CN110375923A - A kind of automatic horizontal control system and method - Google Patents
A kind of automatic horizontal control system and method Download PDFInfo
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- CN110375923A CN110375923A CN201910765274.2A CN201910765274A CN110375923A CN 110375923 A CN110375923 A CN 110375923A CN 201910765274 A CN201910765274 A CN 201910765274A CN 110375923 A CN110375923 A CN 110375923A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating unbalance
Abstract
The present invention relates to leveling technology fields, it is therefore an objective to provide a kind of automatic horizontal control system and method, the present invention includes motor, speed reducer, protection circuit, self-checking circuit and detection part；The control section is provided with driver and controller；The output end of the sensor is connect with the first input end of the controller, first output end of the controller is connect with the input terminal of the driver, the output end of the driver is connect with the input terminal of the motor, the output end of the motor is connect with the input terminal of the self-checking circuit, the output end of the self-checking circuit is connect with the second input terminal of the controller, and the self-checking circuit for completing the malfunction monitoring of system in real time；The second output terminal of the controller is connect with the input terminal of the protection circuit, and the output end of the protection circuit is connect with the speed reducer, is given the control section by the detection part feedback signal, is controlled the stretching or retraction of four supporting legs.
Description
Technical field
The present invention relates to leveling fields, and in particular to a kind of automatic horizontal control system and method.
Background technique
Many national defence and engineering machinery such as missile truck, various mobile radar antenna trucks, heavy duty crane, piling machine
After reaching predetermined position, make vehicle body worked to increase its accurate horizontal reference of operation stability requirement fast erecting
Horizontality is kept in journey, these vehicular platforms are generally provided with hydraulic leg, and the form of supporting leg and the composition of hydraulic system are more
Kind multiplicity, it is previous using screw rod or hydraulic jack is manually adjusted, by observing bubble, operate each screw rod of adjusting repeatedly by more people
Supporting leg reaches horizontal, and this method adjustment time is long, precision is low, and operation difficulty is big, and needs more people's compounding practices.In recent years,
Method for automatically leveling develops quickly, including hydraulic leveling and electromechanical leveling system, substantially reduces the time of leveling, improves
The precision of leveling, it is only necessary to which startup power supply, which can be completed, all to be set up and level.Common levelling mechanism has spiral supporting leg and liquid
Two kinds of forms of supporting leg are pressed, multiple supporting legs are arranged symmetrically in emission system two sides, by the upper and lower flexible of supporting leg, realize transmitting system
The leveling of system.
CN201010588391.5, leveling method and electromechanical automatic leveling system based on four-point supporting, the invention are public
A kind of leveling method and electromechanical automatic leveling system based on four-point supporting is opened, leveling method uses the diagonal of symmetrical expression
The strategy of line lifting leveling, is mainly adjusted by the levelness of the line to the supporting point on diagonal line, Lai Shixian
The purpose of leveling；Leveling system includes central processing unit, horizon sensor, control keyboard, display, four AC synchronous samplings
Device and four supporting legs；Supporting leg includes motor, retarder, ball-screw and pedestal.Present invention is particularly suitable for for big-and-middle
The various engineering trucks of type radar truck vehicular platform, communication van and engineering machinery, method have leveling efficiency and leveling reliable
Property it is high the advantages that, leveling system has many advantages, such as to level that precision is high, speed is fast, but whole control is difficult to settle at one go
Leveling, is needing a large amount of debug time after the assembly is completed, it cannot be guaranteed that when four supporting legs realize a key under any state
Leveling.
Therefore a kind of leveling system being needed, control can be leveled and settled at one go, not overshoot nonoscillatory, precision is high, and speed is fast,
The product whole safety for guaranteeing product operation and reliable in the process of running, it is easy to use, set up and remove receipts can a local key it is complete
At can also network-control.
Summary of the invention
It is an object of the present invention to drop mode, key leveling mode by the way that same liter is same in the automatic leveling algorithm of this system
It is run using time driving according to certain time interval with electric leveling mode, completes the cores such as the calculating of control amount and appoint
Business, user only need according to different needs such as stroke, load, precision, the module of running environment progress selection criteria, significantly
User time is saved, time and opportunity cost are saved；
To achieve the above object, the technical scheme adopted by the invention is that: a kind of automatic horizontal control system and method: including electricity
Motivation, speed reducer, control section, protection circuit, self-checking circuit and detection part；
The detection part includes sensor, and the dip angle signal that the sensor is used to acquire supporting leg feeds back to the control
Part processed；
The control section is provided with driver and controller, the first input end company of the sensor and the controller
It connects, the first output end of the controller is connect with the driver, and the driver is connect with the motor, the control
Device is used to transmit control instruction to the driver；The driver makes a response to the control instruction, controls motor；
It include self-checking circuit on the motor, the second input of the output end of the self-checking circuit and the controller
End connection, the self-checking circuit are used to acquire the motor current signal,
The second output terminal of the controller and the protection circuit connection, the protection circuit and the speed reducer connect
It connects, the protection circuit receives the protection instruction and controls the speed reducer；
By using above-mentioned technical proposal, each supporting leg state is detected by the sensor of the detection part, reads and passes
The location information of sensor, the controller carry out processing sending control signal and are delivered to the driver, and the driver will be right
The instruction answered is sent to the motor, and the torque etc. of the self-checking circuit real-time detection motor feeds back to signal described
Controller, when the parameters such as the revolving speed of the motor are unsatisfactory for user demand, the controller to protection circuit sending signal,
The speed reducer work, realizes the leveling of the fast and stable safety of supporting leg.
It preferably, further include having presentation controller circuit, the third output end of the controller is connect with the presentation controller circuit, described
Presentation controller circuit is for showing tilt angles value and fault code.
By using above-mentioned technical proposal, operator can be by the presentation controller circuit to supporting leg torque, motor force
The parameter real time monitorings such as square, motor speed, current of electric.
It preferably, further include having control panel, the third input terminal of the output end of the control panel and the controller
Signal is manually entered for acquiring in connection, the control panel.
Corresponding signal is inputted, guard system is not currently at by the control panel by using above-mentioned technical proposal
What state, as long as each subassembly does not report failure, system detects each supporting leg state, the position of read level sensor automatically
System is adjusted to horizontality by prestissimo, realizes the function of key leveling by information.
Preferably, the motor drive uses AC servo mode.
By using above-mentioned technical proposal, AC synchronous sampling has complete speed sync, moment inspecting and exception
Defencive function, the technical requirements that can sufficiently realize the safety of this system and levelling mechanism is sufficiently controlled and detected, and obtain
It obtains leveling process smoothly and accurately levels result.
Preferably, a kind of method for automatically leveling, including the following steps:
S1: the current signal on motor detect and judge the current signal by self-checking circuit；
S2: in S1, when current signal is judged as abnormal, presentation controller circuit shows fault code, and current signal judgement is normal
When, leveling mode is selected by controller；
S3: after controller selects corresponding control model, by driver driving motor four supporting legs are realized
Leveling.
Preferably, it includes that a key levels mode that mode is leveled in the S2, and the key leveling mode includes the following steps:
S21: controller selects a key to level mode, and four supporting legs stretch out, if four supporting legs land, enter
Otherwise S22 repeats S21
S22: if four supporting legs reach setting height, into S23, otherwise, S22 is repeated；
S23: by entering thick leveling procedure, the first supporting leg is calculated to the range difference of reference altitude, selects described first
Supporting leg is remained stationary as reference support leg, remaining supporting leg is gone up and down, if four supporting legs are all satisfied the flat precision of coarse adjustment,
Into S24, otherwise repeatedly S23；
S24: by entering smart leveling procedure, adjustment supporting leg is in x-axis direction level, into S25；
S25: adjustment supporting leg is in y-axis direction level, into S26；
S26: if y-axis precision meets, enter S27, otherwise repeatedly S26；
S27: if x-axis precision meets, leveling terminates, otherwise repeatedly S27.
It preferably, further include passing through the stretching or retraction of four supporting legs of driving simultaneously with same drop mode is stretched.
Compared with prior art, beneficial effects of the present invention include: using the intelligent leveling control algolithm of original creation, adjusting
Flat control settles at one go, not overshoot nonoscillatory, and leveling precision is high, and speed is fast, fully meets future war property high to weapon system
The requirement of energy, high maneuverability levels precision up to 30 ", the speed of service is fast, substantially increases the erection efficiency of platform.
Detailed description of the invention
Fig. 1 is the control algolithm structural schematic diagram of a kind of automatic horizontal control system of the present invention and method；
Fig. 2 is that plateau levels degree adjusts schematic diagram in embodiment in the present invention；
Fig. 3 is the flow chart of self-checking circuit in embodiment in the present invention；
Fig. 4 is the structural schematic diagram of software composition in embodiment in the present invention；
Fig. 5 is the structural schematic diagram of grounding design in embodiment in the present invention；
Fig. 6 is the controller general illustration of embodiment in the present invention；
Fig. 7 is the structural schematic diagram of initialization module in embodiment in the present invention；
Fig. 8 is display control module schematic diagram in embodiment in the present invention.
Specific embodiment
Below with reference to attached drawing 1~8 of the invention, technical solution in the embodiment of the present invention is clearly and completely retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts.
In the description of the present invention, it is to be understood that, term " counterclockwise ", " clockwise " " longitudinal direction ", " transverse direction ",
The orientation of the instructions such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" or
Positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention, rather than is indicated or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
Fig. 1 is a kind of structural schematic diagram of the control algolithm of method for automatically leveling of the present invention；
Please refer to Fig. 1, a kind of automatic horizontal control system, including motor, speed reducer, control section, protection circuit, self-test electricity
Road and detection part；
The detection part includes sensor, and the dip angle signal that the sensor is used to acquire supporting leg feeds back to the control
Part processed；
The control section is provided with driver and controller, the first input end company of the sensor and the controller
It connects, the first output end of the controller is connect with the driver, and the driver is connect with the motor, the control
Device is used to transmit control instruction to the driver；The driver makes a response to the control instruction, controls motor；
It include self-checking circuit on the motor, the second input of the output end of the self-checking circuit and the controller
End connection, the self-checking circuit are used to complete the malfunction monitoring of the motor current signal in real time,
Signal is issued to the controller when a fault has occurred；
The second output terminal of the controller and the protection circuit connection, the protection circuit and the speed reducer connect
It connects, the protection circuit receives the protection instruction and controls the speed reducer；
Wherein, it feeds back the dip angle signal by the detection part to be handled to the controller, the controller
The control instruction, electric motor operation described in the driver control, so that four supporting legs are transmitted to the driver
Stretching or retraction, the controller, the controller are sent for the motor current signal by the self-checking circuit
The protection instruction is issued to the protection circuit after processing, the speed reducer is controlled, realizes the supporting leg closed-loop stabilization tune
It is flat.
It is worth noting that supporting leg includes motor, speed reducer, trapezoidal screw, bearing and load-bearing plate, the present embodiment is
Four leveling systems, system can control load part and stretch out or retract by detection part feedback signal to control section, allow four
Supporting leg is stretched out by established procedure or is retracted certain length, reaches the function of making workbench be in horizontality in real time.
It is worth noting that the system also includes there is presentation controller circuit, the third output end of the controller is shown with described
Circuit connection is controlled, the presentation controller circuit is for the detection to supporting leg torque, motor torque, motor speed, current of electric etc., institute
Stating presentation controller circuit is charactron array or military project liquid crystal display, and for showing tilt angles value and fault code, operator can be with
By the presentation controller circuit to the parameter real time monitorings such as supporting leg torque, motor torque, motor speed, current of electric, the system
System further includes having control panel, and the output end of the control panel is connect with the third input terminal of the controller, the control
Signal is manually entered for acquiring in panel, and the detection part further includes having encoder, and the sensor passes through the encoder
It is connect with the first input end of the controller, the sensor uses obliquity sensor；
Motor selects model 123BL (2) B450-30HST-B-1-T, rated power 4.5kw, volume in the present embodiment
Determining torque is 14.775N.m, rated speed 3000r/min；Driver is selected: model PSDA8022A9T, rated power are
8.0kw, three proofings requirement: meet three proofings and require (dust-proof, moisture-proof, salt spray proof), vibration requires: frequency is from 5Hz-25Hz, amplitude
3mm, 25Hz-200Hz, 3g, 30min, impact require: by impact 18g, 6ms, half-wave, 300 times i.e. every axis is every to 50 times, and totally three
Axis six-way；Speed reducer uses harmonic speed reducer, harmonic speed reducer have speed ratio is big, precision is high, high-efficient, carrying is big, low noise,
Small in size, light-weight, the advantages that being sealed, design parameter is as follows: reduction ratio: 60, maximum output torque: and 360N.m, it is maximum defeated
Entering power: 6.020kw when inputting as 3000r/min, exports revolving speed 38r/min, and drive lead screw selects model Tr60 × 10-
7H/7h, nominal diameter are φ 60, and the horizon sensor measures axis: X-axis, Y using model ACA2000T-10-C0
Axis；The power supply selects model MAF150-220S24, and current limit point: 120% (Typ), response speed: 400 μ s have
Overload, overheat, short-circuit protection；
It is worth noting that the specific requirements in conjunction with the present embodiment are analyzed, this controller is using embedded system technology as base
Plinth, selecting serial 32 digit flash memory microcontrollers of STM32 is core, constitutes hardware platform and system software, 32 sudden strains of a muscle of STM32 series
Deposit microcontroller use from ARM company have, have breakthrough Cortex-M3 kernel, be specially designed at satisfaction collection high-performance,
Low-power consumption, in real time application, with competitive price in one built-in field requirement, be responsible for information processing, control, be
The multiple functions such as system detection, communication, fault detection and processing are the critical components for realizing system performance index, and specific control is total
Body structure please refers to Fig. 6.
It is worth noting that the supporting leg driving of this system uses AC servo mode, this is because AC synchronous sampling
With the mature technology being widely used at present, there is complete speed sync, moment inspecting and abnormity protection function, it can be with
The technical requirements sufficiently realized the safety of this system and levelling mechanism is sufficiently controlled and detected, and obtain smooth leveling
Journey and accurate leveling are as a result, referring to figure 2., this system is on leveling algorithm using the calculation of the symmetrical balance leveling in breakthrough ground
Method, multipair bi-axial tilt degree is approached to horizontal position simultaneously restrains, and is rapidly reached the levelness index of system, meanwhile, the leveling
Method not only can be avoided car body " 3 points of leveling " conventional method " empty leg " phenomenon, guarantee that a plurality of supporting leg effectively lands.
It is worth noting that system design has corresponding self-test since Mechatronic Systems is very high to safety and reliability
Circuit completes the malfunction monitoring of system in real time, carries out corresponding fault-tolerant processing and protection when a fault has occurred, to guarantee entire adjust
Each mechanical, electric component reliability service of flat system, system have made Protective Design following aspects to leg motion: one
It is to have used contactless detecting element-close to switch, using is Japanese OMROM production close to switch, and model is
E2E-X5E1, when supporting leg moves to the position of limit mechanical stroke, control program can protectively stop motor movement
Come, in order to avoid leg motion touches mechanical position limitation component, causes motor " stall " or structure member to deform and even damage, and install
Also easily, as long as there is the threaded hole of a corresponding size；Second is that protecting to supporting leg limit load, pass through real-time monitoring direct current
The torque current feedback information of machine is realized.In technique, the setting value of the ultimate torque should be less than the overload of driver itself
Alarm threshold value.When motor the overload of this degree occurs because of certain reason, control program can protectively stop motor movement
Get off, in order to avoid cause unexpected consequence；Third is that driver alarm and protection, when some driver is alarmed because certain reason triggers,
The motor can not be moved by command speed, and for the unexpected change for avoiding aerial truck posture in this case, this system is just
It can stop the movement of all motors.
It is worth noting that system is for motor and driver design protection, ac driver is using international newest motor
Special digital processor DSP is core, is equipped with high speed digital logic chip, high-quality power module and form, have good
Robustness and adaptive ability, the servo motor of plurality of specifications can be cooperated, be integrated with overcurrent, over-voltage, under-voltage, overload, volume
The perfect protection mechanisms such as code device failure, with 15 kinds or more of real-time monitored item, an amount failure stops motor operating immediately,
It by communication interface reporting fault information, checks and safeguards in time with standby user, in the ac power input end of driver, rectification
The capacitor for having a capacitance very big behind device, so 4 drivers are simultaneously powered up, transient current suffered by system impacts very
Greatly, it is powered on by the capacitive AC contactor of level-one respective volume to driver, just can solve asking for electric current moment impact
Topic.The principle of capacitive AC contactor is first to be filled to the capacitive load of institute's band before main circuit closure by certain circuit
Electricity after being charged to a certain degree, then closes a floodgate, to avoid moment impact when closing a floodgate.Capacitive AC contactor is as function
The connection and disjunction of Self-healing low-voltage shunt capacitor in rate compensation device are used.Contactor, which has, inhibits the device that shoves,
Can effectively reduce and step on the overvoltage that lock shoves when cut-offfing to the impact and inhibition of capacitor, avoid preposition air switch by
Immediate current impact it is very big, be easy tripping.
It is worth noting that 4 drivers are hung on extension set side wall, one is equipped with by bottom in the inside of extension set
Can, control printed board are just inserted in wherein, and all external connecting lines are drawn from the socket of postnotum, can be effectively
It avoids spatial electromagnetic from interfering, is also equipped with manual governing device on the front panel of this small can, when control printed board goes out
When existing failure, it can be switched to manual governing state, in case use is also the scene of assembler before product export when emergency
Debugging brings many conveniences, in the present embodiment, due to being equipped with 4 drivers, and forceful electric power in a slight cabinet
Driving and vulnerabilities scan concentrate in together, so interference protection measure is just particularly important, take following measures: first is that installing additional
Filter is filled in the inlet wire of power supply close to alternating-current controller side, main to inhibit alternating-current controller to the feedback interference of power grid；Second is that
Using three-wire system, cancel described in middle line, that is, Electro Magnetic Compatibility, this one kind for namely reducing swept area is done in fact
380V isolated from power transformation is 220V power supply to just use the method for isolating transformer with 220 volts by method；Third is that data
Collection plate is when acquiring a key information and limit switch signal, if data line is immediately directed against CPLD or fpga chip,
Due to the data cable lead wire be up to 10 meters, but also with motor line of force parallel transmission, can more or less introduce interference, so
In the design of printing backboard, level-one optocoupler TPL2530 has been installed additional, photoelectric coding signal must enter back into number after TPL2530
According to collection plate, interference signal is difficult to be coupled to output end since energy is inadequate, so as to effectively inhibit the influence of interference.
It is worth noting that four drivers leveled in control extensions " safely " are separately connected to extension set
" safely " terminal on, then " safely " being connected to extension set on ground pile, the ground pile of the ground pile and other systems is kept apart, with
Interference is avoided to introduce other systems by ground wire；There is " safely " pin in the leading-in socket of 4 leveling motor, it will
After this 4 " safely " pins are collected by conducting wire, uniformly lead on an other independent ground pile, which also must be with it
He keeps apart at the ground pile of system.
It is worth noting that when pressing leveling " pause " key, leveling system immediately freezes at current shape under any state
State awards new instruction until connecing, and realizes leveling pause；Independent lifting function may be implemented in each supporting leg in system
Can, to realize the functions such as single leg debugging, fault detection, realize independent-lifting；The knot explained is embraced using trapezoidal screw or motor band
Configuration formula, when system is powered down, system realizes self-locking immediately, ensures the safety of equipment and personnel, realizes that power down is self-locking；Simplify
The installation of leveling sensor, or when having the sensor of higher precision, it can be by carrying out a key school zero to horizon sensor；When
When pressing next key leveling key, guard system is not currently at any state, as long as each subassembly does not report failure, system is examined automatically
Each supporting leg state is surveyed, system is adjusted to horizontality by prestissimo by the location information of read level sensor.
It is worth noting that please refer to Fig. 6, initialization module major function is after system start-up, to used hard
Part resource is initialized, and the parameter of each hardware interface module is set, and software environment gets out ring for the operation of other modules
Border；With reference to the hardware scheme of the present embodiment, the hardware module for needing to initialize after starting includes: timer module, serial
Communication (SCI) module, analog-to-digital conversion (ADC) module, CAN interface (SPI) module, the correlation of universaling I/O port (GPIO) are posted
Storage works in above-mentioned module under mode required for this system, and the enabled required interruption used；It then, is system
In global variable, the data buffer storage used arrange memory headroom, and set initial value, detailed process please refers to shown in Fig. 7；
In conclusion implementation principle of the invention are as follows: each supporting leg state is detected by the sensor of the detection part,
Read sensor location information, by the sensor send the signal to encoder worked out, be converted to transmission signal give
It is handled up to controller, issues control instruction and be delivered to the driver, corresponding instruction is sent to by the driver
The motor, the detection part feedback signal gives the control section, controls the stretching or retraction of four supporting legs, described
Self-checking circuit passes through the torque etc. of real-time detection motor, signal is fed back to the controller, when the revolving speed of the motor
Etc. parameters when being unsatisfactory for user demand, the controller realizes supporting leg to protection circuit sending signal, the speed reducer work
Fast and stable safety leveling.
Embodiment 2, a kind of method for automatically leveling, including the following steps:
S1: the current signal on motor detect and judge the current signal by self-checking circuit；
S2: in S1, when current signal is judged as abnormal, presentation controller circuit shows fault code, and current signal judgement is normal
When, leveling mode is selected by controller；
S3: after controller selects corresponding control model, by driver driving motor four supporting legs are realized
Leveling.
It is worth noting that leveling mode in the S2 includes that a key levels mode, under the key leveling mode includes
Column step:
S21: controller selects a key to level mode, and four supporting legs stretch out, if four supporting legs land, enter
Otherwise S22 repeats S21；
S22: if four supporting legs reach setting height, into S23, otherwise, S22 is repeated；
S23: by entering thick leveling procedure, the first supporting leg is calculated to the range difference of reference altitude, selects described first
Supporting leg is remained stationary as reference support leg, remaining supporting leg is gone up and down, if four supporting legs are all satisfied the flat precision of coarse adjustment,
Into S24, otherwise repeatedly S23；
S24: by entering smart leveling procedure, adjustment supporting leg is in x-axis direction level, into S25；
S25: adjustment supporting leg is in y-axis direction level, into S26；
S26: if y-axis precision meets, enter S27, otherwise repeatedly S26；
S27: if x-axis precision meets, leveling terminates, otherwise repeatedly S27.
It is worth noting that further including passing through the stretching or retraction of four supporting legs of driving simultaneously with same drop mode is stretched
The automatic leveling control algolithm is respectively delivered to same rise after system mode detection is normal with fault processing module
With drop mode, key leveling mode and electric leveling mode, the stretching or contracting for sending four supporting legs with drop mode with liter
The instruction returned to the driver, the key leveling mode by judging that landing for supporting leg controls the stretching of supporting leg,
Start the thick leveling procedure of transfer after reaching setting height, by calculating the range difference of supporting leg and reference altitude to control
The lifting of remaining supporting leg transfers smart leveling procedure after the completion coarse adjustment flat precision, by transferring supporting leg respectively in x
Position in axis direction and y-axis direction, when the precision of supporting leg satisfaction in the direction of the x axis, while the supporting leg meets in y-axis
Precision on direction sends leveling END instruction；The electric leveling mode is gone up and down by electric leveling support leg, works as supporting leg
Leveling END instruction is sent after meeting condition, the driving method of the automatic leveling control module is time driven manner.
It is worth noting that referring to figure 4., system software is by initialization module, communication module, manual control module, speed
It spends control module, leveling control module and state-detection and fault processing module forms, initialization module is background program, starting
After be waited for, until system end of run, communication module, manual control module use event-driven, wherein communicating mould
Triggering is corresponding when receiving portion has data in data buffer storage in block interrupts, and manual control module is transported in a manual mode
Row.Remaining module is all made of time driving, triggers corresponding function using microprocessor internal timer module and runs, wherein shape
State detection is to detect the state of the system units such as driver, and formed according to determining format with fault processing module major function
Status information, detection system whether there is failure, and such as faulty generation, then startup separator processing routine, protects system, the module
It is worked, is existed in a manner of Interruption service routine, when state-detection and failure using time driven manner under normal circumstances
When processing module detection issues Central Shanxi Plain break signal, after controller read status information, if state is normal, shape is shown with regard to storing data
State be it is normal, sending open interrupt signal；If state is abnormal, judge whether driver is normal, if driver malfunction, controller
Signal and alarm signal out of service are issued, shows alarm failure state；If driver does not have failure, judge that communication is
No failure keeps current communication position if communication failure, issues alarm signal, shows the state of communication failure；Work as communication
There is no failure, detection system is out-of-limit, if system is out-of-limit, issues instruction out of service and off-limit alarm signal, shows out-of-limit
Failure is switched to the rotation of manual mode control driver；When system is not also prescribed a time limit more, driver is out of service at this time and shows
Show alarm signal.
It is worth noting that please refer to Fig. 8, display module be by current horizontal attitude, current of electric, motor speed,
Fault message etc. is shown, while capture button switching information, carries out corresponding operation.
In conclusion the working principle of the present embodiment is, leveled with liter with drop mode, a key by core control algolithm
Mode and electric leveling mode level four supporting legs, by judgement when front support leg carries out at a distance from reference position
It adjusts, by reference to the adjusting of supporting leg and remaining three supporting leg, realizes the fast automatic leveling of four supporting legs, this hair
It is bright structurally reasonable, it is practical strong, it is suitble to promote.
Claims (8)
1. a kind of automatic horizontal control system, it is characterised in that: including motor, speed reducer, control section, protection circuit, self-test electricity
Road and detection part；
The detection part includes sensor, and the dip angle signal that the sensor is used to acquire supporting leg feeds back to the control unit
Point；
The control section is provided with driver and controller, and the sensor is connect with the first input end of the controller,
First output end of the controller is connect with the driver, and the driver is connect with the motor, the controller
For identification the dip angle signal and to the driver transmit control instruction；The driver makes anti-the control instruction
It should and drive the motor；
The self-checking circuit is arranged on the motor, the second input of the output end of the self-checking circuit and the controller
End connection, the self-checking circuit acquire the motor current signal；
The second output terminal of the controller and the protection circuit connection, the protection circuit are connect with the speed reducer, institute
The protection for protecting circuit to receive the controller transmission is stated to instruct and drive the speed reducer.
2. a kind of automatic horizontal control system according to claim 1, which is characterized in that it further include having presentation controller circuit, the control
The third output end of device processed is connect with the presentation controller circuit, and the presentation controller circuit is for showing tilt angles value and fault code.
3. a kind of automatic horizontal control system according to claim 1, which is characterized in that it further include having control panel, the control
The output end of panel processed is connect with the third input terminal of the controller, and signal is manually entered for acquiring in the control panel.
4. a kind of automatic horizontal control system according to claim 1, which is characterized in that the motor drive is watched using exchange
Take mode.
5. a kind of automatic horizontal control system according to claim 2, which is characterized in that the presentation controller circuit is charactron array
Or military project liquid crystal display.
6. a kind of method for automatically leveling, characterized in that it comprises the following steps:
S1: the current signal on motor detect and judge the current signal by self-checking circuit；
S2: in S1, when current signal is judged as abnormal, presentation controller circuit shows fault code, when current signal judges normal, leads to
Cross controller selection leveling mode；
S3: after controller selects corresponding control model, four supporting legs are made to realize leveling by driver driving motor.
7. a kind of method for automatically leveling according to claim 6, which is characterized in that the mode that levels in the S2 includes a key
Leveling mode, the key leveling mode include the following steps:
S21: controller selects a key to level mode, and four supporting legs stretch out, if four supporting legs land, enters S22, no
Then, S21 is repeated；
S22: if four supporting legs reach setting height, into S23, otherwise, S22 is repeated；
S23: by entering thick leveling procedure, the first supporting leg is calculated to the range difference of reference altitude, selects first support
Leg is remained stationary as reference support leg, remaining supporting leg is gone up and down, if four supporting legs are all satisfied the flat precision of coarse adjustment, is entered
S24, otherwise repeatedly S23；
S24: by entering smart leveling procedure, adjustment supporting leg is in x-axis direction level, into S25；
S25: adjustment supporting leg is in y-axis direction level, into S26；
S26: if y-axis precision meets, enter S27, otherwise repeatedly S26；
S27: if x-axis precision meets, leveling terminates, otherwise repeatedly S27.
8. a kind of method for automatically leveling according to claim 7, which is characterized in that further include passing through with same drop mode is stretched
The stretching or retraction of four supporting legs are driven simultaneously.
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