Method for automatically leveling self-adapting fuzzy surface on-off valve control hydraulic pressure

An adaptive fuzzy and automatic leveling technology, applied in the direction of adaptive control, control/regulation system, engine frame, etc., can solve problems such as shortening the leveling time, virtual legs, coupling, etc., to eliminate deviation and solve coupling problems Effect

Inactive Publication Date: 2008-11-12
ZHONGBEI UNIV
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Problems solved by technology

[0007] The purpose of this invention is to adopt a new leveling method to solve the problems of virtual legs and coupling in the traditional automatic leveling technology, and to realize the multi-point solution of the switch valve-controlled hydraulic system of the heavy-duty large-span launch or support platform Coupled automatic leveling to improve leveling accuracy and shorten leveling time

Method used

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  • Method for automatically leveling self-adapting fuzzy surface on-off valve control hydraulic pressure
  • Method for automatically leveling self-adapting fuzzy surface on-off valve control hydraulic pressure
  • Method for automatically leveling self-adapting fuzzy surface on-off valve control hydraulic pressure

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Embodiment Construction

[0059] This embodiment describes the automatic leveling process of a hydraulic leveling mechanism of an engineering equipment vehicle.

[0060] The engineering equipment vehicle adopts 4-point support, the platform weighs 30 tons, the hydraulic system is a double pump, the flow rate is Q=21L / min and Q=2.0L / min respectively, the leveling accuracy of the platform is required to reach ±1′, the leveling The time is less than 60 seconds.

[0061] Leveling process as figure 2 Shown:

[0062] 1. The BP neural network using the L-M second-order algorithm is used to train the motion characteristics of the switch valve-controlled one-way hydraulic cylinder.

[0063] Using the newff function in Matlab to generate a three-layer BP neural network, the network parameters are set to 3 neurons in the input layer, 7 neurons in the middle layer, and 1 neuron in the output layer. In view of the limitations of slow training speed of BP neural network and easy to fall into local minimum, L-M s...

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Abstract

A method of hydraulic pressure auto-leveling controlled by an adaptive fuzzy-surface switch valve comprises the steps: a neural network is adopted to train the movement characteristics of one-way hydraulic cylinder of each hydraulic pressure support leg of the hydraulic pressure system controlled by the switch valve, the functional relation of travel Z, flow Q, load F and on-off time t is determined, a corresponding model is established; a surface-leveling method of 'adjust surface by using surface' is adopted to cause each hydraulic support leg to move at the same time so as to realize all-way adjustment; an adaptive fuzzy-surface controller is adopted to modify leveling angel, travel and time in real time, obtain the relationship of an angle amendment quantity, travel amendment quantity and time amendment quantity, solve the problem of strong coupling and weak supporting in the process of leveling and realize multipoint adjusting until the demand on horizontal precision is achieved. The method of the invention changes the one-point and one-way adjustment situation existing in the prior art, realizes multipoint adjustment; by adopting the combination of MIMO following-up fuzzy control and surface leveling methods, real decoupling is realized and weak supporting problem is thoroughly solved as well as multipoint decoupling auto-leveling of a hydraulic pressure system controlled by the switch valve of overloading large-span launch or supporting platform is realized.

Description

technical field [0001] The invention relates to a method for leveling a platform, in particular to a method for leveling a heavy-load and large-span launching or supporting platform. The invention adopts a switch valve control hydraulic system, and implements automatic leveling of the platform through a multi-point decoupling method. Background technique [0002] In modern national defense and civilian technology, it is often necessary to accurately adjust a load-bearing platform loaded with certain equipment to a horizontal position in order to improve the performance of the system and meet a certain index requirement. For example, ground radar, artillery launch platform, large drilling rig, static pile driver and other equipment must carry out the leveling of the bearing platform before work, and require short time, fast speed, high precision and good stability. Therefore, the performance of the leveling system directly determines the performance of the entire system, and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02F16M7/00
Inventor 潘宏侠高强何臻
Owner ZHONGBEI UNIV
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