KR20000046416A - Apparatus for automatic control of horizontal state of vehicle - Google Patents

Abstract

PURPOSE: An apparatus for automatic control of a horizontal state of a vehicle is provided to drive four jacks simultaneously for reducing management time and perform precise control of the horizontal state. CONSTITUTION: An apparatus for automatic control of a horizontal state of a vehicle includes a power supply(116) for generating a predetermined power supply voltage, front left and right jacks(102,108) and rear left and right jacks(104,106) respectively mounted at a corresponding position on a bottom part of the vehicle for supporting the vehicle, a sensor box(114) having sensing elements respectively sensing inclinations of a roll shaft and a pitch shaft of the vehicle, a main controller(110) having an A/D converter(404) to convert inclinations sensed by the sensing elements to digital signals, a speaker(402) for generating a warning sound, a panel switch(406) for applying an operation instruction, a panel lamp(408) for informing of an operation state, and a processor(400) for outputting a dangerous inclination state with the speaker if output signals of the A/D converter deviate from a predetermined range, a power supply signal, a remote operation signal, and a speed instruction signal, and computing positions of the jacks according to encoder signals, and a servo controller(112) having a relay(450) for connecting or non-connecting power supply according to the power supply signal, and a servo control module(460) to be supplied with the power supply via the relay for operating in an enable state according to the remote operation signal to drive the jacks according to the speed instruction signal and supplying a resolver signal after converting to the encoder signal to the processor.

Description

Automatic horizontal control apparatus of a vehicle

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic horizontal control apparatus, and more particularly, to an automatic horizontal control apparatus for a vehicle for adjusting and supporting a horizontal level of a vehicle.

In general, there are several methods using a hydraulic or electric device as a conventional method for controlling the level of the vehicle, but most of the known configurations drive one jack at a time so that each jack touches the ground. After leveling with a leveling device such as a level meter, it is inherently time-consuming to achieve leveling and has difficulty in precisely controlling the leveling.

Accordingly, an object of the present invention has been made in order to improve the problems of the prior art as described above, by mounting four jacks at the bottom of the vehicle to drive at the same time to reduce the operating time precisely control the vehicle An automatic horizontal control apparatus of a vehicle for supporting is provided.

An apparatus for achieving the above object is an automatic horizontal control apparatus for a vehicle, comprising: a power supply unit for generating a predetermined power supply voltage; A front left jack mounted at the bottom left front of the vehicle to support the vehicle; A front right side jack mounted to the bottom right side of the vehicle and supporting the vehicle; A rear left jack mounted on the rear left bottom of the vehicle to support the vehicle; A rear right jack mounted on the rear bottom side of the vehicle to support the vehicle; A sensor box having a roll shaft inclination sensing means for sensing inclination of a roll shaft of the vehicle and a pitch shaft inclination sensing means for sensing inclination of a pitch axis of the vehicle; An analog / digital signal converter for converting the roll axis inclination sensed by the roll axis inclination sensing means of the sensor box and the pitch axis inclination sensed by the pitch axis inclination sensing means into a digital signal, a speaker for generating a warning sound, and an operation command A panel switch, a panel lamp indicating an operation state, and a roll shaft output from the analog / digital signal converter, receiving an operation command from the panel switch, operating in accordance with a built-in program, and applying an operating state of the system to the panel lamp. When the pitch axis inclination signal is supplied and it is out of a predetermined allowable range, the speaker outputs a dangerous inclination state, outputs a power supply signal, outputs a remote operation signal, outputs a speed command signal, and supplies an encoder signal. Main controller with a processor to take and calculate the position of the jack group; And a relay for connecting and disconnecting power to the power supply unit according to the power supply signal of the main controller, receiving power from the power supply unit applied through the relay, and receiving a remote operation signal generated from the main controller. The four jacks are driven by receiving the speed command signal generated from the main controller and converting them into current commands. The four jacks are supplied from the jack and converted into encoder signals to the processor of the main controller. It includes a servo controller to calculate the position of the jack.

1 is a schematic diagram of an automatic horizontal control apparatus for a vehicle according to the present invention.

2 is a configuration diagram of an automatic horizontal control apparatus for a vehicle according to the present invention.

3 shows an electrical signal connected to the jack.

4 is a view showing a roll axis and a pitch axis detection means of the sensor box.

5 is a view showing a front panel of the main controller.

6 is a signal block diagram of the automatic horizontal control device.

7 is coordinates for calculating the movement distance of each jack.

8 is a flowchart for automatic horizontal control.

* Description of the symbols for the main parts of the drawings *

100: vehicle 102, 104, 106, 108: jack

110: main controller 112: servo controller

114: sensor box 116: power supply

300: break line 302: resolver signal line

304: current command line 306: limit switch (low)

308: limit switch (high) 400: processor

402: Speaker 404: Analog / Digital Signal Converter

406: panel switch 408: panel lamp

410: counter 412: digital / analog signal converter

450: relay 460: servo control module

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic diagram of an automatic horizontal control apparatus for a vehicle according to the present invention.

Here, the vehicle may be applied to various vehicles such as a trailer, a truck, a motor home, a camper without limiting the type of the vehicle as an example for describing the present invention.

Four jacks 102, 104, 106, and 108 fixed to the frame of the vehicle 100 are driven by electric force to support the vehicle, and the main controller 110 controls the level of the vehicle by the program. The servo controller 112 drives four jacks 102, 104, 106, and 108 according to the speed command of the main controller 110.

2 is a configuration diagram of an automatic horizontal control apparatus for a vehicle according to the present invention.

As shown in FIG. 2, the automatic horizontal control device of the vehicle includes a sensor box 114, a main controller 110, a servo controller 112, an external power supply unit 116, and four jacks 102, 104, 106, and 108. Are wired as shown.

3 shows an electrical signal connected to the jack.

The brake line 300 is a signal for releasing the brake before driving and returning the motor to drive the motor. The current command line 304 is a signal for operating the jack by rotating the motor of the jack by converting the speed command of the main controller 110 in the servo controller 112 to flow a current according to the speed. The resolver signal line 302 is a resolver (not shown) mounted in a motor (not shown) detects the rotation of the motor and converts the encoder signal into an encoder signal in the servo controller 112 to control the main controller 110. ), Calculate the travel distance of the jack considering the gear ratio of the jack. The two limit switches 306 and 308 are used to limit the range in which the jack can be driven, and in the master controller 110 when the jack goes beyond the high and low range of the set limit switches 306 and 308 during manual and automatic horizontal control. To stop the operation. The limit switch 308 moves to this position when the vehicle moves to the position where the jack is reduced to the maximum.

FIG. 4 is a sensor box 114 that detects a roll axis and a pitch axis by using two inclinometers as a posture of the vehicle and is sent to the main controller 110.

5 is a front panel of the main controller 110, which is composed of a switch for manual and automatic horizontal control and a lamp for showing the operating state. The power switch and the lamp supply power to the main controller 110, and the lamp is turned on when the power is supplied. The servo operation switch operates the relay of the servo controller to supply power to the servo controller 112, and the lamp is turned on when each servo controller 112 module is normally operated. Jack manual control switch is a three-stage switch used to expand (lower), reduce (raise) and stop each jack. Each high and low lamp is lit when the limit switch of the jack is turned on. The automatic level switch is a switch that automatically controls the level of the vehicle and calculates the moving length of the jack by the value of the inclinometer. At the same time, four jacks are driven and the lamp is turned on when the value of the inclinometer is within the allowable range.

FIG. 6 is a signal block diagram of the automatic horizontal control apparatus, and shows the signal flow of the main controller 110, the servo controller 112, and the four jacks 102, 104, 106, and 108. As shown in FIG.

The processor 400 of the main controller 110 controls all input / output signals by the program. The roll and pitch values from the two inclinometers of the sensor box 114 are signal-converted by the analog / digital signal converter 404 and input to the processor 400. If this value is outside the allowable range, the speaker 402 is dangerous. A slope beep sounds. The panel switch 406 gives an operation command signal to the processor 400, which causes the processor 400 to operate according to an embedded program and to display the state of the system to the panel lamp 408. The power supply signal drives the relay 450 of the servo controller 112 to supply 220 V three-phase power to each servo control module 460, and the remote operation signal is converted into a current command in each servo control module and jacked. The jack is driven by operating a motor (not shown). At this time, the resolver of the motor recognizes the rotation, and the resolver signal is converted into an encoder signal in the servo control module 460 and input to the processor 400 through the counter 410 of the main controller 110 to calculate the jack position. . Limit switch Go, I'm a signal that tells you the range the jack can move.

8 is a flowchart for automatic horizontal control.

The operation of the horizontal controller is to supply the power of the main controller 110 and the 220 V three-phase power to the servo controller 112 in a position where the vehicle is to be level (800) (800), the power switch of the main controller 110 When it is turned on (804), the processor 400 is operated and the program is executed to wait for the operation command of the panel switch 406. When the servo operation switch of the main controller 110 is turned on (804), the processor operates the relay 450 of the servo controller 112 so that four servo controller modules (only one servo controller module is shown in the drawing) (460). The panel lamp 408 is turned on when the power is supplied to and normal operation is performed. When each servo controller module 460 is enabled and the brake is released by the remote operation signal, the driver is ready to operate. At this time, the speed command should be initialized to zero (0 V).

The manual control switch of the jack is operated by an open loop having an acceleration section and a deceleration section for manually operating each jack. When the manual operation switch is turned up or down, the speed command is input to the servo controller 112 as a voltage value through the digital / analog signal converter 412, and the driver is driven up by the acceleration set in the program to the operating speed. When the manual operation switch is switched back to the stop position, the jack is stopped by decelerating until the speed command becomes zero at the set deceleration (806, 808).

The two limit switches (high and low) mounted on the jack are operated when the jack is extended or contracted from the set position so that the processor 400 no longer operates the jack and lights up the corresponding panel lamp.

When the jack is operated, the resolver mounted in the jack motor senses the rotation of the motor and sends a signal to the servo controller 112. The servo controller 112 converts the encoder signal to the main controller 110 and sends it to the main controller 110. ) Calculates the number of revolutions in the CW and CCW directions of the motor via the counter 410 and converts the signal into the gear ratio of the jack to find the jack position. If the position of the driver when the processor 400 is reset is 0, the relative length reduced / expanded (+/-) can be known, and the jack is reduced until the limit switch (high) is turned on. If you set it to 0, you can know the absolute position of the jack's actual moving position (+).

By operating the jacks in this way, each manual control switch is turned down to extend each jack so that the foothold of the jack touches the ground so that the vehicle is raised above the ground and supported only by the jack, and the automatic horizontal switch is turned on. Horizontal control of the vehicle starts. (810) When the processor 400 recognizes that the automatic horizontal switch is turned on, the processor 400 converts the vehicle's posture into two inclinometers (roll and pitch) of the sensor box. The reference jack selection method reads the values of the inclinometers of the roll axis and the pitch axis, and the value of each axis is smaller than the absolute value of the set value (812). 0) and if it is greater than the positive value of the set value, it is (+), and if it is less than the negative value of the set value, it is (-). If the set angle is D,

-If D ≤ θ ≤ D, then (0)

If θ <-D, then (-)

If θ> D, then (+)

By the above formula, the reference jack selection is shown in Table 1 below.

number Roll axis Pitch axis Standard Jack Remarks One 0 0 3 2 + + One 3 + 0 4 1,4 same height 4 + - 4 5 - + 2 6 0 + 2 1,2 same height 7 - - 3 8 - 0 3 2,3 height 9 0 - 3 3,4 same height

When the reference jack is selected according to Table 1, the moving distance of each jack for leveling the vehicle is calculated. The height at which the vehicle is horizontal is calculated based on the position H, which is slightly higher than the height of the reference jack, that is, the height of the reference jack + H.

7 is coordinates for calculating the movement distance of each jack.

As an example, when the reference jack is 3, the roll axis (X) is used in the rectangular coordinate system as the origin. θ ₁ Rotate by, then relative to the pitch (Y) axis θ ₂ Rotating by, x, y, z moves as follows (818).

The jacks 1, 2, and 3 on the x ", y", and z "planes correspond to the x, y, and z planes, and the jacks move only in the z direction, so only the z direction is considered. Assuming the extended direction, the movement length of each jack is as follows.

If the standard jack is 1

If the standard jack is 2

If the standard jack is 4

Since the leveling height of the vehicle is H higher than the standard jack, the moving distances of the jacks 1, 2, 3, and 4 are added by H.

When the movement distance of the four jacks is determined, the speed is calculated by the PD control in order from Jack 1 to Jack 4, and the speed command is sent to the servo controller within the set limit speed, and the servo controller inputs the current command to the PI control by inputting the speed command. Send it to activate the jack. When the four jacks reach the movement position within the set position error range (820), the processor 400 reads the roll and pitch values (824). If the vehicle's posture is at an angle within the set tolerance range, the horizontal lamp is turned on and the automatic horizontal control is performed. After that, or perform horizontal control again (826).

When the vehicle level is completed, turn off the servo switch and the power switch (828).

According to the horizontal control apparatus of the vehicle as described above, it is possible to drive the four jacks at the same time to reduce the operating time, it provides an effect that can perform precise horizontal control of the vehicle.

Claims (3)

In the automatic horizontal control device of a vehicle, A power supply unit 116 for generating a predetermined power supply voltage; A front left jack 102 mounted on the front left bottom of the vehicle to support the vehicle; A front right jack 108 mounted on the front right bottom of the vehicle to support the vehicle; A rear left jack 104 mounted at the rear left bottom of the vehicle to support the vehicle; A rear right jack 106 mounted on the rear bottom of the vehicle to support the vehicle; A sensor box 114 having a roll shaft inclination sensing means for sensing inclination of a roll shaft of the vehicle and a pitch shaft inclination sensing means for sensing inclination of a pitch axis of the vehicle; An analog / digital signal converter 404 for converting the roll axis inclination sensed by the roll axis inclination sensing means of the sensor box 114 and the pitch axis inclination sensed by the pitch axis inclination sensing means into a digital signal and generating a warning sound 402, a panel switch 406 for applying an operation command, a panel lamp 408 for notifying an operation state, and an operation command supplied from the panel switch 406 to operate according to an embedded program and to operate an operation state of the system. It is applied to the panel lamp 408, and receives the roll axis and pitch axis inclination signals output from the analog / digital signal converter 404 to output a dangerous inclination state to the speaker 402 when out of a predetermined allowable range. And outputting a power supply signal, outputting a remote operation signal, outputting a speed command signal, and receiving an encoder signal to the jacks 102, 104, and 106. A main controller 110 having a processor 400 for calculating a position of 108; And In response to a power supply signal of the main controller 110, the power supply of the relay 450 for connecting and disconnecting the power of the power supply unit 116 and the power supply unit 116 applied through the relay 450 is supplied, It receives the remote operation signal generated from the main controller 110 and operates in the enabled state, receives the speed command signal generated from the main controller 110 and converts it into a current command to the four jacks 102, 104, 106 and 108, and receives the resolver signal from the jacks 102, 104, 106 and 108, converts the encoder signal into an encoder signal, and supplies the resolver signal to the processor 400 of the main controller 110. Automatic control device for a vehicle comprising a servo controller (112) for calculating the position of the, 106, 108. According to claim 1, When the processor 400 recognizes that the automatic horizontal switch is turned on, the attitude of the vehicle is based on the highest axis among the values detected from the roll axis tilt detection means and the pitch axis tilt detection means of the sensor box 114 Select the axis, The reference jack selection reads the inclination values of the roll axis and the pitch axis to read (0) if the value of each axis is smaller than the absolute value of the set value, and if it is greater than the positive value of the set value (+), it is less than the negative value of the set value. Is negative (-), If the set angle is D, -If D ≤ θ ≤ D, then (0) If θ <-D, then (-) If θ> D, then (+), By the above formula, the reference jack selection is number Roll axis Pitch axis Standard Jack Remarks One 0 0 3 2 + + One 3 + 0 4 1,4 same height 4 + - 4 5 - + 2 6 0 + 2 1,2 same height 7 - - 3 8 - 0 3 2,3 height 9 0 - 3 3,4 same height Automatic horizontal control device of the vehicle, characterized in that. According to claim 1, wherein the moving distance of the jack If the reference jack is 3, the roll axis (X) in the rectangular coordinate system θ ₁ Rotate by, then relative to the pitch (Y) axis θ ₂ Rotate by x, y, z moves as follows, The jacks 1, 2, and 3 on the x ", y", and z "planes correspond to the x, y, and z planes, and the jacks move only in the z direction, so only the z direction is considered. Assuming the extended direction, the movement length of each jack is If the standard jack is 1 If the standard jack is 2 If the standard jack is 4 Auto level control device of the vehicle, characterized in that the horizontal height of the vehicle is as high as H height than the standard jack, the moving distance of jacks 1, 2, 3, 4 is added by H.