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An adaptive automatic leveling auxiliary leg control method and system

A technology of automatic leveling and control method, applied in the direction of using feedback control, etc., can solve problems such as auxiliary support legs not working, support legs damage leveling accuracy, etc., to improve debugging efficiency, improve system reliability and stability , the effect of reducing processing costs

Active Publication Date: 2022-03-04
CHINA ELECTRONIC TECH GRP CORP NO 38 RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The technical problem to be solved by the present invention is: how to solve the problems such as that the auxiliary leg stretches out too long and damages the leveling accuracy due to the control problem of the auxiliary leg landing, or the auxiliary leg does not work when the auxiliary leg stretches out and stops before landing. A self-adaptive automatic leveling auxiliary leg control method is proposed, which uses methods such as comprehensive driving torque average calculation, auxiliary leg landing moment prediction, levelness trend prediction and other methods to realize automatic landing control of automatic leveling auxiliary legs

Method used

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  • An adaptive automatic leveling auxiliary leg control method and system
  • An adaptive automatic leveling auxiliary leg control method and system
  • An adaptive automatic leveling auxiliary leg control method and system

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Embodiment 1

[0044] This embodiment provides a technical solution: an adaptive automatic leveling auxiliary leg control method, including the following steps:

[0045] S1: Calculation of average driving torque

[0046] The auxiliary support leg starts to extend, and the driving torque of the auxiliary support leg is detected in real time, and the average torque value under the current environment and working conditions is calculated, and the current landing torque detection threshold of the auxiliary support leg is determined;

[0047] S2: Prediction of landing moment of auxiliary leg and prediction of horizontality value trend

[0048] During the process of extending the auxiliary support leg to the landing, the current driving torque value of the auxiliary support leg is detected, and the landing torque detection threshold determined in step S1 is used to judge whether the landing torque stop action condition is reached; at the same time, the level value of the carrier platform is collec...

Embodiment 2

[0073] Such as figure 2 As shown, this embodiment provides a technical solution: an adaptive automatic leveling auxiliary leg control method. This method uses software algorithms, comprehensive calculation of the average value of driving torque, prediction of auxiliary leg landing torque, levelness trend prediction and other methods , to realize the automatic landing control of the auxiliary leg. The calculation of the mean value of the comprehensive driving torque solves the problem of the threshold threshold of the driving torque of the auxiliary leg under various environmental conditions; the prediction of the landing moment of the auxiliary leg can accurately judge whether the auxiliary leg is firmly supporting the ground; the levelness trend prediction It is ensured that the original leveling accuracy will not be damaged after the auxiliary leg falls to the ground; the above steps are combined, combined with the software to realize the automatic landing control of the au...

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Abstract

The invention discloses an adaptive automatic leveling auxiliary leg control method and system, belonging to the technical field of automatic leveling, comprising the following steps: S1: calculation of the average value of driving torque; S2: prediction of the landing torque of the auxiliary leg and the trend of levelness value predict. The invention can automatically determine the driving torque value of each auxiliary leg under different environmental conditions, and also solves the difficulty in judging the landing caused by the unbalanced driving torque of the auxiliary leg due to problems such as processing accuracy and assembly quality. Technical problems, realized the automatic judgment of the driving torque of each auxiliary leg, improved the debugging efficiency, and reduced the processing cost; and through the prediction technology of the driving torque of the supporting leg and the levelness prediction technology, effectively ensured the landing of the auxiliary leg Stability, avoiding problems such as structural strength problems such as auxiliary support leg brackets that cause the support legs to extend too long and damage the leveling accuracy, etc., reduce the impact of auxiliary support legs on the leveled level, and improve system reliability and stability .

Description

technical field [0001] The invention relates to the technical field of automatic leveling, in particular to an adaptive automatic leveling auxiliary leg control method and system. Background technique [0002] Automatic leveling technology is widely used in industrial and military equipment and other equipment that needs to level the loading platform. Under certain specific requirements, the loading platform is too long or the working range of the equipment on the loading platform is too large when it is working. Beyond the support range of its self-leveling legs, under this working condition, it is necessary to add auxiliary leveling legs to the original self-leveling platform to increase the supporting load capacity of the loading platform, and the self-leveling platform and the load form a working system. [0003] Such as figure 1 As shown, the automatic leveling platform includes a loading platform 1 , four auxiliary legs 3 , four auxiliary leg arms 4 , four automatic l...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D3/12
CPCG05D3/12
Inventor 徐非骏邱建朋杨帆王贺李旺张腊梅何张强吴后平桑青华周杨张瑞珏严诺李红李付军程翔宇
Owner CHINA ELECTRONIC TECH GRP CORP NO 38 RES INST
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