CN111301363A - Automatic leveling method for vehicle control - Google Patents
Automatic leveling method for vehicle control Download PDFInfo
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- CN111301363A CN111301363A CN202010256237.1A CN202010256237A CN111301363A CN 111301363 A CN111301363 A CN 111301363A CN 202010256237 A CN202010256237 A CN 202010256237A CN 111301363 A CN111301363 A CN 111301363A
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- leveling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
- B60S9/205—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
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Abstract
The invention discloses a vehicle control automatic leveling method, which comprises the following steps: adopting a symmetrical balance leveling algorithm, and simultaneously approaching convergence to a horizontal position through the double-shaft inclination to achieve the levelness index of the system; the method adopts a full closed loop mode for adjustment, and in the process that the inclination of a single/double axis approaches to an allowable deviation value, the telescopic motion speed of the supporting leg is a continuously changing process until the levelness of the platform is finally adjusted to reach the standard state, and the leveling is finished; after the horizontal leveling is finished, performing erecting control until an erecting angle is reached; and after the erecting control is finished, carrying out leveling control, returning to a horizontal leveling state, and finishing the automatic leveling of the vehicle control. By the invention, automatic leveling of vehicle control can be realized.
Description
Technical Field
The invention relates to the field of erecting and leveling, in particular to a vehicle control automatic leveling method.
Background
Due to the particularity of the leveling system, the preset index is required to be realized, and the safety of the equipment vehicle is required to be ensured, so that great difficulty is brought to the engineering design, and when the engineering design thought is considered, the sufficient safety requirement is required to be ensured, and the high-precision and rapidity requirements of the leveling index must be met. Therefore, a full-digital, modularized and intelligent automatic leveling system scheme is selected, and a leveling method is designed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a vehicle control automatic leveling method, which comprises the following steps:
step one, adopting a symmetrical balance leveling algorithm, and simultaneously approaching convergence to a horizontal position through double-shaft inclination to achieve a levelness index of a system;
step two, adopting a full closed loop mode for adjustment, wherein in the process that the inclination of a single/double axis approaches to an allowable deviation value, the telescopic movement speed of the supporting leg is a continuously changing process until the levelness of the platform is finally adjusted to reach the standard state, and finishing leveling;
step three, after horizontal leveling is finished, erecting control is carried out, a left locking switch and a right locking switch of the erecting beam are detected before erecting, if the left locking switch and the right locking switch are in a locking state, unlocking operation is carried out in advance, and unlocking action is confirmed after unlocking; limiting the starting speed when starting to erect, and decelerating until reaching the erecting angle before reaching the appointed erecting angle;
and step four, after erecting control is finished, leveling control is carried out, the automobile control automatic leveling is finished after the automobile control automatic leveling is returned to a horizontal leveling state.
Furthermore, a nonlinear control strategy is adopted for erecting control and leveling control, constant acceleration is adopted for accelerating when the system is started, a certain speed is kept in the middle process for erecting and leveling operation, a nonlinear PID (proportion integration differentiation) is adopted for controlling before a target angle is reached, and the nonlinear control strategy is used for carrying out sectional processing according to the position difference between the current position and the set target.
Further, the step of performing the segmentation processing on the control strategy according to the position difference between the current position and the set target comprises the following processes; after the controller receives an instruction of an upper computer, the controller reads an angle value of an angle sensor NG4I, compares the angle value with a target angle, and performs accurate intelligent PID operation control if the angle error is within a preset angle error range; otherwise, the oil cylinder is accelerated to start to work at a constant speed, the operation is carried out at the constant speed after the preset speed is reached, meanwhile, the controller continuously reads the angle value of the vertical angle sensor, and when the angle error enters the preset angle error range, the accurate intelligent PID control is converted into.
Furthermore, whether the left and right locking switches are in an opening state or not is detected firstly during the leveling control, and if not, the locking switches are unlocked firstly.
Furthermore, the horizontal leveling and the erecting control are in an interlocking fixed state, namely when the horizontal leveling is carried out, the erecting control prohibits working, meanwhile, the locking electromagnet on the transmitting beam is in a locking state, and otherwise, an audible and visual alarm is output; on the contrary, when the erecting control works, the horizontal leveling is forbidden to work no matter in the erecting state or the leveling state.
Further, the erecting control comprises the following processes:
s1, reading the leveling state information, if the leveling state information is leveled, entering the step S2; otherwise, stopping and giving an alarm;
s2, reading the unlocking switch information of the left lock and the right lock; if the lock is unlocked in place, the step s3 is carried out; otherwise, the system sends out unlocking information and returns to s 2;
s3, starting the erecting action;
s4, starting acceleration, reading the information of the rising angle sensor, and if the rising angle sensor reaches the constant speed interval, going to step S5, otherwise, going back to step S4;
s5, erecting at a constant speed, reading the information of the erecting angle sensor, and if the information reaches the fine control interval, going to the step S6, otherwise, going back to the step S5;
and S6, finally, decelerating, reading the information of the rising vertical angle sensor, stopping and reporting the information.
The invention has the beneficial effects that: the invention adopts a symmetrical balance leveling algorithm in a breakthrough way, and the levelness index of the system is quickly reached by converging the inclination of the double shafts to the horizontal position at the same time.
Drawings
FIG. 1 is a flow chart of a method for automatically leveling a vehicle control;
FIG. 2 is a schematic diagram of a control algorithm;
FIG. 3 is a flowchart of erection control;
FIG. 4 is a control strategy network cable for erecting;
fig. 5 is a flow chart of an auto-leveling control algorithm.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1, the vehicle control automatic leveling method provided by the present invention includes the following steps:
step one, adopting a symmetrical balance leveling algorithm, and simultaneously approaching convergence to a horizontal position through double-shaft inclination to achieve a levelness index of a system;
step two, adopting a full closed loop mode for adjustment, wherein in the process that the inclination of a single/double axis approaches to an allowable deviation value, the telescopic movement speed of the supporting leg is a continuously changing process until the levelness of the platform is finally adjusted to reach the standard state, and finishing leveling;
step three, after horizontal leveling is finished, erecting control is carried out, a left locking switch and a right locking switch of the erecting beam are detected before erecting, if the left locking switch and the right locking switch are in a locking state, unlocking operation is carried out in advance, and unlocking action is confirmed after unlocking; limiting the starting speed when starting to erect, and decelerating until reaching the erecting angle before reaching the appointed erecting angle;
and step four, after erecting control is finished, leveling control is carried out, the automobile control automatic leveling is finished after the automobile control automatic leveling is returned to a horizontal leveling state.
The erecting control and the leveling control adopt a nonlinear control strategy, the system is accelerated by adopting constant acceleration when being started, the erecting and leveling operation is carried out by keeping a certain speed in the middle process, the nonlinear PID control is adopted before reaching a target angle, and the nonlinear control strategy carries out segmented processing according to the position difference between the current position and a set target.
The control strategy carries out sectional processing according to the position difference between the current position and the set target and comprises the following processes; after the controller receives an instruction of an upper computer, the controller reads an angle value of an angle sensor NG4I, compares the angle value with a target angle, and performs accurate intelligent PID operation control if the angle error is within a preset angle error range; otherwise, the oil cylinder is accelerated to start to work at a constant speed, the operation is carried out at the constant speed after the preset speed is reached, meanwhile, the controller continuously reads the angle value of the vertical angle sensor, and when the angle error enters the preset angle error range, the accurate intelligent PID control is converted into.
During the leveling control, whether the left and right locking switches are in an opening state is detected, and if not, the locking switches are unlocked.
The horizontal leveling and the erecting control are in an interlocking fixed state, namely when the horizontal leveling is carried out, the erecting control prohibits working, and meanwhile, the locking electromagnet on the transmitting beam is in a locking state, otherwise, an audible and visual alarm is output; on the contrary, when the erecting control works, the horizontal leveling is forbidden to work no matter in the erecting state or the leveling state.
The erecting control comprises the following processes:
s1, reading the leveling state information, if the leveling state information is leveled, entering the step S2; otherwise, stopping and giving an alarm;
s2, reading the unlocking switch information of the left lock and the right lock; if the lock is unlocked in place, the step s3 is carried out; otherwise, the system sends out unlocking information and returns to s 2;
s3, starting the erecting action;
s4, starting acceleration, reading the information of the rising angle sensor, and if the rising angle sensor reaches the constant speed interval, going to step S5, otherwise, going back to step S4;
s5, erecting at a constant speed, reading the information of the erecting angle sensor, and if the information reaches the fine control interval, going to the step S6, otherwise, going back to the step S5;
and S6, finally, decelerating, reading the information of the vertical angle sensor, stopping and reporting the information, and because of the particularity of the leveling system, the indexes are realized and the safety of the equipment vehicle is ensured, so great difficulty is brought to the engineering design, when the engineering design thought is considered, the sufficient safety requirement is ensured, and the high-precision and rapidity requirements of the leveling indexes are required to be met. Therefore, a fully digital, modular and intelligent automatic leveling system scheme is selected.
Hardware and software of the system are both in modular design; a high-performance 32-bit ARM and an FPGA are used as a main controller, and a leveling system control program and a hardware driving program are programmed by a high-level language. The leveling control software design keeps the flexibility of high modularization and the intelligence of a leveling algorithm is strong.
The supporting leg driving of the system adopts a proportional servo valve driving mode, and the proportional servo valve has mature technology widely applied at present, has complete speed synchronization, moment detection and abnormal protection functions, can fully realize the safety of the system and the technical requirements of full control and detection of the leveling mechanism, and obtains a smooth leveling process and an accurate leveling result.
The system adopts a symmetrical balance leveling algorithm in a breakthrough manner, and the levelness index of the system is quickly reached by converging the inclination of the double shafts towards the horizontal position at the same time.
Aiming at the requirement of the system on high leveling precision, the control method adopts a full closed loop mode to adjust on the basis of the symmetrical strategy, and in the process that the inclination of a single axis/double axis approaches to an allowable deviation value (0.5'), the stretching movement speed of the supporting leg is a continuous changing process until the levelness of the platform is finally adjusted to reach the standard.
The erecting control must be carried out on the premise of finishing the integral leveling, a left locking switch and a right locking switch of the erecting beam must be detected before erecting, if the erecting beam is in a locking state, unlocking operation must be carried out in advance, and unlocking action must be confirmed after unlocking; in order to ensure the smoothness of the action, the starting speed must be limited just at the beginning, and the speed must be reduced when the specified angle is reached, so as to reduce the rigid impact, and the specific control flow is shown in fig. 4.
The leveling process is just opposite to the erecting process, and the leveling starting must satisfy two preconditions:
1) the left and right locking switches are in an opening state, and are opened in place in advance if not opened;
2) the leveling work is finished, and the current level state meets the requirements allowed by the system;
since the leveling process is exactly the opposite of the erecting process, it is not explained here.
In order to ensure the rapidness and stability of the erecting and leveling processes, a nonlinear control strategy is adopted in the design of the system, the system is accelerated by adopting constant acceleration when being started, the erecting and leveling operations are carried out by keeping a certain speed in the middle process, the nonlinear PID is adopted for accurate control when the position is up to the target position, and the control strategy carries out sectional processing according to the position difference between the current position and the set target.
After the controller receives an instruction of an upper computer, the controller reads the angle value of the starting angle sensor NG4I, compares the angle value with a target angle, and directly performs accurate intelligent PID operation control if the angle error is small; otherwise, the oil cylinder is accelerated to start to work at a constant speed, the oil cylinder enters the constant speed operation after reaching the specified speed so as to obtain the value of the angle which approaches the target value at the fastest speed, and the controller also continuously reads the angle value of the vertical angle sensor in the process, and once the angle enters a smaller threshold value, the accurate intelligent PID control is converted into the accurate intelligent PID control. The fastest erection and leveling speeds can be obtained, and meanwhile, sufficient stability and reliability are guaranteed.
As shown in fig. 3, specific values θ 1 and θ 2 in the graph need to be determined according to actual conditions, in general conditions, the acceleration setting needs to consider both the system stability and the maximum utilization of the system moment, θ 1 is selected to be too large, the whole erecting time is dragged to be very long, and is selected to be too small, and the acceleration is too large; for the selection of theta 2, the selection is preferably about 3 degrees away from the target value, and the accurate positioning is quickly realized by introducing the nonlinear PID.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A vehicle control automatic leveling method is characterized by comprising the following steps:
step one, adopting a symmetrical balance leveling algorithm, and simultaneously approaching convergence to a horizontal position through double-shaft inclination to achieve a levelness index of a system;
step two, adopting a full closed loop mode for adjustment, wherein in the process that the inclination of a single/double axis approaches to an allowable deviation value, the telescopic movement speed of the supporting leg is a continuously changing process until the levelness of the platform is finally adjusted to reach the standard state, and finishing leveling;
step three, after horizontal leveling is finished, erecting control is carried out, a left locking switch and a right locking switch of the erecting beam are detected before erecting, if the left locking switch and the right locking switch are in a locking state, unlocking operation is carried out in advance, and unlocking action is confirmed after unlocking; limiting the starting speed when starting to erect, and decelerating until reaching the erecting angle before reaching the appointed erecting angle;
and step four, after erecting control is finished, leveling control is carried out, the automobile control automatic leveling is finished after the automobile control automatic leveling is returned to a horizontal leveling state.
2. The vehicle control automatic leveling method according to claim 1, wherein a non-linear control strategy is adopted for the erecting control and the leveling control, a constant acceleration is adopted for acceleration when a system is started, the erecting and leveling operations are performed while the intermediate process is kept at a certain speed, a non-linear PID is adopted for control before a target angle is reached, and the non-linear control strategy performs segmented processing according to the position difference between the current position and the set target.
3. The automatic leveling method for the vehicle control according to claim 2, wherein the step of performing the segmentation processing according to the position difference between the current position and the set target by the control strategy comprises the following processes; after the controller receives an instruction of an upper computer, the controller reads an angle value of an angle sensor NG4I, compares the angle value with a target angle, and performs accurate intelligent PID operation control if the angle error is within a preset angle error range; otherwise, the oil cylinder is accelerated to start to work at a constant speed, the operation is carried out at the constant speed after the preset speed is reached, meanwhile, the controller continuously reads the angle value of the vertical angle sensor, and when the angle error enters the preset angle error range, the accurate intelligent PID control is converted into.
4. The automatic leveling method for the vehicle control according to claim 1, wherein whether the left and right locking switches are in an open state is detected when the leveling control is performed, and if the locking switches are not in the open state, the locking switches are unlocked.
5. The automatic leveling method for the vehicle control according to claim 1, wherein the horizontal leveling and the erecting control are in an interlocking fixed state, namely when the horizontal leveling is carried out, the erecting control prohibits working, and meanwhile, the locking electromagnet on the transmitting beam is in a locking state, otherwise, an audible and visual alarm is output; on the contrary, when the erecting control works, the horizontal leveling is forbidden to work no matter in the erecting state or the leveling state.
6. The vehicle control automatic leveling method according to claim 1, wherein the erecting control comprises the following processes:
s1, reading the leveling state information, if the leveling state information is leveled, entering the step S2; otherwise, stopping and giving an alarm;
s2, reading the unlocking switch information of the left lock and the right lock; if the lock is unlocked in place, the step s3 is carried out; otherwise, the system sends out unlocking information and returns to s 2;
s3, starting the erecting action;
s4, starting acceleration, reading the information of the rising angle sensor, and if the rising angle sensor reaches the constant speed interval, going to step S5, otherwise, going back to step S4;
s5, erecting at a constant speed, reading the information of the erecting angle sensor, and if the information reaches the fine control interval, going to the step S6, otherwise, going back to the step S5;
and S6, finally, decelerating, reading the information of the rising vertical angle sensor, stopping and reporting the information.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113666270A (en) * | 2021-07-12 | 2021-11-19 | 中联重科股份有限公司 | Method for controlling a crane, controller and crane |
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