Automatic leveling control system of fire-fighting truck working platform, fire-fighting truck and leveling method

Abstract

The invention discloses an automatic leveling control system of a fire-fighting truck working platform, a fire-fighting truck and a leveling method. The automatic leveling control system comprises a control device, a horizontal angle sensor, an angle acceleration sensor and a leveling execution mechanism, wherein the horizontal angle sensor collects the inclination angle of the fire-fighting truck working platform relative to a horizontal plane and sends the inclination angle to the control device; the angle acceleration sensor collects the rotary angle acceleration of a crank arm and sends the rotary angle acceleration to the control device; the control device generates control signals according to the inclination angle of the fire-fighting truck working platform relative to the horizontal plane and the rotary angle acceleration of the crank arm and controls the leveling execution mechanism to finish the leveling operation of the fire-fighting truck working platform. According to the automatic leveling control system, the fire-fighting truck and the leveling method, the feedback of the angle acceleration is introduced, the feedback component of the angle acceleration is utilized for restraining a chattering phenomenon, two different control models are utilized for respectively controlling the automatic leveling of the working platform during lifting and falling processes, and a leveling cut-off region is arranged, so that the automatic leveling effect is enhanced.

Description

technical field [0001] The invention relates to the technical field of engineering machinery, in particular to an automatic leveling control system for a fire truck working platform, a fire truck and a leveling method. Background technique [0002] A fire truck, such as an elevated platform fire truck, usually includes a car body, a jib, a crank arm, and a working platform. The working platform is located at the end of the curved arm of the climbing fire truck. It is a working bucket (or basket) used to carry objects or people. lifting and lowering. In theory, it is necessary to ensure that the working platform is always in a horizontal state during this process, so as to ensure the personal safety of the staff. However, in the actual operation process, due to factors such as motion transmission lag and vibration interference, the working platform must have a certain inclination. During the use of the climbing platform fire truck, the tilt angle of the working platform is...

AI Technical Summary

Problems solved by technology

[0006] 1. When dealing with automatic leveling, most of them do not distinguish whether the working platform is in a lifting or lowering state, but perform automatic leveling in a unified way, but the force and load on the working platform when it is lifted and lowered is different, so it is difficult for a single model to satisfy the automatic leveling of the two working conditions of lifting and lowering at the same time

Generally good leveling when lifting (or lowering) and bad leveling when lowering (or lifting)

[0007] 2. During the leveling process of the working platform, sometimes oscillation occurs

If the value of b is too large (the cut-off area is too wide), it will cause the inclination of the working platform 1 to increase

[0008] 3. The amplitude of the jib and the rotational movement of the crank arm will cause changes in the tilt angular velocity of the working platform, and significant changes in the tilt angular acceleration will cause jitter or oscillation during the leveling process

However, most of the existing leveling technologies are based on the state monitoring of the horizontal angle, without considering the influence of the change of the angular acceleration. It is feasible on the surface, but in actual application, there will be cumulative errors, and the actual effect is not ideal

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