CN113485459A - Vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation - Google Patents

Vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation Download PDF

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CN113485459A
CN113485459A CN202110706164.6A CN202110706164A CN113485459A CN 113485459 A CN113485459 A CN 113485459A CN 202110706164 A CN202110706164 A CN 202110706164A CN 113485459 A CN113485459 A CN 113485459A
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leveling
vehicle
mounted platform
platform
leg
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CN113485459B (en
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于传强
周伯俊
谭立龙
刘志浩
柯冰
马长林
陈渐伟
舒洪斌
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Rocket Force University of Engineering of PLA
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Abstract

The invention discloses a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation, which comprises the following steps of S1, constructing a four-pivot leveling model according to a four-pivot leveling basic principle on the basis of taking a stepless speed regulation electric cylinder as a vehicle-mounted platform leveling actuating mechanism; s2, after a four-pivot leveling scheme is determined, a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is constructed according to leveling theoretical error calculation; s3, establishing a quick leveling control system according to the four-pivot leveling model and the vehicle-mounted platform leveling interference model to control the vehicle-mounted platform to carry out quick leveling; the method takes the stepless speed regulation electric cylinder as an actuating mechanism, constructs an electric cylinder deformation error model, corrects the leveling error by adopting an interference compensation feedback method, can effectively improve the leveling precision and speed of the vehicle-mounted platform, and has the characteristics of high control precision and high leveling speed.

Description

Vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation
Technical Field
The invention relates to the technical field of vehicle-mounted platform quick leveling, in particular to a vehicle-mounted platform quick leveling control method based on mechanical deformation interference compensation.
Background
The mobile unit needs to be erected to a certain inclination angle or a vertical state from a horizontal state when working, and in the process, factors influencing success and failure of operation and precision mainly comprise the following aspects: firstly, the inclination of the vehicle body can cause the measurement error of the pitch angle, and further the working precision of the vehicle-mounted equipment is influenced; secondly, the vehicle load erecting process is a process that the load is constantly changed, the system is easy to generate instability, and the system is unstable, so that the load structure and internal instruments and equipment are greatly impacted; thirdly, the larger the load erecting weight is, the larger the impact on the system is. Therefore, before the vehicle-mounted equipment works, the leveling of the whole vehicle must be realized;
the traditional vehicle-mounted equipment is mainly leveled by a hydraulic cylinder, a hydraulically-driven leveling system has relatively serious problems of ' running, overflowing, dripping, leaking ' and the like under the heavy load condition, meanwhile, the traditional hydraulic leveling time is relatively long and is about 35s, and the leveling precision is relatively poor and is about 4 '; in order to solve the problem, an electric cylinder is adopted for leveling, electric energy is directly converted into mechanical energy through a servo motor, the transmission efficiency is improved, meanwhile, the precise transmission of a motor-ball (roller) -screw rod and the like is realized through constructing a position, speed or torque control closed loop, and the control precision can be improved;
in a leveling control algorithm, a fuzzy PID control algorithm is mostly adopted for leveling control of the traditional hydraulic cylinder, the fuzzy PID control algorithm is simple in structure, obvious in effect and convenient to adjust, but the problems of low precision and the like exist due to the characteristics of nonlinearity, parameter time variation, load difference of each execution element and the like of a hydraulic system; meanwhile, in a specific leveling mode, because the load needs to be erected during the operation of the vehicle-mounted equipment, the leveling error of a pitch angle can be made up according to the erecting angle, so that in the actual work, the front and rear pitch angles of a vehicle body do not need to be strictly adjusted to 0 degrees, and the left and right roll angles need to be adjusted to 0 degrees, most of the traditional vehicle-mounted platform leveling systems adopt a general scheme of rear leg left and right leveling, the leveling of the exhibition vehicle is completed according to the sequence of lifting the vehicle (four legs are grounded), leveling (left and right rear legs) and extending the front legs, the whole process of leveling the exhibition vehicle is a serial mode, the control program is complex, the links are multiple, the time is long, and the requirement of quick leveling is difficult to meet;
therefore, it is necessary to design a control method capable of leveling the vehicle-mounted platform quickly and accurately.
Disclosure of Invention
Aiming at the existing problems, the invention aims to provide a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation comprises the following steps
S1, on the basis that a stepless speed regulation electric cylinder is used as a vehicle-mounted platform leveling actuating mechanism, a four-fulcrum leveling model is built according to a four-fulcrum leveling basic principle;
s2, after the four-pivot leveling scheme is determined, a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is constructed according to the leveling theoretical error calculation
S201, calculating the supporting leg bearing capacity of the vehicle-mounted platform in an initial leveling state;
s202, establishing an electric cylinder deformation error model;
s203, according to the electric cylinder deformation error model, a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is built by using an adaptive fuzzy PID control algorithm based on interference compensation;
and S3, establishing a quick leveling control system according to the four-pivot leveling model and the vehicle-mounted platform leveling interference model to control the vehicle-mounted platform to carry out quick leveling.
Preferably, the construction process of the four-pivot leveling model in step S1 includes
S101, arranging support legs i of a vehicle-mounted platform in a horizontal coordinate system OX0Y0Z0Has the coordinates of0Pi＝(0PiX,0PiY,0PiZ)TIn the platform coordinate system OX1Y1Z1Has the coordinates of1Pi＝(1PiX,1PiY,1PiZ)T(ii) a Alpha and beta are horizontal coordinate system OX0Y0Z0And a platform coordinate system OX1Y1Z1And alpha and beta are not 0, according to the kinematic conclusion of the spatial attitude transformation, the transformation matrix between the horizontal coordinate system and the platform coordinate system is as follows:
Figure BDA0003131363880000031
s102, arranging a platform coordinate system OX1Y1Z1In (3), the coordinates of each leg are:1Pi＝(1Xi,1Yi,1Zi)Tthen, then
Figure BDA0003131363880000032
The coordinates of the fulcrums Z are then:
0Zi＝(-α,β,1)(1Xi,1Yi,1Zi)T (2)；
s103, pre-supporting before the platform is leveled, and setting the initial angle of the platform as alpha at the moment0And beta0Firstly, judging the highest point of the vehicle-mounted platform, taking the point as a coordinate origin, and setting the initial positions of the supporting legs as follows:
0Zi＝-α0 1Xi+β0 1Yi+1Zi (3)
it is clear that,1Zithus, the above formula (3) can be represented as:
0Zi＝-α0 1Xi+β0 1Yi (4)
s104, assuming that i-h is the highest point:0Zh≥0Ziand at any moment, the position difference between each fulcrum and the highest point is as follows:
ei＝0Zh-0Zi＝-α0(1Xh-1Xi)+β0(1Yh-1Yi) (5)
all the supporting legs are symmetrically distributed along the front and the back and the left and the right of the frame, and the distance between the long sides of the distributed supporting legs is LaShort side interval of LbAnd then the coordinates of each supporting leg in the platform moving coordinate system are as follows:
Figure BDA0003131363880000033
Figure BDA0003131363880000034
according to the formula (6), the extension amount of each supporting leg can be calculated;
s105, the inclination angle of the initial angle of the platform is positive and negative according to a right-hand rule, namely, when viewed from the vector end of the coordinate, the platform rotates anticlockwise to be positive, and corresponding support legs with the highest coordinates are different according to different positive and negative combinations of the inclination angles in the X-axis direction and the Y-axis direction, so that the following can be obtained:
(1) when alpha is0＜0，β0At > 0, leg 1 is highest, at which time e1＝0，e2＝-α0La，e3＝-α0La+β0Lb，e4＝β0Lb；
(2) When alpha is0＞0，β0When > 0, the leg 2 is highest, at which time e1＝α0La，e2＝0，e3＝β0Lb，e4＝α0La+β0Lb；
(3) When alpha is0＜0，β0At > 0, the leg 3 is highest, at which time e1＝α0La-β0Lb，e2＝-β0Lb，e3＝0，e4＝α0La；
(4) When alpha is0＜0，β0At > 0, the leg 4 is highest, at which time e1＝-β0Lb，e2＝-α0La-β0Lb，e3＝-α0La，e4＝0；
From the four cases above, we can derive: the adjustment quantity of each supporting leg is 0, | α for each leveling0La||，||β0Lb||，||α0La||+||β0LbOne of the four numerical values is distributed according to different high points, and the leveling process can be iterated circularly until the levelness meets the requirement.
Preferably, when the leveling is carried out by using the four-fulcrum leveling model, a three-point height-increasing method is adopted for leveling.
Preferably, the calculation process of the supporting leg bearing capacity in step S201 includes
S2011, when the vehicle-mounted platform is leveled, the axial force and the radial force of the two front support legs to the frame are respectively f1y、f1x、f1z(ii) a The axial force and the radial force of the two rear supporting legs to the frame are respectively f2y、f2x、f2z(ii) a The pitch angle of the vehicle body is alpha, and the roll angle of the vehicle body is beta;
s2022, with a frame plane as a reference, tracking balance between frame gravity and leg axial force when a vehicle body state changes, wherein resultant force in an axial direction of a leg is equal to projection of the frame and load gravity in the axial direction of the leg, and when the vehicle body has a pitch angle and a roll angle, a stress balance equation is as follows:
f1y+f2y＝mg cosαcosβ (11)
f1x+f2x＝mg sinα (12)
f1z+f2z＝mg sinβ (13)
s2023, using a connecting line of the two front supporting legs as a rotating shaft to perform moment balance analysis, wherein a moment balance equation is as follows:
[m1g(l-l1)+m2g(l-l2)]cosαcosβ＝f2yl (14)
and (3) carrying out moment balance analysis by taking a connecting line of the two rear supporting legs as a rotating shaft, wherein a moment balance equation is as follows:
[m1gl1+m2gl2]cosαcosβ＝f1yl (15)
calculated according to equations (11) - (15): f. of1yAnd f2yAnd the single-leg bearing of the front supporting leg and the single-leg bearing of the rear supporting leg can be obtained according to the average calculation of the stress of the two legs.
Preferably, the process of establishing the electric cylinder deformation error model in step S202 includes:
s2021, when an electric cylinder is used as a leveling actuating mechanism of the vehicle-mounted platform, curvature sum is as follows:
∑ρ＝ρ11+ρ12+ρ21+ρ22 (7)
in formula (7):
Figure BDA0003131363880000051
s2022, the main curvature function is as follows:
Figure BDA0003131363880000052
s2023, the total deformation of the supporting legs is as follows:
Figure BDA0003131363880000053
in the formula, R is the arc radius of the contact point of the roller and the central screw; r1The radius of the thread roller path of the central screw rod; d1The radius from the contact point to the central lead screw; d2The radius of the contact point to the roller axis; theta is a contact angle between the screw rod and the roller and between the nut and the roller; lambda is the lead angle of the roller; e1And E2The elastic modulus of the roller and the lead screw; mu.s1And mu2The Poisson ratio of the roller to the screw; f0Is axial force, and n is the number of the rollers;
Figure BDA0003131363880000061
may be obtained from a look-up table of values for F (ρ).
Preferably, the process of constructing the vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation by using the adaptive fuzzy PID control algorithm based on interference compensation in step S203 includes
S2031, calculating an initial error of leg deformation according to a formula (9), and compensating an input error e of a fuzzy controller;
s2032, then, derivation is carried out on the error e, and the error change rate e is calculatedcCalculating the output delta K of the fuzzy controllerp、ΔKIAnd Δ KD；
Said Δ Kp、ΔKIAnd Δ KDRespectively representing the change amounts of proportion, differentiation and integration of error change;
s2033. the fuzzy controller updates e and e in operationcThen e and ecAfter update,. DELTA.K is adjusted according to Table 1p、ΔKIAnd Δ KDThe online self-tuning of PID parameters is realized, and a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is obtained;
wherein, the input and output linguistic variables e and e of the fuzzy controllerc、ΔKp、ΔKI、ΔKDAll of the ambiguity domains of [ -6, 6 [)]The fuzzy subset is [ NB, NM, NS, ZO, PS, PM, PB]Each fuzzy subsetAnd adopting a Gaussian membership function, and adopting a gravity center method for the output quantity defuzzification.
Preferably, the establishment process of the fast leveling control system in step S3 includes
S301, building a system block diagram in a simulink according to a four-pivot leveling model and a vehicle-mounted platform leveling interference model, finishing the editing of a FIS file according to a fuzzy controller control rule and a fuzzy resolving method, and determining initial parameters, K, of a fuzzy PID controller by adopting a trial and error methodp、KIAnd KDBuilding a self-adaptive fuzzy PID controller simulation model;
s302, under an AMESim environment, selecting corresponding models from a model library to connect, and establishing a combined simulation model under an MATLAB/Simulink environment.
The invention has the beneficial effects that: the invention discloses a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation, and compared with the prior art, the invention has the improvement that:
(1) the invention provides a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation, which adopts a leveling scheme that a stepless speed regulation electric cylinder is used as an actuating mechanism, combines a leveling scheme that the adjustment of a roll angle is used as a main pitch angle and is used as an auxiliary pitch angle, and adopts a three-point height-increasing leveling method to level the type of a vehicle-mounted platform;
(2) meanwhile, the control method provides a leveling control strategy based on interference compensation, an initial error is input through theoretical calculation, and leveling is rapidly performed through a fuzzy PID control algorithm; the rapid leveling experiment of the vehicle-mounted platform is completed, and the experimental result shows that the vehicle-mounted platform can be leveled within 10s under the condition of a large inclination angle and a large load, and the time is shortened by 71.4% compared with the hydraulic leveling time; the leveling precision is high, the pitch angle leveling precision reaches 3 ', the roll angle leveling precision reaches 0.06', the improvement is 25%, the control method can effectively improve the leveling precision and speed of the vehicle-mounted platform through experimental verification, and the control method has the advantages of high control precision and high leveling speed.
Drawings
Fig. 1 is a control schematic diagram of the vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation.
Fig. 2 is a coordinate relation diagram of the vehicle frame platform in embodiment 1 of the invention.
FIG. 3 is a schematic diagram of a three-point step-up leveling method in accordance with example 1 of the present invention.
Fig. 4 is a structure diagram of the fuzzy PID control algorithm based on interference compensation in embodiment 1 of the present invention.
FIG. 5 is a schematic diagram of the leveling initial state longitudinal force of example 1 of the present invention.
FIG. 6 is a schematic diagram of the leveling initial state lateral force in the embodiment 1 of the present invention.
Fig. 7 is a diagram of a building process of a leveling controller simulation model according to embodiment 1 of the present invention.
Fig. 8 is a combined simulation model diagram in the AMESim environment according to embodiment 1 of the present invention.
FIG. 9 is a diagram of a joint simulation model in MATLAB/Simulink environment according to embodiment 1 of the present invention.
FIG. 10 is a graph of the displacement of the leveling leg according to example 1 of the present invention.
FIG. 11 is a diagram of an experimental prototype according to example 2 of the present invention.
Fig. 12 is a schematic structural view of a leveling electric cylinder in embodiment 2 of the present invention.
Fig. 13 is a diagram of an automatic operation mode control interface according to embodiment 2 of the present invention.
FIG. 14 is a graph showing the angle change of the leveling process of the experimental prototype in the embodiment 2 of the present invention.
FIG. 15 is a graph showing the displacement variation of the leveling process of the experimental prototype in embodiment 2 of the present invention.
Fig. 16 is a graph of leveling deviation of simulation and experiment in embodiment 2 of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following further describes the technical solution of the present invention with reference to the drawings and the embodiments.
Example 1: referring to the accompanying drawings 1-10, a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation comprises the following steps
S1, on the basis that a stepless speed regulation electric cylinder is used as a leveling actuating mechanism of a vehicle-mounted platform, a four-fulcrum leveling model is constructed according to a four-fulcrum leveling basic principle:
in the leveling process, deformation of a frame, elastic deformation of supporting legs and the like are disturbance of leveling control, and the supporting legs are leveled according to a theoretical value, so that a large leveling error exists, and the leveling requirement cannot be met at one time, so that four-pivot leveling modeling needs to be carried out on the vehicle-mounted platform;
in the four-pivot leveling modeling process, the leveling of any system can be simplified into the leveling of a certain platform plane, and according to the principle that a plane is determined by three points or two intersecting straight lines, the essence of the platform leveling is to level the two intersecting straight lines on the platform; according to theoretical analysis, two straight lines on the platform are not coupled in respective leveling only when the two straight lines are perpendicular to each other, and the levelness of the platform is minimal, so that a biaxial inclination angle sensor is required to be arranged in X, Y two directions perpendicular to each other of the platform to measure horizontal inclination angles in the two directions, the coordinate relationship of the biaxial inclination angle sensor is shown in fig. 2, and the specific construction process of the four-pivot leveling model comprises the following steps:
s101, arranging support legs i of a vehicle-mounted platform in a horizontal coordinate system (a normal three-dimensional ground horizontal coordinate system) OX0Y0Z0Has the coordinates of0Pi＝(0PiX,0PiY,0PiZ)TOX in a platform coordinate system (establishing the coordinate system on the vehicle platform)1Y1Z1Has the coordinates of1Pi＝(1PiX,1PiY,1PiZ)T(ii) a Alpha and beta are horizontal coordinate system OX0Y0Z0And a platform coordinate system OX1Y1Z1The included angle of the supporting leg i and the frame platform is not 0, the inclination angles of the supporting leg i and the frame platform are small inclination angles, the condition that the alpha and the beta are small angles is met, and according to the kinematic conclusion of space posture transformation, a transformation matrix between a horizontal coordinate system and a platform coordinate system is as follows:
Figure BDA0003131363880000091
s102, assuming that the X is in a platform coordinate system OX1Y1Z1In the middle, the coordinates of each support leg of the vehicle-mounted platform are as follows:1Pi＝(1Xi,1Yi,1Zi)Tthen, then
Figure BDA0003131363880000092
The coordinates of the fulcrums Z are then:
0Zi＝(-α,β,1)(1Xi,1Yi,1Zi)T (2)；
s103, pre-supporting before platform leveling (the vehicle-mounted platform simulates a normal vehicle, is pre-supported by objects such as tires and needs to extend support legs for leveling during work), and setting the initial angle of the platform as alpha0And beta0Firstly, judging the highest point of the vehicle-mounted platform, and taking the point as the origin of coordinates, wherein the initial positions of the supporting legs are as follows:
0Zi＝-α0 1Xi+β0 1Yi+1Zi (3)
it is clear that,1Zithus, the above formula (3) can be represented as:
0Zi＝-α0 1Xi+β0 1Yi (4)
s104, assuming that i ═ h (i ═ h means that the height of the leg is h) is the highest point:0Zh≥0Ziand at any moment, the position difference between each fulcrum and the highest point is as follows:
ei＝0Zh-0Zi＝-α0(1Xh-1Xi)+β0(1Yh-1Yi) (5)
all the supporting legs are symmetrically distributed along the front and the back and the left and the right of the frame, and the distance between the long sides of the distributed supporting legs is LaShort side interval of LbThen, the coordinates of each leg in the moving coordinate system are:
Figure BDA0003131363880000101
Figure BDA0003131363880000102
according to the formula (6), the extension amount of each supporting leg can be calculated;
s105, the inclination angle of the initial angle of the platform is positive and negative according to a right-hand rule, namely, when viewed from the vector end of the coordinate, the platform rotates anticlockwise to be positive, and corresponding support legs with the highest coordinates are different according to different positive and negative combinations of the inclination angles in the X-axis direction and the Y-axis direction, so that the following can be obtained:
(1) when alpha is0＜0，β0At > 0, leg 1 is highest, at which time e1＝0，e2＝-α0La，e3＝-α0La+β0Lb，e4＝β0Lb；
(2) When alpha is0＞0，β0When > 0, the leg 2 is highest, at which time e1＝α0La，e2＝0，e3＝β0Lb，e4＝α0La+β0Lb；
(3) When alpha is0＜0，β0At > 0, the leg 3 is highest, at which time e1＝α0La-β0Lb，e2＝-β0Lb，e3＝0，e4＝α0La；
(4) When alpha is0＜0，β0At > 0, the leg 4 is highest, at which time e1＝-β0Lb，e2＝-α0La-β0Lb，e3＝-α0La，e4＝0；
From the four cases above, we can derive: the adjustment quantity of each supporting leg is 0, | α for each leveling0La||，||β0Lb||，||α0La||+||β0LbOne of the four numerical values is distributed according to different high points, and the leveling process can be iterated circularly until the levelness meets the requirement;
s106, in order to meet the requirement of rapid leveling within 10s, leveling support legs are symmetrically arranged along the axial direction of a vehicle body, under the action of a leveling controller, an inclination angle sensor and the like, four support legs are grounded, then the left and right leveling precision of the support legs is taken as a main control parameter, front support legs synchronously extend out in the leveling process of the rear support legs, and an electric cylinder with a stepless speed regulation function is adopted as a scheme for simultaneously acting and leveling the four support legs in parallel, so that the leveling time is saved; since the supporting legs are not convenient to shorten when the vehicle is leveled, a three-point height-increasing method is adopted for leveling, and the specific leveling method is shown in figure 3.
S2, after the four-pivot leveling scheme is determined, a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is constructed according to the leveling theoretical error calculation, and the method comprises the following steps of
S201, calculating the supporting leg bearing capacity of the vehicle-mounted platform in the leveling initial state, specifically comprising
S2011, when the vehicle-mounted platform is leveled, the ground is allowed to have certain unevenness, the unevenness is reflected on the vehicle-mounted platform, namely, a vehicle before leveling has a certain pitch angle and roll angle, the vehicle frame and the whole load are taken as stress objects to be analyzed, each supporting leg is rigidly connected with the vehicle frame, when the vehicle-mounted platform is leveled in an initial state, the supporting legs have an axial supporting force and two mutually vertical radial supporting forces on the vehicle frame, the stress of the vehicle-mounted platform in a pitching state and the vehicle-mounted platform in a rolling state is shown in a figure 5 and a figure 6, and the axial force and the radial force of the two front supporting legs on the vehicle frame are respectively set to be f1y、f1x、f1z(ii) a The axial force and the radial force of the two rear supporting legs to the frame are respectively f2y、f2x、f2z(ii) a The pitch angle of the vehicle body is alpha, and the roll angle of the vehicle body is beta;
in FIGS. 5-6:
(1) the left-right span h of the two front supporting legs is 3m, and the span of the two rear supporting legs is the same as that of the front supporting legs;
(2) the span l of the front leg and the rear leg on the same side is 12 m;
(3) vehicle frame mass m128t, load mass m235 t; the total mass m is 63 t;
(4) the center of mass of the frame is positioned in the vertical symmetrical plane of the vehicle body and is horizontally away from the central axis of the rear leg by a distance l1＝8.1m；
(5) The load mass center is positioned in the vertical symmetrical plane of the vehicle body and is horizontally distant from the central axis of the rear leg by a distance l2＝6.2m；
(6) Acceleration of gravity g-9.8 m/s2；
S2022, with a frame plane as a reference, tracking balance between frame gravity and leg axial force when a vehicle body state changes, wherein resultant force in an axial direction of a leg is equal to projection of the frame and load gravity in the axial direction of the leg, and when the vehicle body has a pitch angle and a roll angle, a stress balance equation is as follows:
f1y+f2y＝mgcosαcosβ (11)
f1x+f2x＝mgsinα (12)
f1z+f2z＝mgsinβ (13)
s2023, using a connecting line of the two front supporting legs as a rotating shaft to perform moment balance analysis, wherein a moment balance equation is as follows:
[m1g(l-l1)+m2g(l-l2)]cosαcosβ＝f2yl (14)
and (3) carrying out moment balance analysis by taking a connecting line of the two rear supporting legs as a rotating shaft, wherein a moment balance equation is as follows:
[m1gl1+m2gl2]cosαcosβ＝f1yl (15)
calculated according to equations (11) - (15): f. of1yAnd f2yAnd the average calculation is carried out according to the stress of the two legs, the single-leg bearing of the front supporting leg and the single-leg bearing of the rear supporting leg can be obtained, and the data can be obtained by carrying in: f. of1y＝361424N；f2y＝254310N, 180712N for single leg bearing of front leg, 127155N for single leg bearing of back leg;
s202, establishing an electric cylinder deformation error model
S2021, errors in leveling of a vehicle body are mainly the influence of leg deformation on leveling, main deformation in an electric cylinder comes from deformation of a planetary roller screw, and axial deformation of an assembly is mainly divided into 3 conditions: firstly, the point contact between the screw thread and the roller is in Hertz deformation of the screw thread groove; axial deformation of the screw rod and the nut when the screw rod and the nut are respectively contacted with the roller; and thirdly, when the screw rod and the nut are respectively contacted with the roller, the deformation of the screw thread can obtain the curvature sum when the electric cylinder is used as a leveling actuating mechanism of the vehicle-mounted platform, and the curvature sum is as follows:
∑ρ＝ρ11+ρ12+ρ21+ρ22 (7)
in formula (7):
Figure BDA0003131363880000121
s2022, the main curvature function is as follows:
Figure BDA0003131363880000122
s2023, the total deformation of the available supporting legs is as follows:
Figure BDA0003131363880000131
in the formula, R is the arc radius of the contact point of the roller and the central screw and is 31 mm; r1The radius of the thread roller path of the central screw is 24 mm; d1The radius from the contact point to the central screw is 24.2 mm; d2The radius from the contact point to the axis of the roller is 6.3 mm; theta is a contact angle between the screw rod and the roller and a contact angle between the nut and the roller, and theta is 45 degrees; lambda is the lead angle of the roller, and lambda is 4 degrees; e1And E2The elastic moduli of the roller and the screw rod are 210 MPa; mu.s1And mu2The Poisson ratio of the roller to the screw is 0.3; f0Is axial force, n is a rollerThe number is 12;
Figure BDA0003131363880000132
can be obtained by looking up a table according to the value of F (rho), and is 1.1; the above parameters are taken into formula (9) to obtain:
Figure BDA0003131363880000133
s203, according to the electric cylinder deformation error model, constructing a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation by using an adaptive fuzzy PID control algorithm based on interference compensation
The input error e in the traditional adaptive fuzzy PID control algorithm is usually obtained according to experience, and the defects of poor leveling precision, low robustness and the like sometimes exist in practical application; a preliminary fuzzy control compensation error table is formulated by calculating the deformation of the frame and the deformation of the supporting legs theoretically, meanwhile, in the leveling process, after leveling is finished each time, the leveling error is calculated according to a numerical value fed back by an inclination angle sensor or a displacement sensor, a fuzzy control rule table is automatically updated by utilizing the leveling error, and the algorithm structure of the self-adaptive fuzzy PID control based on interference compensation is shown in a figure 4 and comprises the following steps:
s2031, calculating an initial error of leg deformation according to an equation (9) or an equation (10), and compensating an input error e of a fuzzy controller;
s2032, then, derivation is carried out on the error e, and the error change rate e is calculatedcCalculating the output delta K of the fuzzy controllerp、ΔKIAnd Δ KD；
Said Δ Kp、ΔKIAnd Δ KDRespectively representing the change amounts of proportion, differentiation and integration of error change;
s2033. the fuzzy controller updates e and e in operationcThen e and ecAfter update,. DELTA.K is adjusted according to Table 1p、ΔKIAnd Δ KDThe online self-tuning of PID parameters is realized, and the requirements of e and e are metcObtaining interference compensation based on mechanical deformation according to different requirements of control parametersThe compensated vehicle-mounted platform leveling interference model;
wherein, the input and output linguistic variables e and e of the fuzzy controllerc、ΔKp、ΔKI、ΔKDAll of the ambiguity domains of [ -6, 6 [)]The fuzzy subset is [ NB, NM, NS, ZO, PS, PM, PB]Each fuzzy subset adopts Gaussian membership function, the output quantity is defuzzified by gravity center method, delta Kp、ΔKIAnd Δ KDSee table 1 for control rules of (d):
TABLE 1. DELTA.Kp、ΔKIAnd Δ KDFuzzy rule table
Figure BDA0003131363880000141
S3, establishing a rapid leveling control system according to the four-pivot leveling model and the vehicle-mounted platform leveling interference model to control the vehicle-mounted platform to perform rapid leveling
S301, building a system block diagram in simulink with reference to FIG. 4 and Table 1, completing the editing of FIS files according to the control rules and the fuzzy resolving method of the fuzzy controller, and determining the initial parameter K of the PID controller by adopting a trial and error methodp、KIAnd KDThe initial values are 1500, 30 and 5 respectively; according to the fuzzy domain of each parameter, the scale factors of the obtained error and the error change rate are 150 and 0.2, and delta Kp、ΔKIAnd Δ KDThe quantization factors of the fuzzy PID controller are 300, 5 and 1, a self-adaptive fuzzy PID controller simulation model is built, and the self-adaptive fuzzy PID controller simulation model is built as shown in FIG. 7;
s302, under an AMESim environment, selecting corresponding models from a model library to connect, and establishing a combined simulation model under an MATLAB/Simulink environment, wherein the method comprises the following steps:
(1) under an AMESim environment, selecting a corresponding model from a model library to connect, building the model as shown in figure 8, and equivalently replacing a planetary roller screw structure in the electric leveling supporting leg by a bolt-nut structure;
(2) creating a combined simulation icon 1 with MATLAB/Simulink in AMESim, calculating an output compensation value of a calculated theoretical stress signal 2 of the planetary roller screw through a function 3, combining the output compensation value with an expected displacement signal 5 when the leveling supporting leg contacts the ground, comparing the output compensation value with an actual displacement signal 4, and then using the combined compensation value as the input of a fuzzy PID controller to process to obtain a driving motor input signal so as to control the speed and the displacement of the supporting leg;
(3) a data exchange interface of a leveling system model and a fuzzy PID controller model is established through MATLAB/Simulink, then corresponding modules are connected, and a joint simulation model established in the MATLAB/Simulink environment is shown in FIG. 9.
S303. simulation analysis
(1) According to the leveling methods of the steps S1 and S2 and in combination with the leveling process in the actual work of the vehicle-mounted platform, the leveling process has the following three stages: the first stage is an electric cylinder no-load high-speed touchdown stage; the second stage is the touchdown detection of each leveling supporting leg; the third stage is low-speed vehicle lifting and leveling;
(2) when the leveling mechanism carries out low-speed vehicle lifting leveling in the third stage, in order to ensure that the vehicle-mounted platform leaves the ground, the leveling support legs need to rise by 5mm after contacting the ground;
(3) setting the left rear leg of the third stage as the highest point and the displacement as e25mm, right front leg displacement e4245mm, right rear leg displacement e3159mm, left front leg displacement is e1＝90mm；
(4) Inputting displacement signals of all supporting legs in a signal module, fitting with an actual experiment as much as possible, keeping all supporting legs still in a 9.28-10s stage when the displacement of all supporting legs is 0s to 0.81s for operation detection of a leveling system, and obtaining the displacement signals of all supporting legs in the first stage to the third stage by actual measurement;
(5) the left front leg is given a signal to change from 0 to 233mm within t & lt0.81-2 s in the first stage, and is given a signal to keep unchanged within t & lt2-4.5 s in the second stage; the third stage gives a signal that varies from 233.6mm to 323mm within t ═ 4.5-9.28 s;
the signal given by the right front leg in the first stage is changed from 0 to 117mm within t & lt0.81-1.8 s, and the signal given in the second stage is kept unchanged within t & lt1.8-4.5 s; the third stage gives a signal that varies from 117mm to 362mm within t ═ 4.5-9.28 s;
the left rear leg is given a signal to change from 0 to 270mm within t-0.81-2.75 s in the first stage, and is given a signal to keep unchanged within t-0.7-4 s in the second stage; the third stage gives a signal that varies from 270mm to 275mm within t-5-10 s;
the signal given by the right rear leg in the first stage is changed from 0 to 80mm within t & lt0.81-1.5 s, and the signal given in the second stage is kept unchanged within t & lt1.5-4.5 s; the third stage gives a signal that varies from 80mm to 239mm within t ═ 4.5-9.28 s;
(6) when the leveling enters a second stage, a compensation signal of force is input, the input force of the front supporting leg is 180712N, and the input force of the rear supporting leg is 127155N;
(7) setting the simulation time to be 10s, running the simulation in an MATLAB/Simulink environment, and observing the displacement of each support leg in AMESim, as shown in FIG. 10;
as can be seen from fig. 10, after the leveling legs of each stage are extended in place, a large error is generated but the leveling legs are stable in a short time, and the leveling legs can be extended in place quickly according to a predetermined signal, and it can be obtained from a simulation result that the vehicle-mounted platform can be leveled quickly by adopting an adaptive fuzzy PID control mode based on interference compensation, and the leveling error is small.
Example 2: s4, experimental verification
In order to simulate the real vehicle-mounted situation, an experimental prototype shown in fig. 11 is built, a leveling electric cylinder is shown in fig. 12, each leveling supporting leg is driven by a main motor and a secondary motor, a part 1 shown in fig. 12 is a main motor, a part 2 is a secondary motor, the change of the angle of a vehicle is measured by an inclination angle sensor in the leveling process, a leveling control system adopts VB and a motion control board card, fig. 13 is a leveling operation interface, and in the interface, except for the fact that the staged inching operation can be executed, a one-key operation program can be entered through setting;
experimental study is mainly carried out on the working conditions that the initial pitch angle is 1.9 degrees and the roll angle is 2.94 degrees corresponding to the working conditions, experimental data are processed to obtain a change curve of the angle and the displacement in the experimental process, the result is shown in figures 14-15, and a leveling deviation curve is obtained by comparing the experimental data with simulation data, as shown in figure 16;
as can be seen from FIGS. 14-15, the vehicle-mounted platform under the heavy load condition can be leveled within 10s by using the method, the pitch angle after leveling is 0.05 degrees, and the roll angle is 0.001 degrees;
as can be seen from fig. 16, the deviation between the simulated displacement and the experimental displacement is small in the touchdown leveling stage, the maximum deviation is 0.5mm, the error is relatively large in the no-load rapid extension stage, the maximum deviation is 9.7mm, and the large deviation is mainly caused because the driving motor is not completely linear when being started, so that a large error occurs.
S5. conclusion
(1) The invention provides a leveling control strategy based on interference compensation, which inputs an initial error through theoretical calculation and quickly levels through a fuzzy PID control algorithm.
(2) The rapid leveling experiment of the vehicle-mounted platform is completed, and the experimental result shows that the vehicle-mounted platform using the control method can be leveled within 10s under the condition of a large inclination angle and a large load, so that the time is shortened by 71.4% relative to the hydraulic leveling time; and the leveling precision is higher, the pitch angle leveling precision reaches 3 ', the roll angle leveling precision reaches 0.06', and the improvement is 25%.
The feasibility of the vehicle-mounted platform rapid leveling method based on interference compensation is verified through the experiment.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (7)

1. A vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation is characterized by comprising the following steps: comprises the steps of
S1, on the basis that a stepless speed regulation electric cylinder is used as a vehicle-mounted platform leveling actuating mechanism, a four-fulcrum leveling model is built according to a four-fulcrum leveling basic principle;
s2, after the four-pivot leveling scheme is determined, a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is constructed according to the leveling theoretical error calculation:
s201, calculating the supporting leg bearing capacity of the vehicle-mounted platform in an initial leveling state;
s202, establishing an electric cylinder deformation error model;
s203, according to the electric cylinder deformation error model, a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is built by using an adaptive fuzzy PID control algorithm based on interference compensation;
and S3, establishing a quick leveling control system according to the four-pivot leveling model and the vehicle-mounted platform leveling interference model to control the vehicle-mounted platform to carry out quick leveling.
2. The vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation is characterized in that: the construction process of the four-pivot leveling model in the step S1 includes
S101, arranging support legs i of a vehicle-mounted platform in a horizontal coordinate system OX0Y0Z0Has the coordinates of0Pi＝(0PiX,0PiY,0PiZ)TIn the platform coordinate system OX1Y1Z1Has the coordinates of1Pi＝(1PiX,1PiY,1PiZ)T(ii) a Alpha and beta are horizontal coordinate system OX0Y0Z0And a platform coordinate system OX1Y1Z1And alpha and beta are not 0, according to the kinematic conclusion of the spatial attitude transformation, the transformation matrix between the horizontal coordinate system and the platform coordinate system is as follows:
Figure FDA0003131363870000021
s102, arranging a platform coordinate system OX1Y1Z1In (3), the coordinates of each leg are:1Pi＝(1Xi,1Yi,1Zi)Tthen, then
Figure FDA0003131363870000022
The coordinates of the fulcrums Z are then:
Figure FDA0003131363870000023
s103, pre-supporting before the platform is leveled, and setting the initial angle of the platform as alpha at the moment0And beta0Firstly, judging the highest point of the vehicle-mounted platform, taking the point as a coordinate origin, and setting the initial positions of the supporting legs as follows:
0Zi＝-α0 1Xi+β0 1Yi+1Zi (3)
it is clear that,1Zithus, the above formula (3) can be represented as:
0Zi＝-α0 1Xi+β0 1Yi (4)
s104, assuming that i-h is the highest point:0Zh≥0Ziand at any moment, the position difference between each fulcrum and the highest point is as follows:
ei＝0Zh-0Zi＝-α0(1Xh-1Xi)+β0(1Yh-1Yi) (5)
all the supporting legs are symmetrically distributed along the front and the back and the left and the right of the frame, and the distance between the long sides of the distributed supporting legs is LaShort side interval of LbAnd then the coordinates of each supporting leg in the platform moving coordinate system are as follows:
Figure FDA0003131363870000024
Figure FDA0003131363870000025
according to the formula (6), the extension amount of each supporting leg can be calculated;
s105, the inclination angle of the initial angle of the platform is positive and negative according to a right-hand rule, namely, when viewed from the vector end of the coordinate, the platform rotates anticlockwise to be positive, and corresponding support legs with the highest coordinates are different according to different positive and negative combinations of the inclination angles in the X-axis direction and the Y-axis direction, so that the following can be obtained:
(1) when alpha is0＜0，β0At > 0, leg 1 is highest, at which time e1＝0，e2＝-α0La，e3＝-α0La+β0Lb，e4＝β0Lb；
(2) When alpha is0＞0，β0When > 0, the leg 2 is highest, at which time e1＝α0La，e2＝0，e3＝β0Lb，e4＝α0La+β0Lb；
(3) When alpha is0＜0，β0At > 0, the leg 3 is highest, at which time e1＝α0La-β0Lb，e2＝-β0Lb，e3＝0，e4＝α0La；
(4) When alpha is0＜0，β0At > 0, the leg 4 is highest, at which time e1＝-β0Lb，e2＝-α0La-β0Lb，e3＝-α0La，e4＝0；
From the four cases above, we can derive: the adjustment quantity of each supporting leg is 0, | α for each leveling0La||，||β0Lb||，||α0La||+||β0LbOne of the four numerical values is distributed according to different high points, and the leveling process can be iterated circularly until the levelness meets the requirement.
3. The vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation as claimed in claim 2, characterized in that: when leveling is carried out by utilizing the four-fulcrum leveling model, leveling is carried out by adopting a three-point height-increasing method.
4. The vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation is characterized in that: the calculation process of the supporting leg bearing capacity in step S201 includes
S2011, when the vehicle-mounted platform is leveled, the axial force and the radial force of the two front support legs to the frame are respectively f1y、f1x、f1z(ii) a The axial force and the radial force of the two rear supporting legs to the frame are respectively f2y、f2x、f2z(ii) a The pitch angle of the vehicle body is alpha, and the roll angle of the vehicle body is beta;
s2022, with a frame plane as a reference, tracking balance between frame gravity and leg axial force when a vehicle body state changes, wherein resultant force in an axial direction of a leg is equal to projection of the frame and load gravity in the axial direction of the leg, and when the vehicle body has a pitch angle and a roll angle, a stress balance equation is as follows:
f1y+f2y＝mg cosαcosβ (11)
f1x+f2x＝mg sinα (12)
f1z+f2z＝mg sinβ (13)
s2023, using a connecting line of the two front supporting legs as a rotating shaft to perform moment balance analysis, wherein a moment balance equation is as follows:
[m1g(l-l1)+m2g(l-l2)]cosαcosβ＝f2yl (14)
and (3) carrying out moment balance analysis by taking a connecting line of the two rear supporting legs as a rotating shaft, wherein a moment balance equation is as follows:
[m1gl1+m2gl2]cosαcosβ＝f1yl (15)
calculated according to equations (11) - (15): f. of1yAnd f2yAnd the single-leg bearing of the front supporting leg and the single-leg bearing of the rear supporting leg can be obtained according to the average calculation of the stress of the two legs.
5. The vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation is characterized in that: the process of establishing the electric cylinder deformation error model in step S202 includes:
s2021, when the electric cylinder is used as a leveling actuating mechanism of the vehicle-mounted platform, curvature is increased
Comprises the following steps: Σ ρ ═ ρ11+ρ12+ρ21+ρ22 (7)
In formula (7):
Figure FDA0003131363870000041
s2022, the main curvature function is as follows:
Figure FDA0003131363870000051
s2023, the total deformation of the supporting legs is as follows:
Figure FDA0003131363870000052
in the formula, R is the arc radius of the contact point of the roller and the central screw; r1The radius of the thread roller path of the central screw rod; d1The radius from the contact point to the central lead screw; d2The radius of the contact point to the roller axis; theta is a contact angle between the screw rod and the roller and between the nut and the roller; lambda is the lead angle of the roller; e1And E2The elastic modulus of the roller and the lead screw; mu.s1And mu2The Poisson ratio of the roller to the screw; f0As axial forceN is the number of the rollers;
Figure FDA0003131363870000053
may be obtained from a look-up table of values for F (ρ).
6. The vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation is characterized in that: the process of constructing the vehicle-mounted platform leveling interference model based on the mechanical deformation interference compensation by using the adaptive fuzzy PID control algorithm based on the interference compensation in the step S203 includes
S2031, calculating an initial error of leg deformation according to a formula (9), and compensating an input error e of a fuzzy controller;
s2032, then, derivation is carried out on the error e, and the error change rate e is calculatedcCalculating the output delta K of the fuzzy controllerp、ΔKIAnd Δ KD；
Said Δ Kp、ΔKIAnd Δ KDRespectively representing the change amounts of proportion, differentiation and integration of error change;
s2033. the fuzzy controller updates e and e in operationcThen e and ecAfter update,. DELTA.K is adjusted according to Table 1p、ΔKIAnd Δ KDThe online self-tuning of PID parameters is realized, and a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is obtained;
wherein, the input and output linguistic variables e and e of the fuzzy controllerc、ΔKp、ΔKI、ΔKDAll of the ambiguity domains of [ -6, 6 [)]The fuzzy subset is [ NB, NM, NS, ZO, PS, PM, PB]Each fuzzy subset adopts a Gaussian membership function, and the output quantity is defuzzified by a gravity center method.
7. The vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation is characterized in that: the establishment process of the fast leveling control system of step S3 includes
S301. according toBuilding a system block diagram of a four-pivot leveling model and a vehicle-mounted platform leveling interference model in simulink, finishing the editing of a FIS file according to a fuzzy controller control rule and a fuzzy solving method, and determining initial parameters, K, of a fuzzy PID controller by adopting a trial and error methodp、KIAnd KDBuilding a self-adaptive fuzzy PID controller simulation model;
s302, under an AMESim environment, selecting corresponding models from a model library to connect, and establishing a combined simulation model under an MATLAB/Simulink environment.
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