CN205721391U - A kind of High Precision Automatic levelling control system of vehicular platform - Google Patents
A kind of High Precision Automatic levelling control system of vehicular platform Download PDFInfo
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- CN205721391U CN205721391U CN201620556743.1U CN201620556743U CN205721391U CN 205721391 U CN205721391 U CN 205721391U CN 201620556743 U CN201620556743 U CN 201620556743U CN 205721391 U CN205721391 U CN 205721391U
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- precision automatic
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Abstract
This utility model relates to leveling control technology, the utility model discloses a kind of High Precision Automatic levelling control system of vehicular platform, it specifically includes: processor, obliquity sensor and be separately mounted to the height adjuster on four supporting legs, described obliquity sensor is arranged on platform, inclination angle for detection platform, described processor respectively with obliquity sensor, height adjuster signal on four supporting legs connects, the platform inclination angle got according to obliquity sensor, send control signal to the height adjuster on four supporting legs, the actuator controlled in height adjuster completes height adjustment.The inclination angle that this utility model is detected by obliquity sensor, processor show after calculating that four height adjusters are respectively necessary for the height adjusted, and this control signal is transferred to four height adjusters respectively, thus realizes High Precision Automatic leveling and control.
Description
Technical field
This utility model relates to leveling and controls technical field, controls particularly to a kind of High Precision Automatic leveling of vehicular platform
System.
Background technology
Automatic leveling technology is applied more and more extensive in industrial automation and war industry equipment.Military project aspect can be applicable to
The military domain such as cannon, guided missile, radar, laser weapon, photoelectric measurement instrument；Industrial automation aspect can be applicable to body of a motor car
Gesture stability, heavy duty crane, static pile press etc..
The military equipments such as trailer-mounted radar device and vehicle-mounted shell launcher, often require that and can regulate fast and accurately
The horizontal accuracy of platform, to win rapidity and initiative in war.As a example by trailer-mounted radar device, its vehicular platform level
The regulating time of degree accounts for about 1/3rd of car load work in place, the most effectively reduces the leveling time, improves leveling essence
It is particularly important that degree shows in trailer-mounted radar leveling system.
Current domestic vehicular platform many employings electric-liquid type leveling system, has simple for structure, operates steadily, and load capacity is big
Etc. advantage.But it is in order at the restriction of himself characteristic, causes such as system maintenance and maintenance to require height；System response is slow, has
Certain hysteresis；The easy leakage of oil of system, is difficult to keep not changing of level angle for a long time, the cleannes requirement to oil
High；The shortcomings such as system structure is complicated, and cost is high.
Summary of the invention
The purpose of this utility model is: the above-mentioned technical problem existed for levelling control system of the prior art,
The utility model discloses a kind of High Precision Automatic levelling control system of new vehicular platform.
The technical solution adopted in the utility model is such that
The utility model discloses a kind of High Precision Automatic levelling control system of vehicular platform, it specifically includes: processor,
Obliquity sensor and be separately mounted to the height adjuster on four supporting legs, described obliquity sensor is arranged on vehicle-mounted flat
On platform, for detecting the inclination angle of vehicular platform, described processor respectively with the height adjustment on obliquity sensor, four supporting legs
Device signal connects, the vehicular platform inclination angle got according to obliquity sensor, sends control signal on four supporting legs
Height adjuster, the actuator controlled in height adjuster completes height adjustment.This utility model is sensed by inclination angle
The inclination angle that device detects, processor show after calculating that four height adjusters are respectively necessary for the height adjusted, and by this control
Signal is transferred to four height adjusters respectively, thus realizes High Precision Automatic leveling and control.
Further, above-mentioned height adjuster includes driver, motor and actuator, and driver receives processor
Control signal, and send control signals to motor, motor drive actuator completes height adjustment.Thus realize supporting leg
Raising and lowering.
Further, above-mentioned height adjuster also includes two limit switches, and limit switch is separately mounted to four
The upper and lower stop of supporting leg.The actuator of this levelling control system for vehicle-borne platform is spiral lift, and spiral lift is by motor
Form with screw mechanism.The rotary motion of motor is changed into the linear motion of supporting leg by the effect of spiral lift exactly, thus
Reach the purpose of supporting leg raising and lowering.The purpose arranging limit switch is to prevent the raising and lowering of supporting leg beyond supporting leg
Effective travel.
Further, it is in opposite direction that above-mentioned two limit switch is installed, and top dead centre limit switch connecting rod drives switch
The direction installed is downward, and the connecting rod of lower dead center limit switch drives the direction of switch installation upwards.The hardware of spacing module is by limiting
Bit switch and metal spacing card article composition.When supporting leg declines, it is arranged on for making the top of metal spacing card article to touch
The limit switch of stop, limit switch should be installed downwards.When supporting leg rises, for making the groove within metal card article can touch peace
Being contained in the limit switch of lower dead center, limit switch should upwards be installed.
Further, above-mentioned levelling control system also includes display, and described monitor signal connects processor.Pass through
Display display leveling process, convenient use.
Further, above-mentioned levelling control system also includes inputting button, and described input push button signalling connects processor.
Input button is for inputting the parameter of user, and processor can complete automatic leveling control, root according to the parameter of user's input
Complete corresponding leveling according to the demand of user to control.
Further, above-mentioned obliquity sensor is double-shaft tilt angle sensor, respectively detection platform deviation X, the angle of Y-axis
Degree.Use double-shaft sensor, detect respectively, improve leveling precision.
Further, above-mentioned button includes the raising and lowering button of emergent stopping button, platform entirety, single supporting leg
Raising and lowering button and leveling button.Control parameters different in each button alignment processing device, thus realize different
Control.
In sum, owing to have employed technique scheme, the beneficial effects of the utility model are: described in the utility model
Vehicular platform automatic leveling controlling system realizes the important indicator such as leveling time and leveling precision and is in domestic higher level.Logical
Cross and change the test method of centroid position and demonstrate this vehicular platform there is good dynamic stability.Concrete implementation process is
By during to the stable state before measuring recorded respectively in the case of weight shifts test platform barycenter different distance, time dynamic and
After measurement, during stable state, the X of platform, the contrast test of Y-axis angle skew average illustrate that test platform is steady at the machinery of different directions
Qualitative.This utility model uses " chasing formula " leveling strategy that peak is motionless, it is ensured that the elongation of platform legs is the least,
There is leveling precision high, the advantages such as the leveling time is short.
Accompanying drawing explanation
Fig. 1 is the structural representation of the High Precision Automatic levelling control system of vehicular platform of the present utility model.
Fig. 2 is peak motionless leveling strategy schematic diagram.
Detailed description of the invention
Below in conjunction with specific embodiment, this utility model is described in detail.
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with embodiment, to this
Utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain this practicality
Novel, it is not used to limit this utility model.
The utility model discloses a kind of High Precision Automatic levelling control system of vehicular platform, it specifically includes processor
(TMS320F2812), two-phase mixtures motor (motor 1,2,3,4 in corresponding diagram 1), motor driver (drive in corresponding diagram 1
Dynamic device 1,2,3,4), spiral lift (actuator on figure), double-shaft tilt angle sensor (HCA520T), limit switch.Each
The corresponding driver of motor and an actuator, actuator such as spiral lift.
Wherein the supporting of vehicular platform uses four-point supporting test platform, and each supporting leg by spiral lift and is tied accordingly
Component forms, and motor drives screw mechanism to be changed into linear motion, it is achieved the raising and lowering of supporting leg.
The actuator of this levelling control system for vehicle-borne platform is spiral lift, and spiral lift is by motor and leading screw machine
Structure forms.The motor of spiral lift, after gear slows down, drives feed screw nut, and the rotation motion of motor is in line fortune
Dynamic, utilize motor positive and inverse to complete push rod action.
This utility model uses " chasing formula " leveling scheme keeping peak motionless.
The process that realizes of " peak is motionless " leveling method is: the obliquity sensor angle signal transmission that first will collect
Entering processor, processor calculates the peak of platform by control strategy, calculate simultaneously each supporting leg to peak supporting leg away from
Deviation；This range difference is sent to actuator, drives motor to make each supporting leg rise different distances, when each supporting leg reaches
During extreme higher position, supporting leg stop motion, now platform is in level.
As in figure 2 it is shown, β is the angle of pitch of platform in figure, α is the roll angle of platform, sequence number 1,2, and 3,4 is the volume of supporting leg
Number.If the initial value of the angle of pitch and roll angle is α0> 0, β0> 0, then No. 2 supporting legs are peaks, and No. 4 supporting legs are minimum point.Pass through
The output valve of obliquity sensor, can calculate No. 2 supporting legs apart from remaining the distance of each each supporting leg, drive motor make each
Supporting leg rises different distances, and when each supporting leg reaches extreme higher position, supporting leg stop motion, now platform is in level.
Utilize DSP (main system control module) technology to control to realize vehicular platform automatic leveling, use cost performance higher
TMS320F2812 chip.
Use HCA520T double-shaft tilt angle sensor, the angle of pitch of output stage and angle of heel angle value.
The angle of pitch and angle of heel are in fact exactly the angle rotated respectively around inertial coodinate system ox and oy axle, it is also possible to point
Another name is the angle of pitch and roll angle.
In order to ensure the safety that platform runs, the upper and lower stop at 4 supporting legs installs limit switch respectively, and two spacing
The direction that switch is installed is contrary, and the direction that top dead centre limit switch connecting rod drives switch to install is downward, and lower dead center is spacing to be opened
The connecting rod closed drives the direction of switch installation upwards.
This utility model utilizes man machine interface to realize the purpose controlled, and man machine interface includes the identification of button, by button
Value be transferred to control system and make control system to complete corresponding action, various for platform ruuning situations are shown in real time simultaneously.
Systems soft ware uses modularized design, passes including motor drive module, recognition by pressing keys, transport module, double-shaft tilt angle
Sensor signal acquisition module, LCD drive module, pulse counter module, leveling module and spacing module.Soft in this utility model
Part belongs to the concrete application of existing software, and software is not improved by this utility model, does not claims.
Control System Design respective keys function, vehicular platform can realize " emergent stopping ", " rising that platform is overall and under
Fall ", the function such as " raising and lowering of single supporting leg " and " leveling ".
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model
Protection domain within.
Claims (8)
1. the High Precision Automatic levelling control system of vehicular platform, its feature is specifically including: processor, obliquity sensor with
And it being separately mounted to the height adjuster on four supporting legs, described obliquity sensor is arranged on vehicular platform, is used for examining
The inclination angle of measuring car carrying platform, described processor is respectively with the height adjuster signal on obliquity sensor, four supporting legs even
Connect, the vehicular platform inclination angle got according to obliquity sensor, send control signal and fill to the height adjustment on four supporting legs
Putting, the actuator controlled in height adjuster completes height adjustment.
2. the High Precision Automatic levelling control system of vehicular platform as claimed in claim 1, its feature fills in described height adjustment
Putting and include driver, motor and actuator, driver receives the control signal of processor, and sends control signals to electricity
Machine, motor drive actuator completes height adjustment.
3. the High Precision Automatic levelling control system of vehicular platform as claimed in claim 1, its feature fills in described height adjustment
Putting and also include two limit switches, limit switch is separately mounted to the upper and lower stop of four supporting legs.
4. the High Precision Automatic levelling control system of vehicular platform as claimed in claim 3, its feature is opened said two is spacing
Closing the in opposite direction of installation, the direction that top dead centre limit switch connecting rod drives switch to install is downward, the company of lower dead center limit switch
Bar drives the direction of switch installation upwards.
5. the High Precision Automatic levelling control system of vehicular platform as claimed in claim 1, its feature controls system in described leveling
System also includes display, and described monitor signal connects processor.
6. the High Precision Automatic levelling control system of vehicular platform as claimed in claim 1, its feature controls system in described leveling
System also includes inputting button, and described input push button signalling connects processor.
7. the High Precision Automatic levelling control system of vehicular platform as claimed in claim 1, its feature is at described obliquity sensor
For double-shaft tilt angle sensor, respectively detection platform deviation X, the angle of Y-axis.
8. the High Precision Automatic levelling control system of vehicular platform as claimed in claim 6, its feature is at described input button bag
Include emergent stopping button, raising and lowering button, the raising and lowering button of single supporting leg and the leveling button of platform entirety.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620556743.1U CN205721391U (en) | 2016-06-08 | 2016-06-08 | A kind of High Precision Automatic levelling control system of vehicular platform |
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| CN201620556743.1U CN205721391U (en) | 2016-06-08 | 2016-06-08 | A kind of High Precision Automatic levelling control system of vehicular platform |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107643683A (en) * | 2017-10-27 | 2018-01-30 | 西安恒达微波技术开发有限公司 | Automatically levelling school north system on equipment vehicular platform based on PID closed-loop controls |
| CN108983803A (en) * | 2018-08-16 | 2018-12-11 | 燕山大学 | The automatic horizontal control system and leveling method of mobile shallow water platform |
| CN109143916A (en) * | 2017-11-16 | 2019-01-04 | 湖北汉丹机电有限公司 | Adaptive leveling device |
| CN109582044A (en) * | 2018-12-03 | 2019-04-05 | 南京理工大学张家港工程院有限公司 | A kind of adjusting method for leveler of level of intelligence |
| CN110156339A (en) * | 2019-05-08 | 2019-08-23 | 清华大学 | Workpiece surface levelling device and method based on force snesor and lever tilting table |
| CN111221356A (en) * | 2020-04-21 | 2020-06-02 | 贵州航天天马机电科技有限公司 | Automatic monitoring and adjusting device and method for levelness of transfer erecting rack |
| CN111301091A (en) * | 2020-03-06 | 2020-06-19 | 广东博智林机器人有限公司 | Chassis leveling method and device, transport vehicle and storage medium |
| CN112971340A (en) * | 2021-03-10 | 2021-06-18 | 中国科学院长春光学精密机械与物理研究所 | Automatic leveling platform and leveling method |
| CN114252056A (en) * | 2021-12-13 | 2022-03-29 | 西安电子工程研究所 | Method for cooperatively detecting horizontal state by adopting tilt angle sensor and water bubble |
-
2016
- 2016-06-08 CN CN201620556743.1U patent/CN205721391U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107643683A (en) * | 2017-10-27 | 2018-01-30 | 西安恒达微波技术开发有限公司 | Automatically levelling school north system on equipment vehicular platform based on PID closed-loop controls |
| CN109143916A (en) * | 2017-11-16 | 2019-01-04 | 湖北汉丹机电有限公司 | Adaptive leveling device |
| CN109143916B (en) * | 2017-11-16 | 2023-08-18 | 湖北汉丹机电有限公司 | Self-adaptive horizontal adjusting device |
| CN108983803A (en) * | 2018-08-16 | 2018-12-11 | 燕山大学 | The automatic horizontal control system and leveling method of mobile shallow water platform |
| CN109582044A (en) * | 2018-12-03 | 2019-04-05 | 南京理工大学张家港工程院有限公司 | A kind of adjusting method for leveler of level of intelligence |
| CN110156339A (en) * | 2019-05-08 | 2019-08-23 | 清华大学 | Workpiece surface levelling device and method based on force snesor and lever tilting table |
| CN111301091A (en) * | 2020-03-06 | 2020-06-19 | 广东博智林机器人有限公司 | Chassis leveling method and device, transport vehicle and storage medium |
| CN111221356A (en) * | 2020-04-21 | 2020-06-02 | 贵州航天天马机电科技有限公司 | Automatic monitoring and adjusting device and method for levelness of transfer erecting rack |
| CN112971340A (en) * | 2021-03-10 | 2021-06-18 | 中国科学院长春光学精密机械与物理研究所 | Automatic leveling platform and leveling method |
| CN114252056A (en) * | 2021-12-13 | 2022-03-29 | 西安电子工程研究所 | Method for cooperatively detecting horizontal state by adopting tilt angle sensor and water bubble |
| CN114252056B (en) * | 2021-12-13 | 2023-08-08 | 西安电子工程研究所 | Method for detecting horizontal state by adopting cooperation of inclination angle sensor and bubble |
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Granted publication date: 20161123 Termination date: 20200608 |
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| CF01 | Termination of patent right due to non-payment of annual fee |