Invariant-center-of-gravity optimal-time leveling algorithm

Abstract

The invention discloses an invariant-center-of-gravity optimal-time leveling algorithm. According to the method, position coordinates of four fulcrums are calculated based on an inclination angle of aplatform and a variable length; coarse adjustment is carried out, errors ei between all fulcrums and a center-of-gravity support point in a height direction are calculated based on the fulcrum coordinates, adjustment speeds vi and time sequences ti of all fulcrums are introduced into a calculation formula: ei=ei-viti, so that new errors ei after coarse adjustment are obtained; if max{ei} is larger than E2, the calculation process is repeated until max{ei} is less than E2 and then fine adjustment is carried out; at the fine adjustment link, speed coefficient k of al points are changed and calculation is carried out based on a formula: ei=ei-kviti, so that new errors ei after fine adjustment are obtained; if max{ei} is larger than E2, the calculation process is repeated until max{ei} is less than E2 and adjusting is stopped to complete the leveling process. On the basis of the optimal-time composite leveling algorithm, the four-axis linkage type fast coarse-tuning algorithm is combinedwith the optimal-time fine-tuning algorithm, so that the leveling efficiency is improved substantially and the leveling accuracy is enhanced.

Description

technical field [0001] The invention relates to the field of leveling algorithms, in particular to a center-of-gravity constant time optimal leveling algorithm. Background technique [0002] As basic equipment, the hydraulic platform is widely used in the construction of various experimental devices. The balance state of the hydraulic platform itself will directly affect the experimental results, and it needs to be leveled in advance. This process is realized through a leveling algorithm. At present, there are mainly five common leveling algorithms: (1) "chasing" the highest point does not move; (2) "chasing" the lowest point does not move; (3) "center does not move" leveling method; (4) Angle error control method; (5) The "fixed point" leveling method of the outrigger position, in terms of leveling time, the "center fixed" leveling method takes the least time and can maintain high accuracy. However, in actual working conditions, the center of gravity of the workpiece is mo...

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Problems solved by technology

However, in actual working conditions, the center of gravity of the workpiece is mostly not coincident with the center of the platform, and it is difficult to ensure the stability of the platform b

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