CN110030981A - A kind of vehicular platform and its automatic stabilisation method for supporting based on torque motor - Google Patents
A kind of vehicular platform and its automatic stabilisation method for supporting based on torque motor Download PDFInfo
- Publication number
- CN110030981A CN110030981A CN201910181106.9A CN201910181106A CN110030981A CN 110030981 A CN110030981 A CN 110030981A CN 201910181106 A CN201910181106 A CN 201910181106A CN 110030981 A CN110030981 A CN 110030981A
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- torque
- torque motor
- support
- support leg
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention belongs to vehicular platform support and control technical field more particularly to a kind of vehicular platforms and its automatic stabilisation method for supporting based on torque motor.The present invention uses torque motor to provide driving force for each supporting leg, the criterion to land automatically is completed using the work torque of motor as four support legs, and it is landed using four support leg circulations, the method of final synchronous support realizes the automatic support process of platform, operator's key operation in compartment during being somebody's turn to do, without arriving outside compartment.This method not only guarantees the reliability and stability of support platform, but also improves personnel safety and the working efficiency of support process.
Description
Technical field
The invention belongs to vehicular platform support and control technical field more particularly to a kind of vehicular platforms based on torque motor
And its automatic stabilisation method for supporting.
Background technique
Vehicle-mounted four feet platform is a kind of for setting up the car-mounted device of high precision measuring instrument, in vehicular motion,
Four supporting legs of platform are in retracted mode, and support leg leaves ground, and platform is fallen on vehicle chassis, guarantee motorized transport function
Energy.Vehicle stops when working platform, and four supporting legs of platform stretch out, and support leg supports to ground, platform is made to leave vehicle bottom
Disk keeps stablizing, it is ensured that the operating condition of high precision measuring instrument.
Currently, the support process of vehicle-mounted four feet platform manually controls completion.It is operated first each support leg of personnel control
Under fall on the distance of very little from the ground, later using the shafting of the incremental rotation supporting leg of spanner, make four support legs supports
To ground, support platform disengages vehicle chassis a distance, and last operation personnel sentence according to the torque size of spanner rotary axis
Whether disconnected support leg is compacted ground.Be accomplished manually process supported above have the shortcomings that it is obvious, be operated first personnel need in vehicle
Outer operation is unfavorable for battlefield personnel safety, secondly manually judges compaction's inaccuracy of four support legs, it is steady to influence platform
Qualitative, in addition manual operation is time-consuming and laborious, low efficiency.
Summary of the invention
In order to guarantee reliability and stability, the personnel safety for improving support process and the working efficiency of vehicular platform,
The present invention provides a kind of vehicular platform based on torque motor and its automatic stabilisation method for supporting.
A kind of full automatic method of proposed adoption of the present invention, realizes the stabilization support process of vehicular platform.The pass of this process
Key is that each support leg must all be compacted ground, and land even hanging situation there can be no some support leg void.Therefore, it props up
The support force of support foot is to judge whether platform reaches the key criterion for stablizing support.But the support leg of vehicular platform is located at vehicle
Bottom, especially in vehicular motion, environment is more severe, cannot be at vehicle bottom in order to guarantee the long-term reliability of equipment
Lay the electrical equipments such as pressure sensor in portion.So which kind of information to reach stable holding state as vehicular platform support leg using
Criterion, and how to realize each support leg landing and support process, be the key that vehicular platform automatic stabilisation support realize.
The present invention uses torque motor to provide driving force for each supporting leg, using the work torque of motor as four branch
Support foot completes the criterion to land automatically, and is landed using four support leg circulations, and the method for final synchronous support realizes platform
Automatic support process, operator's key operation in compartment during being somebody's turn to do, without arriving outside compartment.This method is not only protected
The reliability and stability of support platform are demonstrate,proved, and improve personnel safety and the working efficiency of support process.
The technical solution of the invention is as follows provides a kind of vehicular platform based on torque motor, including vehicular platform, on
State vehicular platform include for fixation measuring instrument support platform, be arranged in support platform bottom supporting leg and setting propping up
The support leg of support leg end；
It is characterized in that further include processor, control CPU and the torque motor for driving supporting leg flexible, control
Storage control program performs the steps of when control program is run in the processor in CPU processed
1), supporting leg is transferred；
Control CPU controls each moment motor simultaneously and drives each supporting leg to stretch out with unloading torque, and acquires current unloaded power
Square value；When each support leg will land, stop driving；
2), support leg lands；
Control power control cpu torque motor driving supporting leg continues to extend, its support leg is made to land；Control CPU is acquired in real time
The work torque of the torque motor stops driving after the torque that works reaches preset value；
3) it, supports；
It controls CPU and controls each moment motor, each supporting leg is made to extend a certain distance with identical speed, so that support is flat
Platform leaves vehicle chassis.
The method that the criterion on ground is compacted using the work torque of torque motor as support leg, in each supporting leg, point
Not Cai Yong torque motor by the decentralization of each supporting leg of screw drive mechanism, land, and support platform.In the above process, each power
The work torque of torque motor can be acquired in real time by control CPU, control CPU according to the work torque of each moment motor and judge each
The motion state (transfer, land, supporting) of support foot, and corresponding control information is generated, control moment motor executes movement.It utilizes
Torque motor, convenient for forming closed-loop control.
Further, above-mentioned vehicular platform further includes the screw body with torque motor output axis connection, and torque motor is logical
It is flexible to cross screw drive mechanism supporting leg.
Further, above-mentioned control CPU be made of the control chip with digital control ability (such as single-chip microcontroller,
DSP, FPGA etc.), control CPU can control multiple torque motor work simultaneously.
Further, when control program is run in the processor, step 2) specifically:
2.1), control CPU controls one of torque motor driving respective support leg and continues to extend, and makes its support leg
Ground；Control CPU acquires the work torque of the torque motor in real time, after the torque that works reaches preset value, stops driving；
2.2), other each support leg completions are successively controlled according to method same as step 2.1) to land.
Further, preset value is obtained by the following method:
A, work when unloading torque value and support leg the compacting ground of calibration torque motor under laboratory environment condition
Moment values；
B, preset value is obtained using formula (1):
Wherein, f (x) indicates preset value；Under the conditions of x indicates specific application environment, the unloaded power of torque motor in step 1)
Square value；x0Indicate the unloading torque value under laboratory environment condition；A indicates under laboratory environment condition that support leg is compacted ground
When, the work moment values of torque motor.
The present invention also provides a kind of automatic stabilisation method for supporting of above-mentioned vehicular platform based on torque motor, including it is following
Step:
1), supporting leg is transferred；
Control CPU is controlled each moment motor simultaneously and drives each supporting leg to be stretched out with identical speed with unloading torque, and is adopted
Collect current unloading torque value；When each support leg will land, stop driving；
2), support leg lands, and is that each support leg just touches ground, the mistake before leaving vehicle chassis to support platform
Journey:
Control power control cpu torque motor driving supporting leg continues to extend, its support leg is made to land；Control CPU is acquired in real time
The work torque of the torque motor stops driving after the torque that works reaches preset value；
3) it, supports；
It controls CPU and controls each moment motor, each supporting leg is made to extend a certain distance with identical speed, so that support is flat
Platform leaves vehicle chassis.
Further, in above-mentioned steps 2) in, it lands even hanging situation in order to avoid there is some support leg void,
Each support leg cannot land simultaneously, and the method for needing to land using circulation, detailed process is as follows:
2.1), control CPU controls one of torque motor driving respective support leg and continues to extend, and makes its support leg
Ground；Control CPU acquires the work torque of the torque motor in real time, after the torque that works reaches preset value, stops driving；
2.2), other each support leg completions are successively controlled according to method same as step 2.1) to land.
It further, is the environmental suitability for guaranteeing equipment, preset value must be the changing value of one with environmental correclation, lead to
It crosses following method and obtains preset value:
A, the operational forces when the unloading torque value and support leg of torque motor under demarcating environmental condition are compacted ground are demarcated
Square value；
B, preset value is obtained using formula (1):
Wherein, f (x) indicates preset value；Under the conditions of x indicates specific application environment, the unloaded power of torque motor in step 1)
Square value；x0Indicate the unloading torque value under laboratory environment condition；A indicates under laboratory environment condition that support leg is compacted ground
When, the work moment values of torque motor.
The beneficial effects of the present invention are:
1, the present invention utilizes torque motor, and using its work torque as criterion, realizes the support of vehicular platform automatic stabilisation
Process realizes the automation of platform overall process, avoids battlefield environment personnel and operates bring security hidden trouble, mentions
High working efficiency.
2, the present invention recycles the method to land by support leg, realizes platform stable support.It may insure each support leg
Situations such as compacting ground, plays the role of stable support platform, effectively prevents some support leg void and land, or even hanging
Occur.
3, the present invention judges whether four support legs are compacted ground using the method for adaptive criterion.Guarantee in environment temperature
When degree variation, still effectively realizing for this method improves environmental suitability.
Detailed description of the invention
Fig. 1 is the installation effect figure of embodiment vehicular platform；
Appended drawing reference in figure are as follows: 1- fine measuring instrument, 2- support platform, 3- torque motor, 4- vehicle chassis, 5- support
Leg, 6- support leg, 7- screw mechanism；
Fig. 2 is the control flow chart of vehicular platform；
Appended drawing reference in figure are as follows: 1- controls CPU, 2- torque motor.
Specific embodiment
The present invention is further described through below in conjunction with drawings and the specific embodiments.
Embodiment is illustrated by taking four foot vehicular platforms as an example, as shown in Figure 1, the installation of the present embodiment vehicular platform is illustrated
Figure, including support platform 2, torque motor 3, supporting leg 5 and support leg 6, fine measuring instrument 1 are fixed in support platform 2, are propped up
Support leg 5 is four, and the bottom for being separately mounted to support platform 2 passes through vehicle chassis, and support leg 6 is located at the end of supporting leg 5, is
Land mechanism, for increasing area, reduces the pressure to ground.Torque motor 3 is for driving supporting leg flexible.
Fine measuring instrument is usually high-precision optical angle measuring instrument, and the instrument is very high to the stability requirement of platform,
Unstable (for example shaking) of platform can have an impact its measurement accuracy.Torque motor is that one kind can be controlled by CPU, and
By work torque Real-time Feedback to the motor of CPU, closed-loop control is easy to implement using the motor.Supporting leg has Telescopic,
Its expanding-contracting action is completed by torque motor driving screw mechanism, and the connection relationship of specific motor lead screw and supporting leg is compared with technology
Middle lead-screw driving device；When vehicle is advanced, supporting leg is retracted, and support platform is fallen on vehicle chassis；Supporting leg when instrument works
It stretches out, until support platform leaves vehicle chassis.Control CPU be by with digital control ability control chip (such as piece machine,
DSP, FPGA etc.) it constitutes.Order, the work of control moment motor can be sent to four control moment motors simultaneously by controlling CPU.
The realization process of four foot vehicular platform automatic stabilisation method for supporting of the present embodiment includes transferring, landing, supporting three
Step.Wherein decentralization step refers to, four support legs simultaneously with identical speed from top setting in motion, to contact ground it
Preceding process, four support legs are in vacant state during being somebody's turn to do, and the work torque of torque motor motor is minimum, the power in the stage
Unloading torque of the square as motor；The step that lands is that four support legs just touch ground, leaves vehicle chassis to support platform
Process before.The step is a critical stage, and the work torque of torque motor will appear the increase of a great-jump-forward, and
Determine the whether stable key of platform；Support step refers to that four supporting legs continue with the elongation of identical speed, until platform from
Open the certain distance of vehicle chassis.
Firstly, control CPU is connected to after the one-key start order of operator's input as shown in Figure 2, while controlling four
Torque motor is stretched out with unloading torque driving supporting leg, at the same time, the unloaded power that control CPU acquisition torque motor returns in real time
Square value, and according to the moment values, the preset value under current environmental condition is calculated using formula (1).
Preset value uses the adaptive dynamic value with changes in environmental conditions.It is specific as follows: since vehicular platform belongs to open air
The equipment of mobile working, working environment is more complicated, and especially range of temperature is very big, this will lead to torque motor and branch
Lubricating oil viscosity in the turn-screw of support leg has greatly changed, therefore the work torque of torque motor can also generate therewith
Biggish variation.For the environmental suitability for guaranteeing equipment, preset value must be the changing value of one with environmental correclation, calculation method
It is as follows:
Wherein, f (x) indicates preset value；Under the conditions of x indicates specific application environment, the sky of torque motor in decentralization step
Carry moment values.x0Indicate the unloading torque value under calibration environmental condition；A indicates under calibration environmental condition that support leg is compacted ground
When, the work moment values of torque motor.
Secondly, the stop motion when four support legs are transferred to i.e. into contact with ground, into the step that lands: first by one
Support leg lands at a slow speed, and control CPU acquires the work torque of the torque motor in real time, after the torque that works reaches preset value,
It indicates that the support leg lands completion, stops movement immediately, control other three support legs successively after the same method with identical
Method completion land, until the work torque of four torque motors entirely reaches preset value.
Finally be supported step: control CPU controls four torque motors, extends four supporting legs with identical speed
A certain distance, support platform leave vehicle chassis, entire that process is supported to complete.
During above-mentioned realization, the calculating process of the torque preset value of torque motor needs to use calibrating parameters, therefore, this
The realization process of invention also needs calibration process (specific calibration process is conventional technical means in the art), indicates in calibration ring
Under unloading torque value under the conditions of border, and calibration environmental condition, when support leg is compacted ground, the work torque of torque motor.
Claims (8)
1. a kind of vehicular platform based on torque motor, including vehicular platform, the vehicular platform includes being used for fixation measuring instrument
The support platform (2) of device, setting support platform (2) bottom supporting leg (5) and setting supporting leg (5) end support leg
(6)；
It is characterized by also including processor, control CPU and the torque motor (3) for driving supporting leg (5) flexible, control
Storage control program performs the steps of when control program is run in the processor in CPU
1), supporting leg is transferred；
Control CPU controls each moment motor simultaneously and drives each supporting leg to stretch out with unloading torque, and acquires current unloading torque value；
When each support leg will land, stop driving；
2), support leg lands；
Control power control cpu torque motor driving supporting leg continues to extend, its support leg is made to land；Control CPU acquires the power in real time
The work torque of torque motor stops driving after the torque that works reaches preset value；
3) it, supports；
Control CPU control each moment motor, so that each supporting leg is extended a certain distance with identical speed so that support platform from
Open vehicle chassis.
2. the vehicular platform according to claim 1 based on torque motor, it is characterised in that: further include and torque motor
(3) screw body of axis connection is exported, torque motor (3) is flexible by screw drive mechanism supporting leg (5).
3. the vehicular platform according to claim 2 based on torque motor, it is characterised in that: the control CPU is by having
There is the control chip of digital control ability to constitute, control CPU can control multiple torque motor work simultaneously.
4. the vehicular platform according to claim 3 based on torque motor, which is characterized in that step 2) specifically:
2.1), control CPU controls one of torque motor driving respective support leg and continues to extend, its support leg is made to land；Control
CPU processed acquires the work torque of the torque motor in real time, after the torque that works reaches preset value, stops driving；
2.2), other each support leg completions are successively controlled according to method same as step 2.1) to land.
5. the vehicular platform according to claim 4 based on torque motor, which is characterized in that obtain by the following method pre-
If value:
A, work torque when unloading torque value and support leg the compacting ground of calibration torque motor under laboratory environment condition
Value；
B, preset value is obtained using formula (1):
Wherein, f (x) indicates preset value；Under the conditions of x indicates specific application environment, the unloading torque value of torque motor in step 1)；
x0Indicate the unloading torque value under laboratory environment condition；A is indicated under laboratory environment condition, when support leg is compacted ground, power
The work moment values of torque motor.
6. a kind of vehicular platform automatic stabilisation method for supporting based on torque motor, which comprises the following steps:
1), supporting leg is transferred；
Control CPU is controlled each moment motor simultaneously and is stretched out with unloading torque driving supporting leg, and acquires current unloading torque value；When
When each support leg will land, stop driving；
2), support leg lands；
Control power control cpu torque motor driving supporting leg continues to extend, its support leg is made to land；Control CPU acquires the power in real time
The work torque of torque motor stops driving after the torque that works reaches preset value；
3) it, supports；
Control CPU control each moment motor, so that each supporting leg is extended a certain distance with identical speed so that support platform from
Open vehicle chassis.
7. vehicular platform automatic stabilisation method for supporting according to claim 6, which is characterized in that step 2) specifically:
2.1), control CPU controls one of torque motor driving respective support leg and continues to extend, its support leg is made to land；Control
CPU processed acquires the work torque of the torque motor in real time, after the torque that works reaches preset value, stops driving；
2.2), other each support leg completions are successively controlled according to method same as step 2.1) to land.
8. vehicular platform automatic stabilisation method for supporting according to claim 7, it is characterised in that:
Preset value is obtained by the following method:
A, work torque when unloading torque value and support leg the compacting ground of calibration torque motor under laboratory environment condition
Value；
B, preset value is obtained using formula (1):
Wherein, f (x) indicates preset value；Under the conditions of x indicates specific application environment, the unloading torque value of torque motor in step 1)；
x0Indicate the unloading torque value under laboratory environment condition；A is indicated under laboratory environment condition, when support leg is compacted ground, power
The work moment values of torque motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181106.9A CN110030981B (en) | 2019-03-11 | 2019-03-11 | Vehicle-mounted platform based on torque motor and automatic stable supporting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181106.9A CN110030981B (en) | 2019-03-11 | 2019-03-11 | Vehicle-mounted platform based on torque motor and automatic stable supporting method thereof |
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| Publication Number | Publication Date |
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| CN110030981A true CN110030981A (en) | 2019-07-19 |
| CN110030981B CN110030981B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910181106.9A Active CN110030981B (en) | 2019-03-11 | 2019-03-11 | Vehicle-mounted platform based on torque motor and automatic stable supporting method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112000134A (en) * | 2020-08-14 | 2020-11-27 | 中国电子科技集团公司第三十八研究所 | Self-adaptive automatic leveling auxiliary supporting leg control method and system |
| CN114183647A (en) * | 2021-12-11 | 2022-03-15 | 中国科学院长春光学精密机械与物理研究所 | Self-leveling method of linkage supporting mechanism |
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| CN105346523A (en) * | 2015-11-23 | 2016-02-24 | 贵州航天天马机电科技有限公司 | Self-adaptation leveling lifting system and using method thereof |
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| CN101551673A (en) * | 2009-03-30 | 2009-10-07 | 零八一电子集团有限公司 | Automatic leveling system of multipoint electric support platform |
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| CN112000134A (en) * | 2020-08-14 | 2020-11-27 | 中国电子科技集团公司第三十八研究所 | Self-adaptive automatic leveling auxiliary supporting leg control method and system |
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| CN114183647A (en) * | 2021-12-11 | 2022-03-15 | 中国科学院长春光学精密机械与物理研究所 | Self-leveling method of linkage supporting mechanism |
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| CN110030981B (en) | 2020-07-31 |
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