabin of embodiment 1
Automatic hoisting mechanism, especially by the automatic lifting of the real-time vehicle mounted square cabin of following steps:
After receiving external input information, leveling adjusting is first carried out:
Controller obtains the leveling status information of leveling unit 4 by detection unit, is calculated simultaneously according to leveling status information
It generates leveling unit 4 and controls information, the control of leveling unit 4 information is sent to leveling unit 4, to control the movement of leveling unit 4,
Until vehicular platform is horizontality.
What the leveling was adjusted method particularly includes:
Controller passes through the approach switch sensor acquisition pair on each level leveling hydraulic cylinder and vertical leveling hydraulic cylinder
The retracted position of the horizontal leveling hydraulic cylinder and vertical leveling hydraulic cylinder answered, in the present embodiment, after starting vehicle leveling is adjusted, control
Device first choice obtains the state of each approach switch sensor, levels the flexible of hydraulic cylinder with vertical with the horizontal leveling hydraulic cylinder of acquisition
State, the cycle set for obtaining information is 100ms, and continuous acquisition state could be adjusted in real time according to real-time status.
When controller has detected that vertical leveling hydraulic cylinder is not shunk completely, controlled by motor driver corresponding
Vertical leveling hydraulic cylinder shrinks that (motor driver drives hydraulic pump to realize the flexible tune to hydraulic cylinder for The hydraulic oil completely
Section), until all vertical leveling hydraulic cylinders are shunk completely.
In next step, it is fully extended by motor driver to control each horizontal leveling hydraulic cylinder for controller, until receiving water
It is fully extended anti-to obtain each horizontal leveling hydraulic cylinder for the feedback information of the approach switch sensor of Heibei provincial opera section hydraulic cylinder end
Feedback.
Controller is stretched out by each vertical leveling hydraulic cylinder of motor driver control, until controller receives each power and passes
The stress value that sensor detects is all larger than equal to preset threshold, or receives passing close to switch for vertical adjusting hydraulic cylinder end
The feedback information of sensor.
In next step, it selectes and vertically levels hydraulic cylinder on the basis of any vertical leveling hydraulic cylinder, as shown in Fig. 2, this implementation
Hydraulic cylinder is vertically leveled on the basis of selected No. 2 vertical leveling hydraulic cylinders in example, after selecting, controller passes through double-shaft tilt angle sensor
The longitudinal gradient α and cross dip β for obtaining vehicle mounted square cabin 1, since vehicle shelter 1 is mounted on vehicular platform, vehicle
The obliquity information for carrying shelter 1 is identical with the obliquity information of vehicular platform.
Corresponding vertical leveling hydraulic cylinder stretching or contract by distance L are calculated according to longitudinal gradient α1, as α > 0, L1=-
tanα*x；As α < 0, L1=tan | α | * x；As α=0, L1=0；Wherein, x is between two longitudinally perpendicular leveling hydraulic cylinders
Distance.Distance L1As corresponding No. 1 vertical leveling hydraulic cylinder needs flexible distance, and controller passes through motor driver control
No. 1 oil cylinder to be made to carry out after stretching, specific distance of stretch out and draw back can specifically be measured by distance measuring sensor, in this way, vehicular platform
Vertical inclination angle eliminates the need for.
In next step, stretching or the contract by distance L of its corresponding vertical leveling hydraulic cylinder are calculated according to cross dip β2, when
When β > 0, L2=-tan β * y；As β < 0, L1=tan | β | * y；As β=0, L2=0；Wherein, y is that two transverse directions are vertically adjusted
The distance between flat hydraulic cylinder.Distance L2As corresponding No. 3 vertical leveling hydraulic cylinders need flexible distance, specific telescopic distance
From can specifically be measured by distance measuring sensor, controller controls No. 3 oil cylinders by motor driver and carries out after stretching, vehicle-mounted
The vertical inclination angle of platform eliminates the need for.
After No. 1 and No. 3 vertical leveling hydraulic cylinder extension is adjusted, entire vehicular platform is horizontality, still, is had
Possible No. 4 vertical leveling hydraulic cylinders are hovering at this time, therefore, control No. 4 vertical hydraulic cylinders that level and stretch out or shrink, until
The stress value that its corresponding force snesor detects is all larger than equal to preset threshold, at this point, vehicular platform is horizontality.
When vehicular platform is in horizontality, when needing to withdraw, first withdraws vertical leveling hydraulic cylinder and withdrawing horizontal leveling
Hydraulic cylinder, during withdrawal, by corresponding approach switch sensor to determine whether withdrawing complete.
Vehicular platform leveling carries out lift adjustment after adjusting again:
Controller control lifting unit 3 starts and vehicle mounted square cabin 1 is driven to go up and down, and controller is obtained by detection unit and gone up and down
The jacking condition information of unit 3 calculates and is generated according to jacking condition information the control information of lifting unit 3, lifting unit 3 is controlled
Information processed is sent to lifting unit 3, to control the movement of lifting unit 3, until vehicle mounted square cabin 1 is horizontality and goes up and down to specified
Highly.
Lift adjustment method particularly includes:
When vehicle mounted square cabin 1 is gone up and down, selecting any lifting hydraulic cylinder is benchmark lifting hydraulic cylinder, is chosen in the present embodiment
No. 1 lifting hydraulic cylinder is benchmark lifting hydraulic cylinder.As shown in figure 3, the spacing between two longitudinal lifting hydraulic cylinders is set to b (i.e. 1
Number and No. 2 spacing), vertical inclination angle a1, the spacing between two lateral lifting hydraulic cylinders is set to a (i.e. No. 1 and No. 4 spacing),
Cross dip is a3, and the spacing between two oblique lifting hydraulic cylinders is set to c (i.e. No. 1 and No. 3 spacing), and oblique inclination angle is a2,
And have
Controller obtains the vertical inclination angle a1 and cross dip a3 of vehicle mounted square cabin 1 by double-shaft tilt angle sensor, according to vertical
Oblique inclination angle a2 is calculated to inclination angle a1 and cross dip a3.
Corresponding lifting hydraulic cylinder stretching or contract by distance L are calculated according to vertical inclination angle a13, as a1 > 0, L3=-
tana1*b；As a1 < 0, L3=tan | a1 | * b；As a1=0, L3=0；Distance L3 is corresponding No. 2 lifting hydraulic cylinders
Flexible distance is needed, specific distance of stretch out and draw back can specifically be measured by distance measuring sensor, and controller passes through motor driver
It controls No. 2 oil cylinders to carry out after stretching, the vertical inclination angle of vehicle mounted square cabin eliminates the need for.
Stretching or the contract by distance L of its corresponding lifting hydraulic cylinder are calculated according to cross dip a34, as a3 > 0, L4
=-tana3*a；As a3 < 0, L4=tan | a3 | * a；As a3=0, L4=0；Wherein, a is two lateral lifting hydraulic cylinders
The distance between；Distance L4As corresponding No. 4 lifting hydraulic cylinders need flexible distance, and specific distance of stretch out and draw back can pass through survey
It is specifically measured away from sensor, controller controls No. 4 oil cylinders by motor driver and carries out after stretching, and the transverse direction of vehicle mounted square cabin is inclined
Angle eliminates the need for.
Stretching or the contract by distance L of its corresponding lifting hydraulic cylinder are calculated according to cross dip a25, as a2 > 0, L5
=-tana2*c；As a2 < 0, L5=tan | a2 | * c；As a2=0, L5=0；Wherein, c is two oblique lifting hydraulic cylinders
The distance between.Distance L5As corresponding No. 3 lifting hydraulic cylinders need flexible distance, and specific distance of stretch out and draw back can pass through survey
It is specifically measured away from sensor, controller controls No. 3 oil cylinders by motor driver and carries out after stretching, and the oblique of vehicle mounted square cabin is inclined
Angle eliminates the need for.
Corresponding lifting hydraulic cylinder stretching or contract by distance L are controlled by controller3、L4And L5Vehicle mounted square cabin reaches water afterwards
Level state controls 4 lifting hydraulic cylinders and moves synchronously, later until vehicle mounted square cabin 1 is gone up and down to specified altitude assignment.
Embodiment 3:
The vehicle mounted square cabin system based on PID that present embodiment discloses a kind of, a kind of vehicle based on PID including embodiment 1
Shelter automatic hoisting mechanism is carried, vehicle mounted square cabin automatic hoisting mechanism is set on shipping platform 2, as shown in figure 5, in the present embodiment
Shipping platform selects DFL1160BX5 second-class chassis vehicle, sets in chassis vehicle conjunction and is equipped with cable box, building tool box, cable box is used for
Cable and controlling cable are stored, to guarantee to take out the connection controlled when with each equipment in controller.Building tool box, is deposited
What is put is for backing plate or other tools, to guarantee vertically to level cylinder hydraulic column outer end and ground when leveling
Come into full contact with, guarantee the safety of whole system, vehicle mounted square cabin 1, the present embodiment be provided on vehicle mounted square cabin automatic hoisting mechanism
In vehicle mounted square cabin 1 be the vehicle mounted square cabin for preventing communication apparatus.
Claims (9)
1. a kind of vehicle mounted square cabin automatic hoisting mechanism based on PID, which is characterized in that including being used to support vehicle mounted square cabin (1)
Vehicular platform is separately provided for adjusting the leveling unit (4) of its horizontality and for adjusting on the vehicular platform
State the lifting unit (3) that vehicle mounted square cabin (1) rises or falls；
Further include detection unit, the detection unit for obtain the leveling unit (4), lifting unit (3), vehicular platform and
The status information of vehicle mounted square cabin (1), and control unit (5) are sent to, described control unit (5) is for receiving the detection unit
The status information of sending simultaneously calculates adjustment parameter according to the state information, is also used to according to adjustment parameter control
The movement of leveling unit (4) or lifting unit (3), with realize the vehicular platform and vehicle mounted square cabin (1) automatic leveling and from
Dynamic lifting.
2. a kind of vehicle mounted square cabin automatic hoisting mechanism based on PID as described in claim 1, which is characterized in that the leveling
Unit (4) is made of horizontal hydraulic cylinder group and vertical hydraulic cylinder group；
The horizontal hydraulic cylinder group includes four horizontal leveling hydraulic cylinders for being horizontally set on the vehicular platform quadrangle respectively；
The vertical hydraulic cylinder group includes four vertical leveling hydraulic cylinders, and each vertical leveling hydraulic cylinder is correspondingly arranged in
The outer end of the hydraulic stem of the horizontal leveling hydraulic cylinder, and the hydraulic column of each vertical leveling hydraulic cylinder vertically to
Under.
3. a kind of vehicle mounted square cabin automatic hoisting mechanism based on PID as claimed in claim 1 or 2, which is characterized in that the liter
It drops unit (3) to be arranged on the vehicular platform, by four lifting hydraulic cylinder groups for being separately positioned on the vehicular platform quadrangle
At the hydraulic column outer end of each lifting hydraulic cylinder is each attached to the bottom of the vehicle mounted square cabin (1).
4. a kind of vehicle mounted square cabin automatic hoisting mechanism based on PID as claimed in claim 1 or 2, which is characterized in that the inspection
Surveying unit includes the double-shaft tilt angle sensor being set in the middle part of the vehicle mounted square cabin (1), and the double-shaft tilt angle sensor is for obtaining
It takes the obliquity information of the vehicle mounted square cabin (1) and is sent to described control unit (5)；
It further include the cylinder barrel first and last position for being set to each horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder
The approach switch sensor set, each approach switch sensor are connected to described control unit (5), and are used for described
Control unit (5) sends the retracted position of the corresponding horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder
Information；
It further include the force snesor for being set to each vertical leveling Barrel of Hydraulic Cylinders bottom, each force snesor connects
It is connected to described control unit (5), and the stress for sending the corresponding vertical leveling hydraulic cylinder to described control unit (5)
Information；
It further include the survey being set in the cylinder barrel of each horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder
Away from sensor, each distance measuring sensor is connected to described control unit (5), and for sending out to described control unit (5)
Send the moving distance information of the hydraulic column of the corresponding horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder.
5. a kind of vehicle mounted square cabin automatic hoisting mechanism based on PID as claimed in claim 4, which is characterized in that the control
Unit (5) is made of controller, motor driver and touch display screen；
The controller is used to calculate simultaneously according to the obliquity information, telescopic state information, by force information and moving distance information
Generate control information；It is also used to the control information being sent to the motor driver；
The motor driver is used to according to the corresponding each horizontal leveling hydraulic cylinder of control information control, vertically adjust
Flat hydraulic cylinder and lifting hydraulic cylinder it is flexible；
The touch display screen is used to show each horizontal leveling hydraulic cylinder, vertical leveling hydraulic cylinder and lifting hydraulic cylinder
Telescopic location and operation deviation；It is also used to show the operating status of the vehicle mounted square cabin (1) automatic hoisting mechanism；It is also used to obtain
External input information, and it is sent to the controller.
6. a kind of vehicle mounted square cabin automatic lifting method based on PID, which is characterized in that any described using claim 1-5
Vehicle mounted square cabin automatic hoisting mechanism, especially by the automatic lifting of the following steps vehicle mounted square cabin in real time:
After receiving external input information, leveling adjusting is first carried out:
Controller obtains the leveling status information of leveling unit (4) by detection unit, is calculated according to the leveling status information
And leveling unit (4) control information is generated, the leveling unit (4) control information is sent to leveling unit (4), to control
Leveling unit (4) movement is stated, until the vehicular platform is horizontality；
Carry out lift adjustment again: controller controls the lifting unit (3) and starts and the vehicle mounted square cabin (1) is driven to go up and down, control
Device processed obtains the jacking condition information of lifting unit (3) by the detection unit, is calculated simultaneously according to the jacking condition information
It generates lifting unit (3) and controls information, the lifting unit (3) control information is sent to lifting unit (3), described in control
Lifting unit (3) movement, until the vehicle mounted square cabin (1) is horizontality and goes up and down to specified altitude assignment.
7. a kind of vehicle mounted square cabin automatic lifting method based on PID as claimed in claim 6, which is characterized in that the leveling
It adjusts method particularly includes:
Controller is obtained corresponding by the approach switch sensor on each horizontal leveling hydraulic cylinder and vertical leveling hydraulic cylinder
The retracted position of level leveling hydraulic cylinder and vertical leveling hydraulic cylinder；
When controller has detected that vertical leveling hydraulic cylinder is not shunk completely, controlled by motor driver corresponding described
Vertical leveling hydraulic cylinder is shunk completely, until all vertical leveling hydraulic cylinders are shunk completely；
It is fully extended that controller by motor driver controls each horizontal leveling hydraulic cylinder；
Controller is stretched out by each vertical leveling hydraulic cylinder of motor driver control, until controller receives each force snesor
The stress value detected is all larger than equal to preset threshold；
It selectes and vertically levels hydraulic cylinder on the basis of any vertical leveling hydraulic cylinder, controller passes through double-shaft tilt angle sensor
Obtain the longitudinal gradient α and cross dip β of the vehicle mounted square cabin (1)；
Corresponding vertical leveling hydraulic cylinder stretching or contract by distance L are calculated according to the longitudinal gradient α1, as α > 0, L1=-
tanα*x；As α < 0, L1=tan | α | * x；As α=0, L1=0；Wherein, x is between two longitudinally perpendicular leveling hydraulic cylinders
Distance；
Stretching or the contract by distance L of its corresponding vertical leveling hydraulic cylinder are calculated according to the cross dip β2, as β > 0,
L2=-tan β * y；As β < 0, L1=tan | β | * y；As β=0, L2=0；Wherein, y is vertically leveled hydraulic for two transverse directions
The distance between cylinder；
Corresponding vertical leveling hydraulic cylinder stretching or contract by distance L are controlled by controller1And L2, control remaining unadjusted non-
Reference vehicular levels hydraulic cylinder and stretches out or shrink, until the stress value that its corresponding force snesor detects is all larger than equal to default
Threshold value, i.e., the described vehicular platform are horizontality.
8. a kind of vehicle mounted square cabin automatic lifting method based on PID as claimed in claims 6 or 7, which is characterized in that the liter
Falling tone section method particularly includes:
When vehicle mounted square cabin (1) lifting, selecting any lifting hydraulic cylinder is benchmark lifting hydraulic cylinder, and controller passes through double
Axial rake sensor obtains the vertical inclination angle a1 and cross dip a3 of the vehicle mounted square cabin (1), according to the vertical inclination angle a1 and
Oblique inclination angle a2 is calculated in cross dip a3,
Corresponding lifting hydraulic cylinder stretching or contract by distance L are calculated according to the vertical inclination angle a13, as a1 > 0, L3=-
tana1*b；As a1 < 0, L3=tan | a1 | * b；As a1=0, L3=0；Wherein, b is between two longitudinal lifting hydraulic cylinders
Distance；
Stretching or the contract by distance L of its corresponding lifting hydraulic cylinder are calculated according to the cross dip a34, as a3 > 0, L4
=-tana3*a；As a3 < 0, L4=tan | a3 | * a；As a3=0, L4=0；Wherein, a is two lateral lifting hydraulic cylinders
The distance between；
Stretching or the contract by distance L of its corresponding lifting hydraulic cylinder are calculated according to the cross dip a25, as a2 > 0, L5
=-tana2*c；As a2 < 0, L5=tan | a2 | * c；As a2=0, L5=0；Wherein, c is two oblique lifting hydraulic cylinders
The distance between；
Corresponding lifting hydraulic cylinder stretching or contract by distance L are controlled by controller3、L4And L5After move synchronously, until the vehicle
Shelter (1) lifting is carried to specified altitude assignment.
9. a kind of vehicle mounted square cabin system based on PID, which is characterized in that be based on including any described one kind of claim 1-5
The vehicle mounted square cabin automatic hoisting mechanism of PID, the vehicle mounted square cabin automatic hoisting mechanism are set on shipping platform (2), the vehicle
It carries and is provided with vehicle mounted square cabin on shelter automatic hoisting mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811632754.3A CN109709798A (en) | 2018-12-29 | 2018-12-29 | A kind of vehicle mounted square cabin automatic hoisting mechanism based on PID, method and shelter system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811632754.3A CN109709798A (en) | 2018-12-29 | 2018-12-29 | A kind of vehicle mounted square cabin automatic hoisting mechanism based on PID, method and shelter system |
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| CN201811632754.3A Pending CN109709798A (en) | 2018-12-29 | 2018-12-29 | A kind of vehicle mounted square cabin automatic hoisting mechanism based on PID, method and shelter system |
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| CN111273702A (en) * | 2020-03-02 | 2020-06-12 | 明峰医疗系统股份有限公司 | Cabin body automatic leveling device of shelter CT and control method |
| CN111625011A (en) * | 2020-05-28 | 2020-09-04 | 武汉联影智融医疗科技有限公司 | Jacking control method and ground brake system |
| CN112436405A (en) * | 2020-10-26 | 2021-03-02 | 国网浙江省电力有限公司宁波供电公司 | Intelligent lifting platform of switch blade mechanism box suitable for multiple terrains |
| CN112963616A (en) * | 2021-03-20 | 2021-06-15 | 南通通博设备安装工程有限公司 | Air pipe installation lifting system |
| CN113321147A (en) * | 2021-05-27 | 2021-08-31 | 中国人民解放军32286部队50分队 | Remote control screw type armored chassis equipment leveling device |
| CN113695278A (en) * | 2021-09-01 | 2021-11-26 | 时新(上海)产品设计有限公司 | Cleaning device, control method for cleaning device, and cleaning robot |
| CN111273702B (en) * | 2020-03-02 | 2024-05-31 | 明峰医疗系统股份有限公司 | Cabin body automatic leveling device of square cabin CT and control method |
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| CN112963616A (en) * | 2021-03-20 | 2021-06-15 | 南通通博设备安装工程有限公司 | Air pipe installation lifting system |
| CN113321147A (en) * | 2021-05-27 | 2021-08-31 | 中国人民解放军32286部队50分队 | Remote control screw type armored chassis equipment leveling device |
| CN113695278A (en) * | 2021-09-01 | 2021-11-26 | 时新(上海)产品设计有限公司 | Cleaning device, control method for cleaning device, and cleaning robot |
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