Leveling system and control strategy thereof

Abstract

The invention provides a leveling system and a control strategy thereof, and the control strategy comprises the steps: arranging a horizontal sensor on a vehicle platform, so as to detect the inclination angles of the vehicle platform in x-axis and y-axis directions; a displacement detector is arranged at each leveling supporting leg so as to detect the extending displacement amount of the leveling supporting leg; a weighing sensor is arranged between each leveling supporting leg and the vehicle platform so as to detect the stress condition of the leveling supporting legs; during leveling, for the inclination angle and the initial displacement detected by the horizontal sensor and the displacement detector, the displacement needing to stretch out of each leveling supporting leg is calculated, the calculated displacement is used as the set closed-loop displacement, and the displacement change detected by the displacement detector is used as the closed-loop condition. The comparison result of the stress of the leveling supporting leg and the preset landing threshold load T and the overload protection threshold load T0 is used as the condition for preventing virtual leg and overload, and leveling is completed at a time. The method has the advantages of being simple in leveling strategy, short in leveling time, high in leveling precision and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of leveling control, and in particular to a leveling system and a control strategy thereof. Background Art

[0002] The radar leveling system is a prerequisite for the radar to be automatically erected and operated. The ground mobile radar has the ability to be highly mobile and can be erected and withdrawn. First of all, it needs to have the ability to level quickly and accurately. Common leveling methods for the leveling system include 3, 4, and 6-point leveling. The leveling method adopts a distributed maximum method. The x-axis and y-axis are raised in sequence. The horizontal sensor readings are always retrieved and debugged by wireless iterative approximation. The leveling strategy is complex, the amount of iterative calculation data is large, and the leveling time efficiency is low. At the same time, it is impossible to perform closed-loop control on the load condition of each leveling leg during service, and reliability and safety cannot be guaranteed during service. Summary of the invention

[0003] In order to solve the technical problems existing in the background technology, the present invention proposes a leveling system and a control strategy thereof.

[0004] It should be noted that the vehicle platform described in the present invention is a ground motor vehicle.

[0005] The present invention proposes a control strategy for a leveling system, the leveling system comprising a vehicle platform and a plurality of leveling legs arranged on the vehicle platform for leveling the vehicle platform, the control strategy for the leveling system comprising the following steps:

[0006] A horizontal sensor is arranged on the vehicle platform to detect the tilt angle of the vehicle platform in the x-axis and y-axis directions;

[0007] A displacement detector is respectively arranged at each leveling leg to detect the displacement amount of the leveling leg;

[0008] A weighing sensor is respectively arranged between each leveling leg and the vehicle platform to detect the force condition of the leveling leg;

[0009] During leveling, the displacement that each leveling leg needs to extend is calculated based on the inclination angle and initial displacement detected by the horizontal sensor and the displacement detector, and the calculated displacement is used as the set closed-loop displacement. The displacement change detected by the displacement detector is used as the closed-loop condition, and the comparison result of the force applied to the leveling leg with the preset landing threshold load T and the overload protection threshold load T0 is used as the condition for preventing false legs and overload, so that leveling can be completed in one go.

[0010] Preferably, the leveling includes a landing stage, a vehicle lifting stage and a leveling stage, and the specific process is as follows:

[0011] Landing stage: according to the preset landing threshold load T of the weighing sensor, all the leveling legs are controlled to extend. When the weighing sensor detection data is greater than the preset landing threshold load T, the leveling leg corresponding to the weighing sensor stops landing, and the leveling leg lands successfully. When all the leveling supports land successfully, the landing is completed and the vehicle lifting stage begins;

[0012] Lifting stage: The sum of the output values ​​of the weighing sensors on all the leveling legs is greater than or equal to the weight of the whole machine, which is a closed-loop condition. All the leveling legs are controlled to extend at the same speed, and the displacement of all the leveling legs is guaranteed to be consistent. After the closed-loop condition is met, the leveling legs stop moving, the lifting of the vehicle is completed, and the leveling stage begins.

[0013] Leveling stage: Based on the data detected by the horizontal sensor and the span between the leveling legs, the displacement amount that each leveling leg needs to extend to meet the leveling control accuracy is solved; and the displacement detector on each leveling leg detects the displacement change as a closed-loop condition, and controls each leveling leg to extend according to the solved displacement amount, thereby completing the leveling in one go.

[0014] Preferably, during the vehicle lifting process, a load-bearing sensor detects the stress condition of each leveling leg in real time to ensure that the maximum load of each leveling leg is not greater than a preset overload protection threshold load T0.

[0015] Preferably, during service, a load-bearing sensor detects the stress condition of each leveling leg in real time.

[0016] Preferably, the displacement detector is a displacement sensor or an absolute multi-turn encoder.

[0017] The present invention proposes a leveling system which applies the control strategy mentioned above.

[0018] The present invention uses a weighing sensor as a virtual leg and overload protection, and uses the output results of a displacement sensor and a horizontal sensor as a closed-loop control condition, so as to complete leveling at one time and perform closed-loop control on the load condition of each leveling leg. It has the advantages of simple leveling strategy, short leveling time, high leveling accuracy, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flow chart of a control strategy for a leveling system proposed by the present invention;

[0020] Figure 2 This is a schematic diagram of leveling displacement calculation for a control strategy of a leveling system proposed in the present invention. DETAILED DESCRIPTION

[0021] Reference Figure 1-2The embodiment of the present invention proposes a control strategy for a leveling system, the leveling system comprising a vehicle platform and a plurality of leveling legs arranged on the vehicle platform for leveling the vehicle platform, the control strategy for the leveling system comprising the following steps:

[0022] A horizontal sensor is arranged on the vehicle platform to read and output the inclination angles a and b of the vehicle platform in the x-axis and y-axis directions;

[0023] A displacement detector is provided at each leveling leg to provide real-time feedback on the displacement of the leveling leg;

[0024] A weighing sensor is respectively arranged between each leveling leg and the vehicle platform to read and output the force condition of each leveling leg of the vehicle platform;

[0025] According to the inclination angle and initial displacement detected by the horizontal sensor and displacement detector, the displacement required for each leveling leg to be extended is calculated. The specific solution process is as follows: Figure 2 As shown, the leveling legs at point A are at the highest point after the vehicle is lifted, and the leveling legs at points B, C, and D are used as control benchmarks in turn. The displacement BB' that leg B needs to extend, the displacement CC' that leg C needs to extend, and the displacement DD' that leg D needs to extend are calculated. The calculated displacement is used as the set closed-loop displacement, the displacement detector detects the displacement change as the closed-loop condition, and the comparison result of the force applied to the leveling legs with the preset landing threshold load T and the overload protection threshold load T0 is used as the condition to prevent the virtual legs and overload, and the leveling is completed at one time. The specific control process is as follows:

[0026] Landing stage: according to the preset landing threshold load T of the weighing sensor, all the leveling legs are controlled to extend. When the detection data feedback of the weighing sensor is greater than the preset landing threshold load T, the leveling leg corresponding to the weighing sensor stops landing, and the leveling leg lands successfully; when all the leveling supports land successfully, the landing is completed.

[0027] Lifting stage: The sum of the output values ​​of the weighing sensors on all the leveling legs is greater than or equal to the weight of the whole machine (the whole machine includes the vehicle platform and the load loaded on the vehicle platform, such as the radar loaded on the vehicle platform) as a closed-loop condition, and all the leveling legs are controlled to extend at the same speed, and the displacement of all the leveling legs is guaranteed to be consistent; without affecting the tilt of the vehicle platform, the sum of the output values ​​of all the weighing sensors is used as the condition, and multiple cycles are repeated, and the output results are continuously compared with nT0. After the closed-loop condition is met, the leveling legs stop moving and the vehicle lifting is completed. In the process of lifting the vehicle, the load-bearing sensor detects the force of each leveling leg in real time to ensure that the maximum load of each leveling leg is not greater than the preset overload protection threshold load T0.

[0028] Leveling stage: First, based on the data detected by the horizontal sensor and the span between the leveling legs, directly solve the displacement amount that each leveling leg needs to extend to meet the leveling control accuracy; use the displacement change detected by the displacement detector on each leveling leg as a closed-loop condition, control each leveling leg to extend according to the solved displacement amount, and complete the leveling at one time. For example: the leveling leg at point A needs to extend the displacement 0, calculate the displacement that leg B needs to extend 2ABsin(a / 2), the displacement that leg C needs to extend 2ABsin(a / 2)+2ADsin(b / 2), and the displacement that leg D needs to extend 2ADsin(b / 2). At the same time, during the leveling process, the load-bearing sensor detects the force condition of each leveling leg in real time to prevent any leveling leg from being a virtual leg or overloaded.

[0029] In addition, weighing sensors are used to monitor the leveling of the entire machine and the leveling legs in real time during service to ensure that the loaded entire machine lands reliably and that it is stable and reliable during service.

[0030] The displacement detector in this embodiment is a displacement sensor or an absolute multi-turn encoder, which is coaxially assembled with the leveling support and is used for real-time feedback of the speed and displacement of the leveling support extension to serve as a closed-loop condition for the leveling support leg to extend to a specified length.

[0031] As can be seen from the above, in the present invention, the weighing sensor is arranged between the leveling leg and the vehicle platform, and a landing threshold load T is set in the landing stage as a closed-loop condition for landing support; in the vehicle lifting stage, the combined force of all weighing sensors serves as a closed-loop condition for successful vehicle lifting; in the adjustment stage, the load checks that each leveling leg is between the allowable T and T0 to prevent virtual legs and overload; during the service process, the load of the entire machine is reliably landed, ensuring stability and reliability during the service process; the displacement detector is used to feedback the leveling leg speed and displacement in real time, and during leveling, it serves as a closed-loop condition for the leveling leg to extend to a specified length; during the leveling process, all leveling legs are used as the multi-input and multi-output leveling control core control algorithm based on the readings of the horizontal sensor and the displacement detector, and at the same time drive all leveling legs to level according to the preset leveling leg displacement, and directly reach the leveling state without the need for multiple iterations.

[0032] The embodiment of the present invention further provides a leveling system, which applies the control strategy described in the above embodiment.

[0033] Compared with the existing technology, it has the following advantages:

[0034] 1. In terms of checking the virtual legs: by setting a weighing sensor between the leveling legs and the vehicle platform, the force of the leveling legs can be directly detected, providing the most direct closed-loop condition for the control system to prevent virtual legs and overload, with higher reliability;

[0035] 2. In terms of leveling control: According to the displacement detector set up, the displacement difference is calculated by the horizontal sensor, and the known stroke multi-point fast one-time leveling measurement is adopted, which has high leveling efficiency and simple control strategy;

[0036] 3. Monitoring during service: The working status of the radar antenna vehicle can be monitored in real time based on the weighing sensor, and it has a health monitoring function, which makes the whole vehicle safer and more reliable;

[0037] 4. It adopts multi-point, stepless speed rapid leveling measurement, uses weighing sensor as virtual leg and overload protection, takes displacement detector and level sensor output results as closed-loop control conditions, and completes leveling in one go, which has the advantages of simple leveling strategy, short leveling time and high leveling accuracy.

[0038] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A control strategy for a leveling system, the leveling system comprising a vehicle platform and a plurality of leveling legs arranged on the vehicle platform for leveling the vehicle platform, characterized in that: The control strategy of the leveling system includes the following steps: A horizontal sensor is arranged on the vehicle platform to detect the tilt angle of the vehicle platform in the x-axis and y-axis directions; A displacement detector is respectively arranged at each leveling leg to detect the displacement amount of the leveling leg; A weighing sensor is respectively arranged between each leveling leg and the vehicle platform to detect the force condition of the leveling leg; During leveling, the displacement that each leveling leg needs to extend is calculated based on the inclination angle and initial displacement detected by the horizontal sensor and the displacement detector, and the calculated displacement is used as the set closed-loop displacement. The displacement change detected by the displacement detector is used as the closed-loop condition, and the comparison result of the force applied to the leveling leg with the preset landing threshold load T and the overload protection threshold load T0 is used as the condition for preventing false legs and overload, so that leveling can be completed in one go.

2. The control strategy of the leveling system according to claim 1, characterized in that: Leveling includes the landing stage, the vehicle lifting stage and the leveling stage. The specific process is as follows: Landing stage: according to the preset landing threshold load T of the weighing sensor, all the leveling legs are controlled to extend. When the weighing sensor detection data is greater than the preset landing threshold load T, the leveling leg corresponding to the weighing sensor stops landing, and the leveling leg lands successfully. When all the leveling supports land successfully, the landing is completed and the vehicle lifting stage begins; Lifting stage: The sum of the output values ​​of the weighing sensors on all the leveling legs is greater than or equal to the weight of the whole machine, which is a closed-loop condition. All the leveling legs are controlled to extend at the same speed, and the displacement of all the leveling legs is guaranteed to be consistent. After the closed-loop condition is met, the leveling legs stop moving, the lifting of the vehicle is completed, and the leveling stage begins. Leveling stage: Based on the data detected by the horizontal sensor and the span between the leveling legs, the displacement amount that each leveling leg needs to extend to meet the leveling control accuracy is solved; and the displacement detector on each leveling leg detects the displacement change as a closed-loop condition, and controls each leveling leg to extend according to the solved displacement amount, thereby completing the leveling in one go.

3. The control strategy of the leveling system according to claim 2, characterized in that: During the vehicle lifting process, the load-bearing sensor detects the stress condition of each leveling leg in real time to ensure that the maximum load of each leveling leg is not greater than the preset overload protection threshold load T0.

4. The control strategy of the leveling system according to claim 1, characterized in that: During service, the load-bearing sensor detects the stress condition of each leveling leg in real time.

5. The control strategy of the leveling system according to any one of claims 1 to 4, characterized in that: The displacement detector is a displacement sensor or an absolute multi-turn encoder.

6. A leveling system, characterized in that: Apply the control strategy described in any one of claims 1 to 5.

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