CN202710969U - Full automatic leveling control device based on hydraulic system control - Google Patents
Full automatic leveling control device based on hydraulic system control Download PDFInfo
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- CN202710969U CN202710969U CN 201120550748 CN201120550748U CN202710969U CN 202710969 U CN202710969 U CN 202710969U CN 201120550748 CN201120550748 CN 201120550748 CN 201120550748 U CN201120550748 U CN 201120550748U CN 202710969 U CN202710969 U CN 202710969U
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- leveling
- leveling leg
- leg
- ball screw
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Abstract
The utility model discloses a full automatic leveling control device based on hydraulic system control. Four corners below a radar carrier platform are provided with a first leveling leg, a second leveling leg, a third leveling leg and a fourth leveling leg respectively; upper and lower limiting detection switches are arranged on the first leveling leg, the second leveling leg, the third leveling leg and the fourth leveling leg respectively; oil pressure detection elements are arranged inside the oil ways of the first leveling leg, the second leveling leg, the third leveling leg and the fourth leveling leg; and hydraulic motors arranged on the leveling legs are provided with displacement pulse detection devices. A gradienter is arranged at a center position on the longitudinal axis of the radar carrier platform, and a clinometer is arranged the longitudinal axis of the radar carrier platform at a radar carrier tail beam. The gradienter, the inclinometer, a main control single chip microcomputer, a state information detection module and a proportional valve control module are connected with each other through a CAN bus. Output values of the oil pressure detection elements are sampled by the main control single chip microcomputer, and state information of the displacement pulse detection devices and the upper and lower limiting detection switches are outputted to the main control single chip microcomputer by an optocoupling circuit. The full automatic leveling control device of the utility model is advantageous in simplicity and effectiveness, high reliability, low cost, and large application range.
Description
Technical field
The utility model belongs to servo-drive system, particularly a kind of full-automatic leveling control device based on HYDRAULIC CONTROL SYSTEM.
Background technology
Realization is the critical function of mobile radar to the automatic leveling of Radar Carrier, carry truck system for the heavy type, the Large Radar that adopt hydrostatic control, automatic leveling in the past is based on the leveling control of carrying out behind the artificial pre-leveling, be to carry out automatic leveling after manually-operated leveling leg supports on the spot face and carrier loader platform is elevated to certain altitude, leveling method needs manual intervention and can't avoid the void of Radar Carrier leveling leg to support phenomenon again.
In October, 2010 is in modern radar periodical publish an article " the full-automatic leveling strategy of radar truck that detects based on oil pressure ", this article detects the Primary Study of carrying out mainly for oil pressure, can't solve in actual applications the problems such as carrier loader platform distortion and multisensor leveling.
The utility model content
The purpose of this utility model is to provide a kind of full-automatic leveling control device based on HYDRAULIC CONTROL SYSTEM, has greatly simplified operation, has improved self-leveling success ratio, has eliminated the empty phenomenon that supports of Radar Carrier leveling leg after leveling finishes.
The technical scheme that realizes the utility model purpose is: a kind of full-automatic leveling control device based on HYDRAULIC CONTROL SYSTEM, comprise sensor, detecting element, four angles below the Radar Carrier platform arrange respectively the first leveling leg, the second leveling leg, the 3rd leveling leg, the 4th leveling leg, each places up and down spacing detector switch on this first, second, third and fourth leveling leg, place the oil pressure detecting element in the oil circuit of first, second, third and fourth leveling leg, the oil motor that is placed on each leveling leg has the dfisplacement pulse pick-up unit; A level meter is placed in center on the longitudinal axis of Radar Carrier platform, places an inclinator at the platform longitudinal axis place of carrying tailstock fine strain of millet; Level meter, inclinator, main control singlechip, status information detect, the proportional valve control module is passed through the CAN bus interconnection, the output valve of oil pressure detecting element is sampled by main control singlechip, and the dfisplacement pulse pick-up unit, the status information of spacing detector switch exports main control singlechip to by photoelectric coupled circuit up and down.
The utility model compared with prior art, its remarkable advantage is: (1) is simple effectively: the success ratio of the full-automatic leveling that improves to a great extent, shorten the leveling time.(2) reliability is high: basically based on existing hardware, do not change the hardware design of hydraulic system, improved the reliability of system.(3) cost is low: need only the void support phenomenon that adopts after compound criterion and leveling strategy selection appropriately can be avoided leveling.To adopted the semi-automatic leveling system of hydrostatic control in the past, can improve the leveling control performance by installing the oil pressure pick-up unit additional, therefore also have certain engineering practicability.(4) applied range: be not only applicable to the heavy Radar Carrier leveling control of large platform, the Radar Carrier leveling system of other hydrostatic controls is had better control effect.(5) simple to operate: can realize " foolproof " full-automatic leveling control, during the Radar Carrier position shift, the operator only need to press " leveling " button, carry a car automatically finish put leg, land, a series of actions such as leveling, need not manual intervention.Avoid Radar Carrier platform distortion problem: level meter and inclinator are used, and avoid using the twisted phenomena of carrier loader platform after the leveling that single-sensor causes.
Below in conjunction with accompanying drawing the utility model is described in further detail.
Description of drawings
Fig. 1 is the utility model leveling sensor distribution plan.
Fig. 2 is the circuit framework map.
Fig. 3 is based on the full-automatic leveling process flow diagram of compound criterion.
Embodiment
In conjunction with Fig. 1 and Fig. 2, the utility model is based on the full-automatic leveling control device of HYDRAULIC CONTROL SYSTEM, comprise sensor, detecting element, four angles below the Radar Carrier platform arrange respectively the first leveling leg 1, the second leveling leg 2, the 3rd leveling leg 3, the 4th leveling leg 4, each places up and down spacing detector switch on this first, second, third and fourth leveling leg 1,2,3,4, place the oil pressure detecting element in first, second, third and fourth leveling leg 1,2,3,4 oil circuit, the oil motor that is placed on each leveling leg has the dfisplacement pulse pick-up unit; A level meter 5 is placed in center on the longitudinal axis of Radar Carrier platform, places an inclinator 6 at the platform longitudinal axis place of carrying tailstock fine strain of millet; Level meter 5, inclinator 6, main control singlechip, status information detect, the proportional valve control module is passed through the CAN bus interconnection, the output valve of oil pressure detecting element is sampled by main control singlechip, and the dfisplacement pulse pick-up unit, the status information of spacing detector switch exports main control singlechip to by photoelectric coupled circuit up and down.Its workflow such as Fig. 3.
The utility model is based on the first leveling leg 1 of the full-automatic leveling control device of HYDRAULIC CONTROL SYSTEM, the second leveling leg 2, the 3rd leveling leg 3, the 4th leveling leg 4 structures are identical, each leveling leg is by band-type brake, inside and outside sleeve, ball screw, inner sleeve links to each other with nut in outer sleeve, ball screw matches with nut, this ball screw links to each other with hydraulic motor output shaft, between ball screw and the hydraulic motor output shaft band-type brake is set, oil motor drives the ball screw rotation, ball screw band nut movingly, this nut drives inner sleeve relative motion in outer sleeve.
One, select above-mentioned corresponding detecting element to finish the detection of leveling process
1) triggers first, second, third and fourth leveling leg 1,2,3,4 upper and lower spacing detector switch, finish the stroke protection of each leveling leg, when the leveling leg reaches the action of travel switch, the proportional valve control module stops control that the leveling leg is stretched, when the leveling leg received that a travel switch moves, the proportional valve control module stopped the control to leveling leg receipts;
2) employing oil pressure detecting element is finished the detection that lands to the leveling leg,
The proportional relation of oil pressure value of utilizing the carrying of leveling leg and oil pressure detecting element to detect, during oil pressure value corresponding to the n ton carrying that collects when main control singlechip, think and land the leveling leg (n decides according to the load-bearing of different Radar Carriers, be the engineering measurement value, as carrying 50 tons of load-bearing of car, can get 3 tons of values and be the value of landing);
3) adopt the oil motor pulse signal that leveling leg stroke is detected, the leveling leg stretch or the process received in, gather oil motor umber of pulse m calculating leveling leg stroke l, the displacement of l=± m * pulse of oil motor;
Two, full-automatic leveling control
1) main control singlechip sends a command to the proportional valve control module, controlling first, second, third and fourth leveling leg 1,2,3,4 stretches simultaneously, to its judgement that lands, be that leveling leg oil pressure detection output valve is the simulating signal of 0-5V, the value of landing of each leveling leg is obtained by the A/D conversion by the single-chip microcomputer sampling, by behind α-β filtering or the arithmetic mean filter method as the detection criteria that lands, declare that leveling leg shift pulse number must be greater than 12 when landing;
2) successively first, second, third and fourth leveling leg 1,2,3,4 is stretched control, two actions are spaced apart 4-5 second, if the action that each leveling leg is stretched causes levelness to change, think that then four leveling legs all land;
3) after first, second, third and fourth leveling leg 1,2,3,4 lands, main control singlechip sends a command to the proportional valve control module, controlling first, second, third and fourth leveling leg 1,2,3,4 stretches simultaneously, Radar Carrier is raised to the 40-50% place of leveling leg stroke, and adopt only to stretch one's legs and do not receive the method for leg, make the levelness value of the large side of carrier loader platform leveling leg span cross zero-bit;
4) enter approximant full-automatic leveling
According to 3 principles that determine a plane, third and fourth leveling leg 3,4 of inclinator 6 both sides is modeled as a virtual leveling leg, take carrier loader platform time high corresponding leveling leg as benchmark, control other leveling leg motion and make this motion be conducive to the improvement of levelness, take level meter 5 as master reference, the internal regulation of virtual leveling leg is finished according to inclinator 6, and control ratio valve control module is ceaselessly sought time high point, until the value of level meter 5 and inclinator 6 satisfies accuracy requirement;
5) carry out void and support inspection control
After the value of level meter 5 and inclinator 6 satisfies accuracy requirement, each leveling leg is extended identical little displacement (such as 10-15 the displacement that pulse is corresponding), whether the oil pressure value that reads in the process supports real foundation as the leveling leg; If in the real inspection of support, find that certain leveling leg does not support reality, then reenter approximant full-automatic leveling mode behind real this leveling leg of support and again finish empty the support and check, the value that first, second, third and fourth leveling leg 1,2,3,4 has all supportted reality and level meter 5 and inclinator 6 satisfies accuracy requirement, and then automatic leveling finishes.
Three, the controlled quentity controlled variable of Comparative Examples valve is in the proportional valve control module: as X〉0, Y 0, X1 0 the time, wherein X is for carrying a car transverse horizontal degree, Y is for carrying a car vertical equity degree, X1 is for carrying a tailstock beam levelness; If the X of level meter 5〉0, Y 0, by stretching out the second leveling leg 2, income the 4th leveling leg 4, adjust the value of level meter 5 to indication range, take into account simultaneously the X1 of inclinator 6, stretch out the 3rd leveling leg 3, guarantee the levelness of inclinator 6 placing positions;
Take the first not moving leveling leg 1 as basic point, make control second and third, four leveling legs 2,3,4 proportioning valve dutycycle are associated with level meter 5, inclinator 6 value X, Y, X1:
K（x）?=?K0+?(?fab（X）/?K1)；
K（y）?=?K0+?(?fab（Y）/?K2)；
Ks（x、y）=?K0+((fabs(Y)+?fabs(X))/?K2)；
In the formula:
K0: the minimum assignment that makes the action of leveling leg proportioning valve;
K1, K2: with the coefficient that degree of tilt is associated with the pulse width modulation values of control leveling leg proportioning valve action, K1＜K2; The value of K1, K2 is so that K(x), K(y), Ks(x, y) between the minimum assignment of proportioning valve self and maximum assignment;
When the value of X, Y, X1 makes up according to table 1, according to eight kinds of situations in said process and the table 1, all draw second and third, the incidence relation of four leveling legs 2,3,4 proportioning valve dutycycle and level meter 5, inclinator 6 value X, Y, X1, wherein table 1 is:
The combination of table 1 control mode
| Sequence number | Sensor output | Controlled quentity controlled variable is composed and is planted |
| 1 | X>0,Y>0,?X1>0 | Stretch leveling leg 2 K(x), receive leveling leg 4 K(y), stretch leveling leg 3 Ks(x1) |
| 2 | X>0,Y>0,?X1<0 | Stretch leveling leg 2 K(x), receive leveling leg 4 K(y), receive leveling leg 3 Kf(x1) |
| 3 | X>0,Y<0,?X1>0 | Stretch leveling leg 3 K(x), receive leveling leg 1 K(y), receive |
| 4 | X>0,Y<0,?X1<0 | Stretch leveling leg 3 K(x), receive leveling leg 1 K(y), |
| 5 | X<0,Y>0,?X1>0 | Receive leveling leg 3 K(x), stretch leveling leg 1 K(y), receive |
| 6 | X<0,Y>0,?X1<0 | Receive leveling leg 3 K(x), stretch leveling leg 1 K(y), |
| 7 | X<0,Y<0,?X1>0 | Stretch leveling leg 4 K(x), receive leveling leg 2 K(y), stretch leveling leg 3 Kf(x1) |
| 8 | X<0,Y<0,?X1<0 | Stretch leveling leg 4 K(x), receive leveling leg 2 K(y), receive leveling leg 3 Ks(x1) |
Claims (2)
1. full-automatic leveling control device based on HYDRAULIC CONTROL SYSTEM, it is characterized in that four angles below the Radar Carrier platform arrange respectively the first leveling leg (1), the second leveling leg (2), the 3rd leveling leg (3), the 4th leveling leg (4), upper each placement of this first, second, third and fourth leveling leg (1,2,3,4) is spacing detector switch up and down, place the oil pressure detecting element in the oil circuit of first, second, third and fourth leveling leg (1,2,3,4), the oil motor that is placed on each leveling leg has the dfisplacement pulse pick-up unit; A level meter (5) is placed in center on the longitudinal axis of Radar Carrier platform, places an inclinator (6) at the platform longitudinal axis place of carrying tailstock fine strain of millet; Level meter (5), inclinator (6), main control singlechip, status information detect, the proportional valve control module is passed through the CAN bus interconnection, the output valve of oil pressure detecting element is sampled by main control singlechip, and the dfisplacement pulse pick-up unit, the status information of spacing detector switch exports main control singlechip to by photoelectric coupled circuit up and down.
2. the full-automatic leveling control device based on HYDRAULIC CONTROL SYSTEM according to claim 1, it is characterized in that: the first leveling leg (1), the second leveling leg (2), the 3rd leveling leg (3), the 4th leveling leg (4) structure is identical, each leveling leg is by band-type brake, inside and outside sleeve, ball screw, inner sleeve links to each other with nut in outer sleeve, ball screw matches with nut, this ball screw links to each other with hydraulic motor output shaft, between ball screw and the hydraulic motor output shaft band-type brake is set, oil motor drives the ball screw rotation, ball screw band nut movingly, this nut drives inner sleeve relative motion in outer sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120550748 CN202710969U (en) | 2011-12-26 | 2011-12-26 | Full automatic leveling control device based on hydraulic system control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120550748 CN202710969U (en) | 2011-12-26 | 2011-12-26 | Full automatic leveling control device based on hydraulic system control |
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| Publication Number | Publication Date |
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| CN202710969U true CN202710969U (en) | 2013-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201120550748 Expired - Lifetime CN202710969U (en) | 2011-12-26 | 2011-12-26 | Full automatic leveling control device based on hydraulic system control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103324122A (en) * | 2013-06-21 | 2013-09-25 | 中山市拓维电子科技有限公司 | Digital automatic-leveling control system based on CAN bus |
| CN105926681A (en) * | 2016-06-02 | 2016-09-07 | 中国水利水电第五工程局有限公司 | Hydraulic system for straightening and levelling steel structure |
| CN106800054A (en) * | 2017-01-17 | 2017-06-06 | 上海市基础工程集团有限公司 | Self-leveling mobile steel platform |
-
2011
- 2011-12-26 CN CN 201120550748 patent/CN202710969U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103324122A (en) * | 2013-06-21 | 2013-09-25 | 中山市拓维电子科技有限公司 | Digital automatic-leveling control system based on CAN bus |
| CN105926681A (en) * | 2016-06-02 | 2016-09-07 | 中国水利水电第五工程局有限公司 | Hydraulic system for straightening and levelling steel structure |
| CN105926681B (en) * | 2016-06-02 | 2017-12-05 | 中国水利水电第五工程局有限公司 | A kind of steel construction corrects leveling hydraulic system |
| CN106800054A (en) * | 2017-01-17 | 2017-06-06 | 上海市基础工程集团有限公司 | Self-leveling mobile steel platform |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130130 |
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| CX01 | Expiry of patent term |