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

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...

AI Technical Summary

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 then the support leg falls to the ground.

In order to overcome the above-mentioned situation, some current thresholds are set in two or three levels in the automatic leveling system, and the judgment is made manually according to the external environment through the manual selection switch, but there are also disadvantages such as complicated operation and vague judgment basis

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