CN112477732A - Environment self-adaptive electromechanical vehicle-mounted platform leveling system and method - Google Patents

Environment self-adaptive electromechanical vehicle-mounted platform leveling system and method Download PDF

Info

Publication number
CN112477732A
CN112477732A CN202011518235.1A CN202011518235A CN112477732A CN 112477732 A CN112477732 A CN 112477732A CN 202011518235 A CN202011518235 A CN 202011518235A CN 112477732 A CN112477732 A CN 112477732A
Authority
CN
China
Prior art keywords
value
vehicle
electric
supporting leg
current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011518235.1A
Other languages
Chinese (zh)
Other versions
CN112477732B (en
Inventor
宣翔
李付军
蔡靖
吴影生
王华伟
李红
鲍子威
吴显奎
方莉
王竞远
陶国灿
何文杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CETC 38 Research Institute
Original Assignee
CETC 38 Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CETC 38 Research Institute filed Critical CETC 38 Research Institute
Priority to CN202011518235.1A priority Critical patent/CN112477732B/en
Publication of CN112477732A publication Critical patent/CN112477732A/en
Application granted granted Critical
Publication of CN112477732B publication Critical patent/CN112477732B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses an environment self-adaptive electromechanical vehicle-mounted platform leveling system and method, belonging to the technical field of electromechanical servo control. The method can solve the problems that the detection current of one electric supporting leg is smaller than the threshold current so that the electric supporting leg continuously extends out to cause leveling failure due to the self-adaptive setting of the landing detection threshold current of the electric supporting leg of the vehicle-mounted platform and the unbalanced electromechanical four-point leveling in different terrain environments, can be suitable for self-adaptive leveling of the vehicle-mounted platform system in different terrain environments, and is higher in stability and adaptability compared with the traditional four-point electromechanical leveling method, and worthy of popularization and application.

Description

Environment self-adaptive electromechanical vehicle-mounted platform leveling system and method
Technical Field
The invention relates to the technical field of electromechanical servo control, in particular to an environment self-adaptive electromechanical vehicle-mounted platform leveling system and method.
Background
The vehicle-mounted platform is used as common loads of weaponry such as radars, missiles, artillery and the like, all-terrain driving is realized through a suspended tire set of the platform vehicle during transportation, the horizontal state of the platform within a certain precision range is adjusted by the aid of electric support legs located on the periphery of the platform during operation, system stability of the operation equipment is improved, and the vehicle-mounted platform has the advantages of being high in mobility, stability and environmental suitability. The vehicle-mounted leveling platform can be divided into a hydraulic type and an electromechanical type according to the working mode, and the electromechanical type has the characteristics of higher leveling efficiency, higher leveling precision and the like compared with the hydraulic type.
The vehicle-mounted platform is usually a rectangular flat plate, so a common electromechanical leveling mode is four-point leveling, but due to the inherent structure and electrical characteristics of the electromechanical leveling platform and the unstable characteristics of a parallelogram, the problems that a certain electric supporting leg and other three electric supporting legs are different in stress state easily occur in the leveling process, and the derived electric supporting leg continuously stretches out to be out of control in leveling due to the judgment error of a controller and the like are caused. In addition, because the suspension of the suspension tire group is soft, the suspension tire group still has the condition of supporting stress in the process of extending the electric supporting leg, the stress condition of the electric supporting leg is reasonably calculated, and the interference of external factors such as the suspension tire group and the like on the leveling of the vehicle-mounted platform is also not negligible. Therefore, an environment self-adaptive electromechanical vehicle-mounted platform leveling system and method are provided.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to solve the problem that the controller judges to make mistakes so as to directly cause leveling failure due to abnormal current detection caused by uneven stress of the electromechanical four-point leveling electric supporting leg, and provides an environment-adaptive electromechanical vehicle-mounted platform leveling system.
The invention solves the technical problems through the following technical scheme, and the invention comprises a vehicle-mounted platform, a suspended tire set, an electric supporting leg, an alternating current servo motor, a horizontal sensor and a controller;
the vehicle-mounted platform is used as a leveled object, provides plane installation combat equipment and is also used as an installation carrier of the controller, the electric support legs, the level sensor and the suspended tire group;
the suspended tire group is used for transportation work of the vehicle-mounted platform and providing stress support when the vehicle-mounted platform initially lands;
the electric support legs are distributed in a matrix and used for providing leveling stress support when the vehicle-mounted platform is leveled;
the alternating current servo motors are arranged in one-to-one correspondence with the electric supporting legs and used for providing power for the electric supporting legs, feeding current back to the controller and monitoring the stress of the electric supporting legs, and the motor encoder is positioned at the tail of the alternating current servo motor and used for feeding back the motion value of the alternating current servo motor;
the level sensor is used for detecting the flatness of the vehicle-mounted platform in the horizontal direction and feeding back the flatness of the vehicle-mounted platform to the controller in an X, Y two-dimensional numerical mode;
the controller is used for monitoring the current of the alternating current servo motor and the feedback value of the level sensor and issuing a corresponding instruction to the alternating current servo motor;
the alternating current servo motor and the horizontal sensor are respectively in communication connection with the controller.
Further, the level sensor is disposed at a central position of the vehicle-mounted platform.
Furthermore, the X direction is coincident with the transverse direction of the vehicle and points to one side of the vehicle body as positive, and the Y direction is coincident with the longitudinal direction of the vehicle and points to the tail direction as positive.
Still further, the single step travel of each of the motorized legs has less than 1' effect on the two dimensional flatness of the vehicle platform.
Further, the detection accuracy of the level sensor is within 6 ″.
The invention also provides an environment self-adaptive electromechanical vehicle-mounted platform leveling method, which adopts the leveling system to level the vehicle-mounted platform and comprises the following steps:
s1: independently extending each electric supporting leg, respectively recording no-load current and calculating threshold current
After the vehicle-mounted platform is in place, four electric supporting legs are controlled to independently extend, and initial motor coding feedback values corresponding to the single electric supporting leg and values of the initial motor coding feedback values from the beginning to extend as Ti0Time and after Ti1、Ti2、Ti3…TinCurrent in seconds Ii0、Ii1、Ii2、Ii3…IinWherein, i is 1 … 4, which respectively represents the 1 st to 4 th electric legs; no-load average current in electric supporting leg extending process
Figure BDA0002848688770000021
When the AC servo motor current increases to
Figure BDA0002848688770000022
And judging that the electric supporting leg falls to the ground, stopping driving the electric supporting leg to extend, comparing the current motor coding feedback value, judging whether the electric supporting leg generates displacement or not, and entering the step S2 until all three electric supporting legs fall to the ground
Figure BDA0002848688770000023
Referred to as threshold current, K is constant;
s2: sampling the value of the horizontal sensor to judge whether the change exceeds the set value
The controller continues to drive the fourth electric supporting leg which is not up to the threshold current to extend, simultaneously the plane degree value of the horizontal sensor is sampled and read, and the change values of the horizontal sensor in the direction of X, Y are recorded as delta X respectivelyvalueAnd Δ YvalueJudgment of Δ XvalueAnd Δ YvalueIf the absolute value of the first electric leg is greater than the set value, stopping driving the fourth electric leg, judging that all the electric legs fall to the ground, and then entering the step S3, otherwise, returning to the step S2;
s3: after the highest point supporting leg is determined, the highest point supporting leg is kept still, and two-dimensional values of the level sensor are all in a set range
Reading X, Y the levelness value of the horizontal sensor and recording as XvalueAnd YvalueBy XvalueAnd YvalueThe highest point electric supporting leg is judged by numerical value, and the highest point electric supporting leg is recorded as HmaxHold HmaxThe electric supporting legs are not moved, and two electric supporting legs drive the other three electric supporting legs to extend out, namely
Figure BDA0002848688770000031
So that XvalueAnd YvalueStopping driving the electric support leg to extend within the set range, and entering step S4;
s4: detecting whether the highest point supporting leg current exceeds the threshold current thereof
Detect peak electronic landing leg HmaxIf the current exceeds the threshold current, the process goes to step S2, and if the current does not exceed the threshold current, the leveling index is satisfied, and the leveling process is ended.
Further, in the step S1, Ti1>5 seconds, Tin<And (5) 10 seconds, and eliminating the interference of the stress of the suspended tire set on the leveling system by filtering the current change of the first 5 seconds.
Further, in the step S2, the horizontal sensor is sampledSampling interval time delta T is 50 ms; when | Δ Xvalue|>1' or | Δ Yvalue|>And 1', stopping driving the fourth electric supporting leg and judging that all the electric supporting legs are completely grounded.
Further, in the step S3, XvalueAnd YvalueIn a set range of-3'<Xvalue<3 'and-3'<Yvalue<3'。
Compared with the prior art, the invention has the following advantages: the environment self-adaptive electromechanical vehicle-mounted platform leveling system can solve the problem that the electric supporting leg of the vehicle-mounted platform is subjected to self-adaptive setting of a landing detection threshold current under different terrain environments and the problem that the detection current of a certain electric supporting leg is smaller than the threshold current due to unbalanced electromechanical four-point leveling so that the electric supporting leg continuously extends out to cause leveling failure can be solved, and the environment self-adaptive electromechanical vehicle-mounted platform leveling system is suitable for self-adaptive leveling of the vehicle-mounted platform system under different terrain environments.
Drawings
FIG. 1 is a schematic diagram of a leveling system in an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a leveling method in an embodiment of the present invention;
fig. 3 is a current variation curve of each electric leg in the leveling process in the embodiment of the invention.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
The embodiment provides a technical scheme: an environment adaptive electromechanical vehicle platform leveling system comprising:
the vehicle-mounted platform is used as a leveled object, is used for providing plane installation fighting equipment and is also used as an installation carrier of the leveling device;
the suspended tire group is used for transportation work of the vehicle-mounted platform and providing initial landing stress support during leveling;
the electric support legs are arranged in a matrix and used for leveling and stressed supporting when the vehicle-mounted platform is leveled;
the alternating current servo motor is used for providing power for the electric supporting leg, feeding current back to the controller and monitoring the stress of the electric supporting leg;
the horizontal sensor is used for detecting the flatness of the vehicle-mounted platform in the horizontal direction and feeding the flatness of the vehicle-mounted platform back to the controller in an X, Y two-dimensional numerical mode, wherein the X direction is superposed with the transverse direction of the vehicle and points to the right side of the vehicle body to be positive, and the Y direction is superposed with the longitudinal direction of the vehicle and points to the tail direction of the vehicle to be positive;
and the controller is used for monitoring the current of the alternating current servo motor and the feedback value of the level sensor and issuing a corresponding instruction to the alternating current servo motor.
As shown in fig. 1, which is a schematic diagram of a leveling system in this embodiment, the suspended tire group 7 has six tires with the same size, and the tires are symmetrically distributed on the left and right sides of the vehicle-mounted platform, one is located near the vehicle head, and two are located near the vehicle tail, and there are four electric support legs in total, the 1 st electric support leg 1 is located behind the vehicle head tire on the right side of the platform, the 2 nd electric support leg 2 is located behind the vehicle tail tire on the right side of the platform, the 3 rd electric support leg 3 is located behind the vehicle tail tire on the left side of the platform, the 4 th electric support leg 4 is located behind the vehicle head tire on the left side of the platform, an ac servo motor 6 is provided at the top end of each electric support leg for driving the electric support leg to move, the ac servo motor 6 is connected with a controller 5 located at the vehicle.
In the embodiment, the winding current of the alternating current servo motor of the electric supporting leg is monitored, the stress state of the electric supporting leg is deduced, and the mapping relation between the winding current and the stress of the electric supporting leg is established; and (3) calculating the proportional relation between the current of the motor winding when the electric supporting leg operates in a no-load mode and the threshold current of the motor winding when the electric supporting leg falls to the ground by utilizing experimental verification.
In this embodiment, the ground of the vehicle-mounted leveling electric supporting leg is judged by detecting whether three legs extend out to reach the threshold current by utilizing the stability characteristic of a triangle, and whether the fourth electric supporting leg extends out to be grounded is judged by judging whether the platform is changed dynamically within unit sampling time of the level sensor.
In the embodiment, the threshold current is adaptively set according to the feedback of the current value of the alternating current servo motor during leveling and corresponding calculation derivation, and is automatically changed according to different environmental conditions.
In this embodiment, the single step travel of each motorized leg should have less than 1' effect on the two dimensional flatness of the vehicle platform.
As shown in fig. 2, this embodiment further provides a method for implementing environment adaptive electromechanical vehicle-mounted platform leveling by using the system, including the following steps:
the method comprises the following steps: after the vehicle-mounted platform is in place, the controller controls the alternating current servo motor to respectively drive the four electric supporting legs to independently extend, and an initial motor coding feedback value corresponding to a single electric supporting leg and a value T recorded from the beginning of extension are recordedi0(i-1 … 4 stands for 1 st to 4 th power leg, respectively) time and then Ti1、Ti2、Ti3…TinCurrent in seconds Ii0、Ii1、Ii2、Ii3…IinWherein T isi1>5 seconds, Tin<10 seconds, the interference of the stress of the suspended tire set on the system is eliminated by filtering the current change of the first 5 seconds, and the no-load average current is obtained in the extending process of the electric supporting leg
Figure BDA0002848688770000041
When the AC servo motor current suddenly increases to
Figure BDA0002848688770000042
And meanwhile, comparing the motor encoder value fed back by the encoder positioned at the tail part of the motor to judge whether the electric supporting leg generates displacement or not, eliminating the interference of abnormal factors of current increase caused by mechanical jamming of the electric supporting leg until any three legs fall to the ground, and entering the step two, wherein
Figure BDA0002848688770000051
Referred to as threshold current, the value of K takes 2 in this example;
step two: the controller continues to drive the fourth electric supporting leg which is not up to the threshold current to extend, simultaneously the plane degree value of the horizontal sensor is sampled and read, the sampling interval time delta T is 50ms, and the horizontal sensor change values in the direction of X, Y are respectively recorded as delta XvalueAnd Δ YvalueWhen | Δ Xvalue|>1' or | Δ Yvalue|>1', stopping driving the fourth electric supporting leg, judging that all the electric supporting legs fall to the ground, and entering the third step;
step three: reading X, Y orientation level sensor value and recording as XvalueAnd YvalueBy XvalueAnd YvalueNumerical determination highest point electric supporting leg, Xvalue>0' and Yvalue<0', 1 st electrically powered leg highest, Xvalue>0' and Yvalue>0', 2 nd electrically powered leg highest, Xvalue<0' and Yvalue>0', 3 rd motor leg highest, Xvalue<0' and Yvalue<0', the 4 th electric supporting leg is highest, and the highest point electric supporting leg is recorded as HmaxHold HmaxThe electric supporting legs are not moved, and two electric supporting legs drive the other three electric supporting legs to extend out, namely
Figure BDA0002848688770000052
So that-3'<Xvalue<3 'and-3'<Yvalue<3', stopping driving the electric supporting legs to extend, and entering the step four;
step four, detecting the highest point electric supporting leg HmaxAnd (4) whether the current exceeds the threshold current or not, if not, repeating the step two, if so, meeting the leveling index, and ending the leveling process.
To sum up, the environment-adaptive electromechanical vehicle-mounted platform leveling system of the embodiment can solve the problem that the electric supporting leg of the vehicle-mounted platform is subjected to self-adaptive setting of the landing detection threshold current under different terrain environments and the electromechanical four-point leveling is unbalanced, so that the detection current of a certain electric supporting leg is smaller than the threshold current, and the electric supporting leg continuously extends out to cause leveling failure.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (8)

1. An environment self-adaptation electromechanical vehicle-mounted platform leveling system is characterized in that: the device comprises a vehicle-mounted platform, a suspended tire set, electric supporting legs, an alternating current servo motor, a horizontal sensor, a controller and a motor encoder;
the vehicle-mounted platform is used as a leveled object, provides plane installation combat equipment and is also used as an installation carrier of the controller, the electric support legs, the level sensor and the suspended tire group;
the suspended tire group is used for transportation work of the vehicle-mounted platform and providing stress support when the vehicle-mounted platform initially lands;
the electric support legs are distributed in a matrix and used for providing leveling stress support when the vehicle-mounted platform is leveled;
the alternating current servo motors are arranged in one-to-one correspondence with the electric support legs and used for providing power for the electric support legs, feeding current back to the controller and monitoring the stress of the electric support legs;
the motor encoder is used for feeding back a motion value of the alternating current servo motor;
the level sensor is used for detecting the flatness of the vehicle-mounted platform in the horizontal direction and feeding back the flatness of the vehicle-mounted platform to the controller in an X, Y two-dimensional numerical mode;
the controller is used for monitoring the current of the alternating current servo motor and the feedback value of the level sensor and issuing a corresponding instruction to the alternating current servo motor;
the alternating current servo motor, the motor encoder and the horizontal sensor are respectively in communication connection with the controller.
2. The environmentally adaptive electromechanical vehicle platform leveling system of claim 1, wherein: the level sensor is arranged at the center of the vehicle-mounted platform.
3. The environmentally adaptive electromechanical vehicle platform leveling system of claim 2, wherein: the X direction is transversely superposed with the vehicle and points to one side of the vehicle body as positive, and the Y direction is longitudinally superposed with the vehicle and points to the tail of the vehicle as positive.
4. The environmentally adaptive electromechanical vehicle platform leveling system of claim 3, wherein: the single step travel of each of the motorized legs has less than 1' effect on the two dimensional flatness of the vehicle platform.
5. An environment self-adaptive electromechanical vehicle-mounted platform leveling method, which is characterized in that the leveling system of any one of claims 1 to 4 is adopted to carry out the leveling work of the vehicle-mounted platform, and comprises the following steps:
s1: independently extending each electric supporting leg, respectively recording no-load current and calculating threshold current
After the vehicle-mounted platform is in place, four electric supporting legs are controlled to independently extend, and initial motor coding feedback values corresponding to the single electric supporting leg and values of the initial motor coding feedback values from the beginning to extend as Ti0Time and after Ti1、Ti2、Ti3…TinCurrent in seconds Ii0、Ii1、Ii2、Ii3…IinWherein, i is 1 … 4, which represents the 1 st to 4 th electric legs; no-load average current in electric supporting leg extending process
Figure FDA0002848688760000011
When the AC servo motor current increases to
Figure FDA0002848688760000012
And judging that the electric supporting leg falls to the ground, stopping driving the electric supporting leg to extend, comparing the current motor coding feedback value, judging whether the electric supporting leg generates displacement or not, and entering the step S2 until all three electric supporting legs fall to the ground
Figure FDA0002848688760000013
Referred to as threshold current, K is constant;
s2: sampling the value of the horizontal sensor to judge whether the change exceeds the set value
The controller continues to drive the fourth electric supporting leg which is not up to the threshold current to extend, simultaneously the plane degree value of the horizontal sensor is sampled and read, and the change values of the horizontal sensor in the direction of X, Y are recorded as delta X respectivelyvalueAnd Δ YvalueJudgment of Δ XvalueAnd Δ YvalueIf the absolute value of the first electric leg is greater than the set value, stopping driving the fourth electric leg, judging that all the electric legs fall to the ground, and then entering the step S3, otherwise, returning to the step S2;
s3: after the highest point supporting leg is determined, the highest point supporting leg is kept still, the two-dimensional values of the horizontal sensor are all in a set range, the levelness value of the horizontal sensor in the direction X, Y is read and recorded as XvalueAnd YvalueBy XvalueAnd YvalueThe highest point electric supporting leg is judged by numerical value, and the highest point electric supporting leg is recorded as HmaxHold HmaxThe electric supporting legs are not moved, and two electric supporting legs drive the other three electric supporting legs to extend out, namely
Figure FDA0002848688760000021
So that XvalueAnd YvalueStopping driving the electric support leg to extend within the set range, and entering step S4;
s4: detecting whether the highest point supporting leg current exceeds the threshold current thereof
Detect peak electronic landing leg HmaxIf the current exceeds the threshold current, the process goes to step S2, and if the current does not exceed the threshold current, the leveling index is satisfied, and the leveling process is ended.
6. The environmental-adaptive electromechanical vehicle-mounted platform leveling method according to claim 5, wherein: in the step S1, Ti1>5 seconds, Tin<And (5) 10 seconds, and eliminating the interference of the stress of the suspended tire set on the leveling system by filtering the current change of the first 5 seconds.
7. The environmental-adaptive electromechanical vehicle-mounted platform leveling method according to claim 6, wherein: in step S2, the sampling interval time Δ T of the sampling level sensor is equal to 50 ms; when | Δ Xvalue|>1' or | Δ Yvalue|>And 1', stopping driving the fourth electric supporting leg and judging that all the electric supporting legs are completely grounded.
8. The environmental-adaptive electromechanical vehicle-mounted platform leveling method according to claim 7, wherein: in the step S3, XvalueAnd YvalueIn a set range of-3'<Xvalue<3 'and-3'<Yvalue<3'。
CN202011518235.1A 2020-12-21 2020-12-21 Environment self-adaptive electromechanical vehicle-mounted platform leveling system Active CN112477732B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011518235.1A CN112477732B (en) 2020-12-21 2020-12-21 Environment self-adaptive electromechanical vehicle-mounted platform leveling system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011518235.1A CN112477732B (en) 2020-12-21 2020-12-21 Environment self-adaptive electromechanical vehicle-mounted platform leveling system

Publications (2)

Publication Number Publication Date
CN112477732A true CN112477732A (en) 2021-03-12
CN112477732B CN112477732B (en) 2022-01-07

Family

ID=74914997

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011518235.1A Active CN112477732B (en) 2020-12-21 2020-12-21 Environment self-adaptive electromechanical vehicle-mounted platform leveling system

Country Status (1)

Country Link
CN (1) CN112477732B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113485459A (en) * 2021-06-24 2021-10-08 中国人民解放军火箭军工程大学 Vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4033761C1 (en) * 1990-10-24 1992-04-02 Hydac Technology Gmbh, 6603 Sulzbach, De
CN101280875A (en) * 2008-05-22 2008-10-08 上海交通大学 Control method of automatic leveling system
CN101995885A (en) * 2009-08-18 2011-03-30 上海派芬自动控制技术有限公司 Chassis leveling system and method
CN102053624A (en) * 2010-12-15 2011-05-11 安徽博微长安电子有限公司 Leveling method based on four-point support and electromechanical automatic leveling system
CN102937813A (en) * 2012-09-27 2013-02-20 北京航天发射技术研究所 Center four-point leveling method and system of platform
CN104850049A (en) * 2015-03-18 2015-08-19 内蒙古北方重工业集团有限公司 Hydraulic leveling intelligent control system
CN110375923A (en) * 2019-08-19 2019-10-25 成都零启自动化控制技术有限公司 A kind of automatic horizontal control system and method
CN111252042A (en) * 2020-02-27 2020-06-09 广州思智科技有限公司 Motor home leveling method and system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4033761C1 (en) * 1990-10-24 1992-04-02 Hydac Technology Gmbh, 6603 Sulzbach, De
CN101280875A (en) * 2008-05-22 2008-10-08 上海交通大学 Control method of automatic leveling system
CN101995885A (en) * 2009-08-18 2011-03-30 上海派芬自动控制技术有限公司 Chassis leveling system and method
CN102053624A (en) * 2010-12-15 2011-05-11 安徽博微长安电子有限公司 Leveling method based on four-point support and electromechanical automatic leveling system
CN102937813A (en) * 2012-09-27 2013-02-20 北京航天发射技术研究所 Center four-point leveling method and system of platform
CN104850049A (en) * 2015-03-18 2015-08-19 内蒙古北方重工业集团有限公司 Hydraulic leveling intelligent control system
CN110375923A (en) * 2019-08-19 2019-10-25 成都零启自动化控制技术有限公司 A kind of automatic horizontal control system and method
CN111252042A (en) * 2020-02-27 2020-06-09 广州思智科技有限公司 Motor home leveling method and system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113485459A (en) * 2021-06-24 2021-10-08 中国人民解放军火箭军工程大学 Vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation
CN113485459B (en) * 2021-06-24 2023-09-22 中国人民解放军火箭军工程大学 Vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation

Also Published As

Publication number Publication date
CN112477732B (en) 2022-01-07

Similar Documents

Publication Publication Date Title
CN102053624B (en) Leveling method based on four-point support and electromechanical automatic leveling system
CN109367525B (en) Automatic leveling system and method for large vehicle body based on six-point support
CN112477732B (en) Environment self-adaptive electromechanical vehicle-mounted platform leveling system
US10114383B2 (en) Dynamic jack reference control system and method for extending vehicle jacks
US8251184B2 (en) Hydraulic load lifter with energy recovery system
CN103991351B (en) Hydraulic flat car load carrying platform four-point supporting leveling system and its implementation
CN109292019B (en) All-terrain vehicle active body attitude control method based on coaxial wheel leg structure
CN104950922A (en) Virtual leg compensation control method for four-point-supporting electromechanical leveling system
CN110985465B (en) Landing detection method for leveling legs
CN108032903B (en) Steering control system of automatic driving automobile
US20180186612A1 (en) Lifting Device for Lifting a Vehicle with Integrated Motor Control, and System and Method Therefor
CN110576860B (en) Vehicle and control method and device for gear detection of speed reducer
CN111352449B (en) Leveling method and system for heavy-load transmitting device
CN101866184A (en) Hanging basket levelling control system
US4502708A (en) Power transmission
CN105452070A (en) Inflator with reactive tire pressure monitoring
US5441298A (en) Apparatus for stabilizing an electric active suspension system upon interruption of the power supply
KR20130036670A (en) Hydraulic horizonality control method of launch platform
AU2020277292A1 (en) Control of an engine for a machine with a dual path powertrain
US20130087522A1 (en) Method for load torque limitation of a working vehicle comprising a jib
CN103253594A (en) Method and device for adjusting length of multi-winding steel wire rope of crawler crane
JP3662115B2 (en) Slide drive device
CN202400068U (en) Six-leg automatic leveling system
CN109501856B (en) Limit steering control method and device
CN202704958U (en) Fork height display and control device for electric industrial vehicles

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant