Adaptive adjustment method for landing detection threshold value of leveling supporting leg

A technology of self-adaptive adjustment and detection valve, applied in the direction of self-adaptive control, control/adjustment system, instruments, etc., can solve the problems of unstable running current value of support legs, poor assembly of transmission mechanism, fuzzy judgment basis, etc. The current is unstable, the judgment accuracy is high, and the feasibility is strong.

Active Publication Date: 2015-10-07
CHINA ELECTRONIC TECH GRP CORP NO 38 RES INST
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Problems solved by technology

However, although this method can meet the application in a fixed environment and when the leg transmission mechanism is running well, in practical applications, once the external environment changes greatly, such as large temperature changes, or poor assembly of the transmission mechanism, it will cause The operating current value of the support leg is unstable, and the

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  • Adaptive adjustment method for landing detection threshold value of leveling supporting leg
  • Adaptive adjustment method for landing detection threshold value of leveling supporting leg

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[0020] Such as figure 1 , 2 As shown, an adaptive adjustment method for leveling the landing leg detection threshold includes:

[0021] (1) Power on, the automatic leveling system starts, and the controller controls the motor 5 to drive the leveling legs 4 to extend;

[0022] (2) After the leveling leg 4 is extended for a time T1, the controller will sample and store the motor current every time T2, collecting a total of N times;

[0023] (3) After completing N sampling, find the average value A of N motor current sampling values;

[0024] (4) On the basis of obtaining the above average value, add the fixed threshold value B, and take the sum of the average value A and the fixed threshold value B as the landing detection threshold value at the moment;

[0025] (5) Repeat steps 2, 3, and 4 to compare the obtained new landing detection threshold with the previous landing detection threshold. If the former is less than the latter, the new landing detection threshold will be used as the cur...

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Abstract

The invention relates to an adaptive adjustment method for a landing detection threshold value of a leveling supporting leg, and the method comprises the steps: powering on; starting an automatic leveling system; sampling and storing a motor current at a T2 time interval through the controller after the leveling supporting leg extends out for T1, wherein the number of collection times is N; calculating a mean value A of N sampling values of the motor current; taking the sum of the mean value A and a fixed threshold value B as a landing detection threshold value at this moment; repeatedly carrying out steps 2, 3 and 4; enabling a new landing detection threshold value to be compared with the former landing detection threshold value: if the new landing detection threshold value is less than the former landing detection threshold value, the new landing detection threshold value is taken as the current landing detection threshold value, and the next step is carried out; or else, directly switching to the next step; judging whether the supporting leg is landed or not: switching to automatic leveling if the supporting leg is landed, or else returning to step 2. The method is higher in judgment accuracy, avoids false landing of the leveling supporting leg in a process of automatic leveling, is higher in feasibility, is easy to achieve engineering, and is low in implementation cost.

Description

Technical field [0001] The invention relates to the technical field of an automatic leveling system, in particular to an adaptive adjustment method of a leveling leg landing detection threshold. Background technique [0002] The automatic leveling system is often used in vehicle-mounted weapon equipment, and plays an important role in ensuring the accuracy and stability of the weapon. The automatic leveling system generally uses four-point leveling, which is divided into hydraulic automatic leveling system and electromechanical automatic leveling system according to the power source of the leveling support leg. The electromechanical automatic leveling system uses an AC servo motor or a DC motor to drive the leg movement; the working process of the automatic leveling system is generally divided into two stages, namely landing detection and automatic leveling. The landing detection stage completes the four supporting legs respectively. On the ground, the supporting legs can play a...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 汤辉倪仁品
Owner CHINA ELECTRONIC TECH GRP CORP NO 38 RES INST
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