A Time Optimal Leveling Algorithm with Constant Center of Gravity

Abstract

The invention discloses a time-optimized leveling algorithm with the center of gravity constant. The method firstly calculates the position coordinates of four fulcrums according to the inclination angle and variable length of the platform; then performs rough adjustment, and calculates each fulcrum and the support point of the center of gravity according to the coordinates of the fulcrums The error e in the height direction i , adjust the speed v of each fulcrum i and time series t i Substitute into the calculation formula e i =e i ‑v i t i Get the new error e after rough adjustment i , if max{e i}>E2, repeat the calculation process until max{e i}<E2 and enter the fine adjustment; in the fine adjustment link, change the speed coefficient k of each point, and calculate e i =e i ‑kv i t i Get the new error e after fine-tuning i , if max{e i}>E2, repeat the calculation process until max{e i}<E2, stop the adjustment to complete the leveling process; the algorithm adopts the time-optimal composite leveling algorithm, and combines the four-axis linkage fast rough adjustment algorithm with the time-optimized fine-tuning algorithm, which greatly improves the leveling efficiency. At the same time, the leveling accuracy is also guaranteed.

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...

AI Technical Summary

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 by the "center fixed" leveling method. In order to solve this problem, it is necessary to invent a less time-consuming and high-precision Center of Gravity Invariant Time Optimal Leveling Algorithm

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