Control method of automatic leveling system

Abstract

A control method for automatic leveling system in automatic control technology field comprises steps of: automatically protruding transverse support legs in turn; automatically protruding vertical support legs to touchdown in turn; automatically lifting the vertical support legs to take off from ground in turn; stopping the vertical support legs; estimating a lowest leg according to alpha, beta angles in X, Y directions respectively, calculating leveling effect parameter; executing rough leveling if s>Psi1; executing accurate leveling if Psi2<=s<=Psi1; stopping the leveling if s F16M 3 / 00 G05D 3 / 10 2 7 3 2008 / 5 / 22 101280875 2008 / 10 / 8 000000000 Shanghai Jiao Tong University Shanghai 200240 Weng Xinhua Tang Junmao Kong Zuo Wu Changmao Gan Zhimei wangti lin wanggui zhong 31201 The Patent Agency of Shanghai University of Communications No.1954 Huashan Road, Shanghai 200030

Description

technical field [0001] The invention relates to a method in the technical field of automatic control, in particular to a control method for an automatic leveling system, which is used to control the level adjustment of a mobile carrier. Background technique [0002] In order to prevent the mobile carrier of heavy equipment from overturning under poor ground conditions, or to provide a stable working platform for heavy equipment, it is often necessary to accurately adjust the mobile carrier of a certain heavy equipment to a horizontal position. With the development of automatic control technology, automatic leveling system has been gradually applied. The automatic leveling system requires fast leveling speed, high leveling precision, and stable system performance, and these requirements are closely related to the control method of the system, so the key technology of automatic leveling lies in the leveling control method. [0003] The current control method mainly adopts the...

AI Technical Summary

Problems solved by technology

There are the following deficiencies in the actual application: 1. Using multi-leg adjustment, the descending displacement and speed of multiple outriggers are difficult to control

Since the outriggers of the hydraulic cylinder are used and there is no feedback device for displacement or speed, it is impossible to guarantee that a row of outriggers will drop to the same height at the same time, so the predetermined leveling accuracy may not be achieved within the stroke range of the outriggers, that is, the automatic leveling Leveling may not converge, and its leveling accuracy is relatively low

2. The control circuit is used. Once it is made, it is not easy to adjust or change, so the applicability is poor. Since the control is limited by the hardware circuit, there is no strict control algorithm, so the leveling accuracy, leveling convergence, and leveling efficiency cannot be guaranteed. Not high, poor system stability

3. Adopt special non-standard multi-position reversing valve, poor interchangeability and poor applicability

4. Manual fine-tuning is adopted, the leveling accuracy is not high, and the degree of automation is not high

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