CN110030981B - Vehicle-mounted platform based on torque motor and automatic stable supporting method thereof - Google Patents

Vehicle-mounted platform based on torque motor and automatic stable supporting method thereof Download PDF

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Publication number
CN110030981B
CN110030981B CN201910181106.9A CN201910181106A CN110030981B CN 110030981 B CN110030981 B CN 110030981B CN 201910181106 A CN201910181106 A CN 201910181106A CN 110030981 B CN110030981 B CN 110030981B
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torque
supporting
torque motor
supporting leg
platform
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CN110030981A (en
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卢振华
吴璀罡
贾乃勋
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XiAn Institute of Optics and Precision Mechanics of CAS
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XiAn Institute of Optics and Precision Mechanics of CAS
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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

Abstract

The invention belongs to the technical field of vehicle-mounted platform support control, and particularly relates to a vehicle-mounted platform based on a torque motor and an automatic stable support method thereof. The invention adopts the torque motor to provide driving force for each supporting leg, utilizes the working torque of the motor as the criterion for completing automatic landing by four supporting legs, and adopts the method of circularly landing by the four supporting legs and finally synchronously supporting to realize the automatic supporting process of the platform. The method not only ensures the reliability and stability of the supporting platform, but also improves the personnel safety and the working efficiency in the supporting process.

Description

Vehicle-mounted platform based on torque motor and automatic stable supporting method thereof
Technical Field
The invention belongs to the technical field of vehicle-mounted platform support control, and particularly relates to a vehicle-mounted platform based on a torque motor and an automatic stable support method thereof.
Background
The vehicle-mounted four-foot platform is a vehicle-mounted device for erecting a high-precision measuring instrument, in the advancing process of a vehicle, four supporting legs of the platform are in a retraction state, the supporting legs are separated from the ground, and the platform falls on a vehicle chassis to ensure the motor transportation function. When the platform works, the vehicle stops, the four supporting legs of the platform extend out, and the supporting legs support the ground, so that the platform leaves the vehicle chassis, is stable, and ensures the working condition of the high-precision measuring instrument.
At present, the supporting process of the vehicle-mounted four-foot platform is completed by manual control. Firstly, an operator controls each supporting foot to fall to a small distance away from the ground, then a spanner is used for sequentially rotating a shaft system of the supporting leg, so that the four supporting feet are supported to the ground, the supporting platform is separated from a vehicle chassis by a distance, and finally the operator judges whether the supporting feet compact the ground according to the torque of the spanner rotating shaft system. Support process has obvious shortcoming above artifical the completion, and at first operating personnel need be operated outside the car, is unfavorable for battlefield personnel safety, and secondly depends on artifical compaction degree of judging four supporting legss inaccurate, influences platform stability, and manual operation wastes time and energy in addition, and is inefficient.
Disclosure of Invention
The invention provides a torque motor-based vehicle-mounted platform and an automatic stable supporting method thereof, aiming at ensuring the reliability and stability of the vehicle-mounted platform and improving the personnel safety and the working efficiency in the supporting process.
The invention aims to adopt a full-automatic method to realize the stable supporting process of the vehicle-mounted platform. The key of the process is that all the supporting feet are required to compact the ground, and the condition that one supporting foot is virtually landed or even suspended cannot occur. Therefore, the supporting force of the supporting legs is a key criterion for judging whether the platform achieves stable support. However, the supporting feet of the vehicle-mounted platform are positioned at the bottom of the vehicle, particularly in the process of vehicle traveling, the environment is severe, and in order to ensure the long-term reliability of the equipment, electrical equipment such as a pressure sensor and the like cannot be arranged at the bottom of the vehicle. Therefore, the information of the support legs of the vehicle-mounted platform is used as a criterion for achieving a stable support state, and the information of the support legs is used for achieving the landing and supporting processes of the support legs, so that the key for achieving automatic stable support of the vehicle-mounted platform is achieved.
The invention adopts the torque motor to provide driving force for each supporting leg, utilizes the working torque of the motor as the criterion for completing automatic landing by four supporting legs, and adopts the method of circularly landing by the four supporting legs and finally synchronously supporting to realize the automatic supporting process of the platform. The method not only ensures the reliability and stability of the supporting platform, but also improves the personnel safety and the working efficiency in the supporting process.
The technical scheme of the invention is to provide a torque motor-based vehicle-mounted platform, which comprises a vehicle-mounted platform, wherein the vehicle-mounted platform comprises a supporting platform for fixing a measuring instrument, supporting legs arranged at the bottom of the supporting platform and supporting feet arranged at the end parts of the supporting legs;
it is characterized in that: the support leg telescopic control device further comprises a processor, a control CPU and a torque motor for driving the support leg to stretch, wherein a control program is stored in the control CPU, and when the control program runs in the processor, the following steps are realized:
1) the supporting leg is lowered;
the control CPU simultaneously controls each torque motor to drive each supporting leg to extend out by using no-load torque, and collects the current no-load torque value; when each supporting leg is about to touch the ground, stopping driving;
2) the supporting legs touch the ground;
controlling the CPU to control the torque motor to drive the supporting leg to extend continuously, so that the supporting leg touches the ground; the control CPU collects the working torque of the torque motor in real time, and stops driving when the working torque reaches a preset value;
3) supporting;
the control CPU controls each torque motor to extend each supporting leg for a certain distance at the same speed, so that the supporting platform is separated from the vehicle chassis.
The method takes the working torque of the torque motor as a criterion for compacting the ground by the supporting legs, and in each supporting leg, the torque motor is adopted to drive each supporting leg to lower and land through a screw mechanism, and a platform is supported. In the process, the working torque of each torque motor can be acquired by the control CPU in real time, the control CPU judges the motion state (downward movement, landing and support) of each supporting leg according to the working torque of each torque motor, corresponding control information is generated, and the torque motors are controlled to execute actions. And a torque motor is utilized, so that closed-loop control is conveniently formed.
Furthermore, the vehicle-mounted platform further comprises a screw rod mechanism connected with an output shaft of the torque motor, and the torque motor drives the supporting legs to stretch and retract through the screw rod mechanism.
Furthermore, the control CPU is composed of a control chip (such as a single chip, a DSP, an FPGA, etc.) with a digital control capability, and the control CPU can control a plurality of torque motors to work simultaneously.
Further, when the control program runs in the processor, the step 2) is specifically:
2.1) controlling the CPU to control one torque motor to drive the corresponding supporting leg to extend continuously, so that the supporting leg is grounded; the control CPU collects the working torque of the torque motor in real time, and stops driving when the working torque reaches a preset value;
2.2) and sequentially controlling other supporting legs according to the same method as the step 2.1) to complete the landing.
Further, the preset value is obtained by the following method:
a. calibrating a no-load moment value of a torque motor under a laboratory environment condition and a working moment value when a supporting leg is pressed on the ground;
b. obtaining a preset value by using the formula (1):
Figure GDA0002355018890000031
wherein f (x) represents a preset value; x represents the no-load torque value of the torque motor in the step 1) under the specific application environment condition; x is the number of0Representing the no-load moment value under the environmental condition of the laboratory; and a represents the working torque value of the torque motor when the supporting leg is pressed on the surface under the environmental condition of the laboratory.
The invention also provides an automatic stable supporting method of the vehicle-mounted platform based on the torque motor, which comprises the following steps:
1) the supporting leg is lowered;
the control CPU simultaneously controls each torque motor to drive each supporting leg to extend out at the same speed by using the no-load torque, and collects the current no-load torque value; when each supporting leg is about to touch the ground, stopping driving;
2) the landing of the supporting legs is the process from the moment that each supporting leg just contacts the ground to the moment that the supporting platform leaves the vehicle chassis:
controlling the CPU to control the torque motor to drive the supporting leg to extend continuously, so that the supporting leg touches the ground; the control CPU collects the working torque of the torque motor in real time, and stops driving when the working torque reaches a preset value;
3) supporting;
the control CPU controls each torque motor to extend each supporting leg for a certain distance at the same speed, so that the supporting platform is separated from the vehicle chassis.
Further, in step 2), in order to avoid the situation that one of the supporting legs is in a virtual ground state or even in a suspended state, the supporting legs cannot be in a ground state at the same time, a method of circularly grounding needs to be adopted, and the specific process is as follows:
2.1) controlling the CPU to control one torque motor to drive the corresponding supporting leg to extend continuously, so that the supporting leg is grounded; the control CPU collects the working torque of the torque motor in real time, and stops driving when the working torque reaches a preset value;
2.2) and sequentially controlling other supporting legs according to the same method as the step 2.1) to complete the landing.
Further, in order to ensure the environmental adaptability of the device, the preset value must be a variation value related to the environment, and the preset value is obtained by the following method:
a. calibrating a no-load moment value of the torque motor under a calibration environment condition and a working moment value when the supporting leg presses the ground;
b. obtaining a preset value by using the formula (1):
Figure GDA0002355018890000041
wherein f (x) represents a preset value; x represents the no-load torque value of the torque motor in the step 1) under the specific application environment condition; x is the number of0Representing the no-load moment value under the environmental condition of the laboratory; and a represents the working torque value of the torque motor when the supporting leg is pressed on the surface under the environmental condition of the laboratory.
The invention has the beneficial effects that:
1. the invention uses the torque motor and takes the working torque thereof as a criterion to realize the automatic stable supporting process of the vehicle-mounted platform, realize the automation of the whole supporting process of the platform, avoid the potential safety hazard problem caused by the operation of battlefield environment personnel and improve the working efficiency.
2. The invention realizes the stable support of the platform by a method of supporting the feet to land circularly. The ground can be compacted by each supporting leg, the effect of stabilizing the supporting platform is achieved, and the conditions that a certain supporting leg is in a virtual ground contact or even in a suspension state are effectively avoided.
3. The invention judges whether the four supporting legs compact the ground or not by using a self-adaptive criterion method. The method can be still effectively realized when the environmental temperature changes, and the environmental adaptability is improved.
Drawings
FIG. 1 is a diagram illustrating the effect of the installation of a vehicle platform according to an embodiment;
the reference numbers in the figures are: 1-a precision measuring instrument, 2-a supporting platform, 3-a torque motor, 4-a vehicle chassis, 5-supporting legs, 6-supporting feet and 7-a screw rod mechanism;
FIG. 2 is a control flow diagram of the vehicle platform;
the reference numbers in the figures are: 8-control CPU, 3-torque motor.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
The embodiment is described by taking a four-leg vehicle-mounted platform as an example, as shown in fig. 1, an installation schematic diagram of the vehicle-mounted platform of the embodiment includes a supporting platform 2, a torque motor 3, four supporting legs 5 and supporting feet 6, wherein the precision measuring instrument 1 is fixed on the supporting platform 2, the four supporting legs 5 are respectively installed at the bottom of the supporting platform 2 and penetrate through a vehicle chassis, and the supporting feet 6 are located at the end parts of the supporting legs 5 and are landing mechanisms for increasing the area and reducing the pressure on the ground. The torque motor 3 is used for driving the supporting leg to stretch.
The precision measuring instrument is generally a high-precision optical angle measuring instrument, the instrument has very high requirements on the stability of the platform, and the measurement precision of the platform is influenced by instability (such as shaking) of the platform. The torque motor is a motor which can be controlled by the CPU and feeds back the working torque to the CPU in real time, and the motor is convenient for realizing closed-loop control. The supporting legs have a telescopic function, the telescopic action of the supporting legs is completed by driving a screw rod mechanism by a torque motor, and the connection relation between a motor screw rod and the supporting legs is the same as that of a screw rod driving device in the prior art; when the vehicle advances, the supporting legs retract, and the supporting platform falls on the vehicle chassis; when the instrument works, the supporting legs extend out until the supporting platform leaves the chassis of the vehicle. The control CPU is constituted by a control chip (e.g., a chip machine, a DSP, an FPGA, etc.) having a digital control capability. The control CPU can simultaneously send commands to the four control torque motors to control the torque motors to work.
The implementation process of the automatic stable supporting method for the four-foot vehicle-mounted platform comprises three steps of lowering, landing and supporting. The lowering step is a process from the top end to the ground, wherein the four supporting legs move at the same speed at the same time, the four supporting legs are in a suspended state in the process, the working torque of a torque motor is minimum, and the torque at the stage is used as the no-load torque of the motor; the landing step is the process of the four support feet just contacting the ground before the support platform leaves the vehicle chassis. The step is a critical stage, the working torque of the torque motor can be increased in a jumping way, and the key for determining whether the platform is stable is also provided; the support step means that the four support legs continue to extend at the same speed until the platform is some distance from the vehicle chassis.
Firstly, after receiving a one-key starting command input by an operator, the control CPU shown in FIG. 2 controls four torque motors to drive the supporting legs to extend out by using no-load torque, and simultaneously, the control CPU collects the no-load torque value returned by the torque motors in real time and calculates the preset value under the current environmental condition by using a formula (1) according to the torque value.
The preset value adopts a self-adaptive dynamic value which changes along with environmental conditions. The method comprises the following specific steps: because the vehicle-mounted platform belongs to equipment for outdoor mobile work, the working environment is relatively complex, particularly the temperature change range is very large, the viscosity of lubricating oil in the torque motor and a transmission screw rod of a supporting leg can be greatly changed, and the working torque of the torque motor can also be greatly changed accordingly. In order to ensure the environmental adaptability of the equipment, the preset value must be a change value related to the environment, and the calculation method is as follows:
Figure GDA0002355018890000061
wherein f (x) represents a preset value; and x represents the no-load torque value of the torque motor in the lower releasing step under the specific application environment condition. x is the number of0Representing a no-load moment value under a calibration environment condition; and a represents the working torque value of the torque motor when the supporting leg is pressed on the surface under the calibration environment condition.
Secondly, when the four supporting feet are put down to be in contact with the ground, the movement is stopped, and the step of landing is carried out: firstly, one supporting leg slowly lands, the CPU is controlled to collect the working torque of the torque motor in real time, when the working torque reaches a preset value, the supporting leg lands completely, the movement is stopped immediately, and other three supporting legs are sequentially controlled according to the same method to land completely in the same method until all the working torques of the four torque motors reach the preset value.
And finally, carrying out a supporting step: and controlling the CPU to control the four torque motors, so that the four supporting legs extend for a certain distance at the same speed, the supporting platform leaves the vehicle chassis, and the whole supporting process is finished.
In the implementation process, calibration parameters are needed in the calculation process of the torque preset value of the torque motor, so that the implementation process of the invention also needs a calibration process (the specific calibration process is a conventional technical means in the field) to mark the no-load torque value under the calibration environmental condition and the working torque of the torque motor when the supporting leg presses the ground under the calibration environmental condition.

Claims (6)

1. A vehicle-mounted platform based on a torque motor comprises a vehicle-mounted platform, wherein the vehicle-mounted platform comprises a supporting platform (2) used for fixing a measuring instrument, supporting legs (5) arranged at the bottom of the supporting platform (2) and supporting feet (6) arranged at the end parts of the supporting legs (5);
the method is characterized in that: the telescopic support leg is characterized by further comprising a processor, a control CPU and a torque motor (3) for driving the support leg (5) to stretch, wherein a control program is stored in the control CPU, and when the control program runs in the processor, the following steps are realized:
1) the supporting leg is lowered;
the control CPU simultaneously controls each torque motor to drive each supporting leg to extend out by using no-load torque, and collects the current no-load torque value; when each supporting leg is about to touch the ground, stopping driving;
2) the supporting legs touch the ground;
controlling the CPU to control the torque motor to drive the supporting leg to extend continuously, so that the supporting leg touches the ground; the control CPU collects the working torque of the torque motor in real time, and stops driving when the working torque reaches a preset value;
the preset value is obtained by the following method:
a. calibrating a no-load moment value of a torque motor under a laboratory environment condition and a working moment value when a supporting leg is pressed on the ground;
b. obtaining a preset value by using the formula (1):
Figure FDA0002438890700000011
wherein f (x) represents a preset value; x represents the no-load torque value of the torque motor in the step 1) under the specific application environment condition; x is the number of0Representing the no-load moment value under the environmental condition of the laboratory; a represents the working torque value of the torque motor when the supporting leg is pressed on the surface under the environmental condition of the laboratory;
3) supporting;
the control CPU controls each torque motor to extend each supporting leg for a certain distance at the same speed, so that the supporting platform is separated from the vehicle chassis.
2. The torque-motor based vehicle platform of claim 1, wherein: the torque motor (3) drives the supporting legs (5) to stretch and retract through the screw rod mechanism.
3. The torque-motor-based vehicle platform of claim 2, wherein: the control CPU is composed of a control chip with digital control capability and can simultaneously control a plurality of torque motors to work.
4. The torque motor-based vehicle-mounted platform according to claim 3, wherein the step 2) is specifically as follows:
2.1) controlling the CPU to control one torque motor to drive the corresponding supporting leg to extend continuously, so that the supporting leg is grounded; the control CPU collects the working torque of the torque motor in real time, and stops driving when the working torque reaches a preset value;
2.2) and sequentially controlling other supporting legs according to the same method as the step 2.1) to complete the landing.
5. A vehicle-mounted platform automatic stable supporting method based on a torque motor is characterized by comprising the following steps:
1) the supporting leg is lowered;
the control CPU simultaneously controls each torque motor to drive the supporting leg to extend out by using the no-load torque, and collects the current no-load torque value; when each supporting leg is about to touch the ground, stopping driving;
2) the supporting legs touch the ground;
controlling the CPU to control the torque motor to drive the supporting leg to extend continuously, so that the supporting leg touches the ground; the control CPU collects the working torque of the torque motor in real time, and stops driving when the working torque reaches a preset value;
the preset value is obtained by the following method:
a. calibrating a no-load moment value of a torque motor under a laboratory environment condition and a working moment value when a supporting leg is pressed on the ground;
b. obtaining a preset value by using the formula (1):
Figure FDA0002438890700000021
wherein f (x) represents a preset value; x represents the no-load torque value of the torque motor in the step 1) under the specific application environment condition; x is the number of0Representing the no-load moment value under the environmental condition of the laboratory; a represents the working torque value of the torque motor when the supporting leg is pressed on the surface under the environmental condition of the laboratory;
3) supporting;
the control CPU controls each torque motor to extend each supporting leg for a certain distance at the same speed, so that the supporting platform is separated from the vehicle chassis.
6. The automatic stable supporting method of the vehicle-mounted platform according to claim 5, wherein the step 2) is specifically:
2.1) controlling the CPU to control one torque motor to drive the corresponding supporting leg to extend continuously, so that the supporting leg is grounded; the control CPU collects the working torque of the torque motor in real time, and stops driving when the working torque reaches a preset value;
2.2) and sequentially controlling other supporting legs according to the same method as the step 2.1) to complete the landing.
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CN112000134B (en) * 2020-08-14 2022-03-04 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
CN114183647B (en) * 2021-12-11 2023-01-03 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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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
CN104747868A (en) * 2015-04-01 2015-07-01 东南大学 Electric leveling supporting leg
CN104875813A (en) * 2015-05-26 2015-09-02 上海大学 Electrically-driven small bionic four-leg robot
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

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
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
CN104747868A (en) * 2015-04-01 2015-07-01 东南大学 Electric leveling supporting leg
CN104875813A (en) * 2015-05-26 2015-09-02 上海大学 Electrically-driven small bionic four-leg robot
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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