Intelligent real-time leveling device and control method thereof

Abstract

The present invention discloses an intelligent real-time leveling device and a control method thereof, comprising a base and a pan mechanism, a pitch mechanism, and a load installation platform located above the base. A control device is installed in the base, the pan mechanism comprises a pan bracket installed at the top of a shell and integrally cast with the shell, a pan shaft sleeve located outside the pan bracket and connected with the pan bracket, and a pan assembly located in the pan shaft sleeve, and the pitch mechanism comprises a pitch bracket installed above the shell, a pitch shaft sleeve located outside the pitch bracket and connected with the pitch bracket, and a pitch assembly located in the pitch shaft sleeve. The collected inclination angles are transmitted to the controller respectively through the pan encoder and the pitch encoder, and the controller controls the operation of the pan servo motor and the pitch servo motor respectively, so that the pan shaft where the whole pan assembly is located and the pitch shaft where the whole pitch group is located reach the specified position, thereby driving the pitch bracket to move, and finally realizing the leveling of the load installation platform.

Description

Technical Field

[0001] The present invention relates to the technical field of leveling devices, and in particular to an intelligent real-time leveling device and a control method thereof. Background Art

[0002] Ships, vehicles, and airplanes will experience a lot of shaking during their travels. For example, on rivers and seas, ships are affected by wind and waves and will experience a lot of shaking, which has a huge impact on the measurement accuracy of the measuring equipment on ships, vehicles, or airplanes. Therefore, when we perform precision measurements, we need to isolate this shaking to reduce the adverse effects of shaking on the measurement accuracy of the test equipment. In order to solve this problem, it is necessary to use an intelligent real-time leveling device that can automatically adjust the balance in real time according to the swing amplitude and rate, and provide a real-time horizontal platform for the measuring equipment or instruments, thereby isolating the adverse effects of the swing on the equipment and instruments. At the same time, existing products are susceptible to salt spray erosion and interference, which reduces the accuracy and reliability of the measuring equipment. In order to make up for the shortcomings of traditional devices and improve accuracy and reliability, technical problems such as interference and salt spray corrosion must be solved. Summary of the invention

[0003] In order to solve the above-mentioned problems existing in the prior art, the purpose of the present invention is to provide an intelligent real-time leveling device and a control method thereof, which can automatically adjust the balance in real time according to the swing amplitude and rate, provide a real-time horizontal platform for equipment and instruments, thereby isolating the adverse effects of the swing on the equipment and instruments.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: an intelligent real-time leveling device, comprising:

[0005] The base comprises a shell, a power socket and a communication socket respectively arranged on the outer end surface of the shell, and a controller, a motor drive unit, an inclinometer and a voltage-stabilized power supply arranged inside the shell, wherein the controller, the motor drive unit and the power socket are respectively electrically connected to the voltage-stabilized power supply;

[0006] The pan mechanism comprises a pan bracket installed on the top of the housing and cast integrally with the housing, a pan shaft sleeve located outside the pan bracket and penetrating the pan bracket, and a pan assembly located in the pan shaft sleeve, wherein the pan assembly comprises a pan encoder, a pan servo motor and a pan reducer connected in sequence from outside to inside, wherein the pan servo motor is a double-axle extension motor, wherein one output shaft is connected to the pan encoder, and the other output shaft is connected to the input end of the pan reducer, and the pan output shaft of the pan reducer extends inwardly into the inner cavity of the pan bracket;

[0007] A pitch mechanism, comprising a pitch bracket installed above a housing, a pitch shaft sleeve located outside the pitch bracket and penetrating the pitch bracket, and a pitch assembly located in the pitch shaft sleeve, wherein the pitch bracket comprises a first connection portion arranged in parallel with the pan bracket and a second connection portion arranged perpendicularly to one end of the first connection portion, and the pitch assembly comprises a pitch encoder, a pitch servo motor, and a pitch reducer connected in sequence from the outside to the inside, wherein the pitch servo motor is a double-axle extension motor, wherein one output shaft is fixedly connected to the pitch encoder, and the other output shaft is fixedly connected to the input end of the pitch reducer, and the pitch output shaft of the pitch reducer extends inwardly into the inner hollow body of the second connection portion;

[0008] The roll mechanism further includes a roll connection shaft mounted on the outer wall of one end of the first connection portion close to the roll bracket, and the other end of the roll connection shaft penetrates the outer wall of the roll bracket and is connected to the roll output shaft of the roll reducer;

[0009] A load mounting platform is located above the shell and on the inner outer wall of the second connecting portion, and a first mounting hole is opened at the top thereof. The load mounting platform and the second connecting portion, as well as the first connecting portion and the roll bracket, are connected via flanges;

[0010] The pitch mechanism further includes a pitch connection shaft mounted on the outer wall of the load mounting platform close to one end of the second connection portion, and the other end of the pitch connection shaft penetrates the outer wall of the second connection portion and is connected to the pitch output shaft of the pitch reducer;

[0011] The pan encoder, pitch encoder, inclinometer and communication socket are respectively connected to the input end of the controller through wires, and the pan servo motor and pitch servo motor are respectively connected to the output end of the controller through wires.

[0012] As a further improvement of the present invention, a mechanical limiting mechanism is also included, and the mechanical limiting mechanism includes:

[0013] A roll limit assembly is located between the roll bracket and the pitch bracket, and includes a first limit rod installed on the outer wall of the first connecting portion and two first limit blocks symmetrically arranged on the outer wall of the roll bracket;

[0014] When the pan assembly drives the pitch bracket to move, the first limit rod swings between the two first limit blocks;

[0015] The pitch limit assembly is located between the pitch support and the load mounting platform, and includes a second limit rod mounted on the outer side wall of the load mounting platform and two second limit blocks symmetrically arranged on the outer side wall of the second connecting portion;

[0016] When the pitch assembly drives the load mounting platform to move, the second limit rod is caused to swing between the two second limit blocks.

[0017] As a further improvement of the present invention, the controller includes an interactive FPGA chip and a DSP chip, the pan encoder, the pitch encoder and the inclinometer are all connected to the input end of the FPGA chip through a serial port chip, and the pan servo motor and the pitch servo motor are respectively connected to the output end of the DSP chip through a pan motor drive unit and a pitch motor drive unit.

[0018] As a further improvement of the present invention, a first bearing assembly is connected between the first connecting portion and the roll bracket, and the first bearing assembly includes a first bearing inner ring connected to the shaft shoulder of the roll connecting shaft, a first bearing outer ring connected to the outer wall of the roll bracket through a first bearing bushing, a first bearing inner ring pressure plate positioned on the roll output shaft of the roll reducer through the shaft shoulder of the roll connecting shaft, and a first bearing outer ring pressure plate connected to the outer wall of the roll bracket;

[0019] A second bearing assembly is connected between the second connection part and the load mounting platform, and the second bearing assembly includes a second bearing inner ring connected to the shoulder of the pitch connection shaft, a second bearing outer ring connected to the outer wall of the second connection part through a second bearing sleeve, a second bearing inner ring pressure plate positioned on the pitch output shaft of the pitch reducer through the shoulder of the pitch connection shaft, and a second bearing outer ring pressure plate connected to the outer wall of the second connection part.

[0020] As a further improvement of the present invention, guide rails are arranged in a transverse alignment inside both left and right ends of the shell, a device mounting plate is slidably connected to the guide rails, and the controller and the inclinometer are mounted on the device mounting plate.

[0021] As a further improvement of the present invention, both ends of the bottom outer wall of the shell extend outward horizontally to form a mounting plate, and the top end of the mounting plate is provided with a second mounting hole that penetrates to the bottom end of the mounting plate.

[0022] As a further improvement of the present invention, the outer surfaces of the shell, the roll bracket, the roll shaft sleeve, the pitch bracket) and the pitch shaft sleeve are sprayed with an anti-corrosion coating.

[0023] As a further improvement of the present invention, the pan encoder and the tilt encoder are both absolute rotary encoders.

[0024] A control method for an intelligent real-time leveling device comprises the following steps:

[0025] 1) Command reception: The controller receives commands from the host computer through the RS422 serial port or network port;

[0026] 2) Data acquisition: The ship's rolling angle and speed data collected by the roll encoder, pitch encoder and inclinometer are transmitted to the controller;

[0027] 3) Algorithm implementation: The controller performs algorithmic control on the roll servo motor and pitch servo motor according to the received target angle, current angle and speed;

[0028] 4) Motor drive: The controller controls the pan motor drive unit and the pitch motor drive unit respectively, thereby controlling the pan servo motor and the pitch servo motor. The controller completes the position loop closed-loop control of the pan servo motor and the pitch servo motor, and the motor drive unit completes the speed loop and current loop closed-loop control to achieve the leveling of the load installation platform.

[0029] 5) Fully automatic monitoring: The upper computer software is remotely controlled by accessing the communication socket, and the leveling status is displayed in real time through the status monitoring function.

[0030] As a further improvement of the present invention, the algorithm control in step 3) is a composite PI algorithm control, which specifically includes the following steps:

[0031] 1) Determine the principle block diagram of the servo system according to the working principle of the leveling device;

[0032] 2) Composite control design;

[0033] The composite PI algorithm control is a composite control strategy based on the combination of feedforward compensation and PI.

[0034] 2-1) Calculate the feedforward output signal for,

[0035] (1)

[0036] In the formula, is the target angle signal, is the transfer function;

[0037] 2-2) Calculate the total control output of the feedforward compensation controller for,

[0038] (2)

[0039] In the formula, is the PI control output, is the feedforward control output;

[0040] 2-3) Set the controller to output Written in discrete form ,

[0041] (3)

[0042] In the formula, is the PI controller output, Feedback control output;

[0043] 2-4) Set the target angle With current angle Compare the difference between the target angle and the current angle , difference Perform PI operation to get the PI controller output , plus the current ship rolling speed measured by the inclinometer As the input signal of the servo motor drive unit, the servo motor drive unit completes the speed loop and current loop control of the servo control and then drives the pan servo motor and the tilt servo motor to move.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. An intelligent real-time leveling device of the present invention transmits the collected tilt angles to a controller through a pan encoder and a pitch encoder respectively. The controller controls the operation of a pan servo motor and a pitch servo motor by driving a pan motor driving unit and a pitch motor driving unit respectively, so that the pan axis where the entire pan assembly is located and the pitch axis where the entire pitch assembly is located reach specified positions, thereby driving the pitch bracket to move, and finally realizing the leveling of the load installation platform without being disturbed by external shaking.

[0046] 2. The intelligent real-time leveling device of the present invention designs the roll bracket and the base into an integrally cast right-angle frame connection form, has good sealing, shockproof, and salt spray corrosion resistance, has high device reliability, and is suitable for use in harsh environments.

[0047] 3. The present invention provides a control method for an intelligent real-time leveling device, and proposes a composite control strategy based on the combination of feedforward compensation and PI, which reduces the average tracking error, improves the dynamic performance of the system, and improves the control accuracy of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0049] Figure 2 It is a schematic diagram of the internal structure of the roll shaft sleeve and the pitch shaft sleeve in the present invention;

[0050] Figure 3 It is a side view of the overall structure of the present invention;

[0051] Figure 4 It is a schematic diagram of the internal structure of the base in the present invention;

[0052] Figure 5 For the present invention Figure 1 The enlarged schematic diagram at A in the middle;

[0053] Figure 6It is a cross-sectional view of the connection of the roll assembly of the present invention;

[0054] Figure 7 This is the electrical control connection diagram of the present invention;

[0055] Figure 8 This is the debugging interface diagram of the host computer of the present invention;

[0056] Fig. 9 It is a block diagram of the transmission principle of the servo system of the present invention;

[0057] Fig.10 It is the PI feedforward compensation control structure of the present invention;

[0058] Fig.11 This is a comparison of the accuracy of the feedforward PI algorithm of the present invention and the traditional PI algorithm.

[0059] In the attached figure:

[0060] 100, base; 110, housing; 110-1, mounting plate; 110-1a, second mounting hole; 120, power socket; 130, communication socket; 140, controller; 150, motor drive unit; 160, inclinometer; 170, voltage-stabilized power supply; 180, device mounting plate;

[0061] 200, pan mechanism; 210, pan bracket; 220, pan shaft sleeve; 230, pan assembly; 230-1, pan encoder; 230-2, pan servo motor; 230-3, pan reducer; 230-3a, pan output shaft; 240, pan connecting shaft;

[0062] 300, pitch mechanism; 310, pitch bracket; 310-1, first connection part; 310-2, second connection part; 320, pitch shaft sleeve; 330, pitch assembly; 330-1, pitch encoder; 330-2, pitch servo motor; 330-3, pitch reducer;

[0063] 400, load mounting platform; 410, first mounting hole;

[0064] 500, mechanical limit mechanism; 510, roll limit assembly; 510-1, first limit rod; 510-2, first limit block; 510-3, first screw; 520, pitch limit assembly; 520-1, second limit rod; 520-2, second limit block; 520-3, second screw;

[0065] 610, first bearing inner ring; 620, first bearing bushing; 630, first bearing inner ring pressure plate; 640, first bearing outer ring pressure plate; 650, oil seal; 660, oil seal mounting end cover. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] Figures 1 to 8 It is a schematic structural diagram of an embodiment of an intelligent real-time leveling device of the present invention, the main part of which includes a base 100, a pan mechanism 200, a tilt mechanism 300, and a load installation platform 400.

[0068] The base 100 is used to support the pan mechanism 200, the tilt mechanism 300, the load installation platform 400 and the placement control device. The base 100 includes a housing 110, a power socket 120 and a communication socket 130 respectively arranged on the outer end surface of the housing 110, and a controller 140, a motor drive unit 150, an inclinometer 160 and a voltage-stabilized power supply 170 arranged inside the housing 110. The controller 140, the motor drive unit 150 and the power socket 120 are respectively electrically connected to the voltage-stabilized power supply 170. The pan encoder 230-1, the tilt encoder 330-1, the inclinometer 160 and the communication socket 130 are respectively connected to the input end of the controller 140 through wires, and the pan servo motor 230-2 and the tilt servo motor 330-2 are respectively connected to the output end of the controller 140 through wires. Specifically, the controller 140 includes an interactive FPGA chip and a DSP chip, the pan encoder 230-1, the pitch encoder 330-1 and the inclinometer 160 are all connected to the input end of the FPGA chip through a serial port chip, and the pan servo motor 230-2 and the pitch servo motor 330-2 are respectively connected to the output end of the DSP chip through a pan motor drive unit and a pitch motor drive unit. The control part adopts embedded technology and is arranged inside the housing 110, and DSP+FPGA is selected as the main controller. The DSP chip controls the pan motor drive unit and the pitch motor drive unit respectively through the CAN bus, and the FPGA chip is used to collect the ship rolling angle data of the pan encoder 230-1, the pitch encoder 330-1 and the inclinometer 160. The motor drive unit 150 includes a pan motor drive unit and a pitch motor drive unit, and the controller 140 controls the pan servo motor 230-2 and the pitch servo motor 330-2 to operate by driving the pan motor drive unit and the pitch motor drive unit respectively.

[0069] The pan mechanism 200 includes a pan bracket 210 installed on the top of the housing 110 and integrally cast with the housing 110, a pan shaft sleeve 220 located outside the pan bracket 210 and penetrating the pan bracket 210, and a pan assembly 230 located in the pan shaft sleeve 220. The pan assembly 230 includes a pan encoder 230-1, a pan servo motor 230-2, and a pan reducer 230-3 connected in sequence from the outside to the inside. The pan servo motor 230-2 is a double-axle extension motor, one of which has an output shaft connected to the pan motor. The encoder 230-1 is connected, and the other output shaft is connected to the input end of the roll reducer 230-3. The roll output shaft 230-3a of the roll reducer 230-3 extends inwardly into the inner cavity of the roll bracket 210; the roll mechanism 200 also includes a roll connection shaft 240 installed on the outer wall of one end of the first connection part 310-1 close to the roll bracket 210, and the other end of the roll connection shaft 240 penetrates the outer wall of the roll bracket 210 and is connected to the roll output shaft 230-3a of the roll reducer 230-3. The roll bracket 210 and the housing 110 are designed to be an integrally cast right-angle frame connection form, which is an inverted L-shaped as a whole, with good sealing, shockproof, and salt spray proof. When in use, after the roll servo motor 230 - 2 is started, power is output to the roll reducer 230 - 3 , and the roll output shaft 230 - 3a of the roll reducer 230 - 3 drives the pitch bracket 310 to move through the roll connecting shaft 240 , thereby driving the leveling of the load mounting platform 400 connected to the pitch bracket 310 .

[0070] The tilt mechanism 300 includes a tilt bracket 310 installed above the housing 110, a tilt shaft sleeve 320 located outside the tilt bracket 310 and penetrating the tilt bracket 310, and a tilt assembly 330 located in the tilt shaft sleeve 320, wherein the tilt bracket 310 includes a first connection portion 310-1 arranged parallel to the roll bracket 210 and a second connection portion 310-2 arranged perpendicularly to one end of the first connection portion 310-1, and the tilt assembly 330 includes a tilt encoder 330-1, a tilt servo motor 330-2, and a tilt reducer 330-3 connected in sequence from the outside to the inside, The pitch servo motor 330-2 is a double-axle extension motor, one of the output shafts is fixedly connected to the pitch encoder 330-1, and the other output shaft is fixedly connected to the input end of the pitch reducer 330-3, and the pitch output shaft of the pitch reducer 330-3 extends inwardly into the inner cavity of the second connecting part 310-2; the pitch mechanism 300 also includes a pitch connection shaft installed on the outer wall of the load mounting platform 400 close to one end of the second connecting part 310-2, and the other end of the pitch connection shaft penetrates the outer wall of the second connecting part 310-2 and is connected to the pitch output shaft of the pitch reducer 330-3. When in use, after the pitch servo motor 330-2 is started, the power is output to the pitch reducer 330-3, and the pitch output shaft of the pitch reducer 330-3 drives the leveling of the load mounting platform 400 connected to the pitch bracket 310 through the pitch connection shaft.

[0071] The load installation platform 400 is used to install external load devices such as RF antennas. It is located above the housing 110 and on the inner outer wall of the second connection part 310-2. A first installation hole 410 is provided at the top thereof. The load installation platform 400 and the second connection part 310-2, as well as the first connection part 310-1 and the pan bracket 210 are all connected via flanges. The pan bracket 210 and the pitch bracket 310 are detachably connected via flanges. In addition, a corresponding first installation hole 410 can be provided on the load installation platform 400 according to the size of the external device. The load installation platform 400 is only a schematic installation platform and does not reflect specific load devices.

[0072] Preferably, in this embodiment, Figure 1 , Figure 3 , Figure 5As shown, it also includes a mechanical limit mechanism 500, and the mechanical limit mechanism 500 includes a roll limit assembly 510 and a pitch limit assembly 520. The roll angle adjustable by the mechanical limit is -35°~+35°, the pitch angle is -15~+15°, and the swing period is 1S-10S. The roll limit assembly 510 is used to further control the movement range of the entire roll assembly 230, and is located between the roll bracket 210 and the pitch bracket 310, including a first limit rod 510-1 installed on the outer wall of the first connecting part 310-1 and two first limit blocks 510-2 symmetrically arranged on the outer wall of the roll bracket 210. The first limit rod 510-1 is installed on the outer wall of the first connecting part 310-1 by screws, and the two first limit blocks 510-2 are integrated with the roll bracket 210 by casting, so that the first limit rod 510-1 is easy to replace. When the roll assembly 230 drives the pitch bracket 310 to move, the first limit rod 510-1 swings between the two first limit blocks 510-2. The pitch limit assembly 520 is used to further control the movement range of the entire pitch assembly 330, and is located between the pitch bracket 310 and the load installation platform 400, including a second limit rod 520-1 installed on the outer wall of the load installation platform 400 and two second limit blocks 520-2 symmetrically arranged on the outer wall of the second connecting portion 310-2. The second limit rod 520-1 is installed on the outer wall of the load installation platform 400 by screws, so that the second limit rod 520-1 is easy to replace. When the pitch assembly 330 drives the load installation platform 400 to move, the second limit rod 520-1 swings between the two second limit blocks 520-2.

[0073] Preferably, in this embodiment, Figure 6As shown, a first bearing assembly is connected between the first connecting part 310-1 and the roll bracket 210, and the first bearing assembly includes a first bearing inner ring 610 connected to the shoulder of the roll connecting shaft 240, a first bearing outer ring connected to the outer wall of the roll bracket 210 through a first bearing sleeve 620, a first bearing inner ring pressure plate 630 positioned on the roll output shaft 230-3a of the roll reducer 230-3 through the shoulder of the roll connecting shaft 240, and a first bearing outer ring pressure plate 640 connected to the outer wall of the roll bracket 210. A second bearing assembly is connected between the second connection part 310-2 and the load installation platform 400, and the second bearing assembly includes a second bearing inner ring connected to the shoulder of the pitch connection shaft, a second bearing outer ring connected to the outer wall of the second connection part 310-2 through a second bearing bushing, a second bearing inner ring pressure plate positioned on the pitch output shaft of the pitch reducer 330-3 through the shoulder of the pitch connection shaft, and a second bearing outer ring pressure plate connected to the outer wall of the second connection part 310-2. When in use, when the roll output shaft 230-3a of the roll reducer 230-3 drives the pitch bracket 310 to move through the roll connection shaft 240, and the pitch output shaft of the roll reducer 330-3 drives the load installation platform 400 to move through the pitch connection shaft, it is more stable.

[0074] Preferably, in this embodiment, Figure 4 As shown, guide rails are arranged in a transverse alignment inside the left and right ends of the housing 110, and a device mounting plate 180 is slidably connected to the guide rails, and the controller 140 and the inclinometer 160 are mounted on the device mounting plate 180. The base is provided with guide rails, and the device mounting plate 180 can be easily pulled out, which is independent and flexible and convenient for maintenance.

[0075] Preferably, in this embodiment, Figures 1 to 4 As shown, the two ends of the bottom outer wall of the housing 110 extend outward horizontally to form a mounting plate 110-1, and the top of the mounting plate 110-1 is provided with a second mounting hole 110-1a that runs through the bottom end of the mounting plate 110-1. When in use, the second mounting hole 110-1a on the mounting plate 110-1 can be inserted with a bolt to be fixed, further improving the stability of the overall device.

[0076] Preferably, in this embodiment, the outer surfaces of the shell 110, the roll bracket 210, the roll shaft sleeve 220, the pitch bracket 310 and the pitch shaft sleeve 320 are sprayed with an anti-corrosion coating to prevent salt spray corrosion, and are suitable for use in harsh environments.

[0077] Preferably, in this embodiment, the pan encoder 230-1 and the pitch encoder 330-1 are both absolute rotary encoders. The absolute rotary encoder is an angle sensor, and the angle information is transmitted to the servo control board through the SSI synchronous serial port. The installation method is simple and diverse, and the data encoding type is Gray code. At the same time, the control board communicates with the motor drive unit 150CAN respectively, which improves the stability and anti-interference ability of the entire system.

[0078] Combination Figures 1 to 8 The intelligent real-time leveling device of this embodiment has the following specific use principle: the base 100 is fixed on the ship, and the load device is fixed on the top of the load installation platform 400, and the collected inclination angles are transmitted to the controller 140 through the roll encoder 230-1 and the pitch encoder 330-1 respectively. The controller 140 controls the roll servo motor 230-2 and the pitch servo motor 330-2 to operate by driving the roll motor drive unit and the pitch motor drive unit respectively, so that the roll axis where the entire roll component 230 is located and the pitch axis where the entire pitch component 330 is located reach the specified position, thereby driving the pitch bracket 310 to move, and finally realizing the leveling of the load installation platform 400.

[0079] The intelligent real-time leveling device of the present invention comprises two working modes: an automatic leveling mode and a positioning mode.

[0080] Specific operation process and principle: First, install the leveling device on the ship, set the axis where the whole roll assembly 230 is located as the roll axis X, the axis where the whole pitch assembly 330 is located as the pitch axis Y, the ship roll is parallel to the roll axis X, and the ship pitch is parallel to the pitch axis Y, then perform production settings, start the device, and plug the power supply into the power socket 120. Among them, the inclinometer 160 collects angle and speed data, the angle data is the current roll angle and pitch angle of the hull, and the speed data is the current roll speed and pitch speed of the hull. The data of the roll axis encoder 230-1 is the current angle of the horizontal axis of the load installation platform 400, and the data of the vertical axis encoder number 330-1 is the current angle of the vertical axis of the load installation platform 400. Among them, the adjustable angle of the roll axis is -30°~+30°, the adjustable angle of the pitch axis is -10°~+10°, and the swing period is 1S-10S.

[0081] In the automatic leveling mode, taking the roll axis X as an example, when the host computer issues a "leveling" command, the controller 140 uses the negative value of the roll angle of the inclinometer 160 as the target angle of the horizontal axis of the load installation platform 400, and the controller 140 drives the roll servo motor 230-2 to move the load installation platform 400 to the target angle by controlling the roll motor drive unit of the roll axis X, thereby ensuring the level of the load installation platform 400. The roll encoder 230-1, as the current angle detection element of the load installation platform 400, forms a position loop closed-loop control with the target angle data of the inclinometer 160. The connection form of the pitch axis Y is implemented in the same way as the structure of the roll axis X. The controller 140 receives data collected by the inclinometer 160, the roll encoder 230-1 and the pitch encoder 330-1 in real time, takes the negative value of the inclinometer 160 data as the target angle, takes the data of the roll encoder 230-1 and the pitch encoder 330-1 as the current angle, performs position loop control according to the target angle and the current angle, and then sends the rate signal to the motor drive unit 150. The motor drive unit 150 runs the speed loop and current loop control algorithms to drive the motor drive unit 150 to drive the roll servo motor 230-2 and the pitch servo motor 330-2 to operate, thereby driving the roll axis where the roll assembly 230 is located and the pitch axis where the entire pitch assembly 330 is located to reach the specified position, thereby realizing real-time leveling of the load installation platform.

[0082] In the positioning mode, the target angle is sent by the host computer, and the host computer software is remotely controlled by accessing the communication socket 130, and the leveling status is displayed in real time through the status monitoring function. The controller 140 uses the data on the pan encoder 230-1, the pitch encoder 333-1 and the inclinometer 160 to control the motor drive unit 150 through the internal composite PI algorithm, thereby controlling the pan servo motor 230-2 and the pitch servo motor 330-2 to drive the pan axis where the pan assembly 230 is located and the pitch axis where the overall pitch assembly 330 is located to reach the specified position, thereby realizing the leveling of the load installation platform.

[0083] A control method for an intelligent real-time leveling device comprises the following steps:

[0084] 1) Command reception: The controller 140 receives commands from the host computer through the RS422 serial port or the network port;

[0085] 2) Data acquisition: The ship rolling angle and speed data collected by the roll encoder 230-1, the pitch encoder 330-1 and the inclinometer 160 are transmitted to the FPGA chip in the controller 140 at high speed;

[0086] 3) Algorithm implementation: After the FPGA chip and the DSP chip exchange information, the controller 140 performs algorithm control on the roll servo motor 230 - 2 and the pitch servo motor 330 - 2 according to the received target angle, current angle and speed;

[0087] The algorithm control is specifically a compound PI algorithm control, which includes the following steps:

[0088] 1) If Fig. 9 As shown, according to the working principle of the leveling device, the principle block diagram of the servo system is determined;

[0089] 2) Composite control design;

[0090] The composite PI algorithm control is a composite control strategy based on the combination of feedforward compensation and PI. There is always a position tracking error in the leveling device system, and the purpose of feedforward control is to predict the future behavior of the system and transmit the expected error to the control system in advance to minimize the tracking error. Using this feedforward control idea, feedforward compensation is designed for traditional PI control to improve the tracking performance of the system.

[0091] A PI controller consists of proportional, integral and differential controllers, describing how the error signal is amplified to produce a suitable motor response to reduce the deviation. Its structure is as follows: Fig.10 shown.

[0092] 2-1) Calculate the feedforward output signal for,

[0093] (1)

[0094] In the formula, is the target angle signal, is the transfer function;

[0095] 2-2) Calculate the total control output of the feedforward compensation controller for,

[0096] (2)

[0097] In the formula, is the PI control output, is the feedforward control output;

[0098] 2-3) Set the controller to output Written in discrete form ,

[0099] (3)

[0100] In the formula, is the PI controller output, Feedback control output;

[0101] 2-4) Set the target angle With current angle Compare the difference between the target angle and the current angle , difference Perform PI operation to get the PI controller output , plus the current ship rolling speed measured by the inclinometer As the input signal of the servo motor drive unit, the motor drive unit 150 completes the speed loop and current loop control of the servo control and then drives the pan servo motor 230-2 and the tilt servo motor 330-2 to move. For the position loop, using the feedforward concept, feedforward compensation is designed for traditional PI control.

[0102] 4) Motor drive: The controller 140 controls the pan motor drive unit and the tilt motor drive unit respectively, thereby controlling the pan servo motor 230 - 2 and the tilt servo motor 330 - 2. The controller 140 completes the position loop closed-loop control of the pan servo motor 230 - 2 and the tilt servo motor 330 - 2, and the motor drive unit 150 completes the speed loop and the current loop closed-loop control to achieve the leveling of the load installation platform 400.

[0103] 5) Fully automatic monitoring: The upper computer software is remotely controlled by accessing the communication socket 130, and the leveling status is displayed in real time through the status monitoring function.

[0104] Accuracy measurement method: Place the leveling device on a rocking platform and make sinusoidal motion with the rocking platform. Define the difference between the current angle and the target angle as the error value, collect the error value in real time through the analyzer, and draw the error curve. Take the roll axis as an example, Fig.11 As described above, the curve with a larger up and down fluctuation frequency is the system control accuracy of the traditional PI algorithm, and the curve with a smaller up and down fluctuation frequency is the system control accuracy under the composite algorithm with the feedforward algorithm added. It can be seen that under the composite algorithm with the introduction of feedforward control, the system accuracy is significantly better than the traditional PI control algorithm, which reduces the average tracking error, improves the dynamic performance of the system, and improves the control accuracy of the system.

[0105] During the operation of the roll axis where the integral roll assembly 230 of the leveling device of the present invention is located and the pitch axis where the integral pitch assembly 330 is located, whenever the roll servo motor 230-2 and the pitch servo motor 330-2 are started, stopped, or external interference occurs, the error accumulation of the system PI operation will increase, thereby causing the system to oscillate. The absolute value of the dynamic error of the traditional PI control is greater than 0.03°. At this time, the feedforward control is introduced, and the absolute value of the positioning deviation of the feedforward PI controller is less than 0.03°, which reduces the average tracking error, indicating that the feedforward PI can overcome the disturbance influence inside the system to a certain extent, thereby improving the dynamic accuracy of the system. In this way, the traditional PI controller only needs to correct the residual error to improve the dynamic performance of the system.

[0106] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent real-time leveling device and a control method thereof, characterized in that: include: A base (100) comprises a housing (110), a power socket (120) and a communication socket (130) respectively arranged on the outer end surface of the housing (110), and a controller (140), a motor drive unit (150), an inclinometer (160) and a voltage-stabilized power supply (170) arranged inside the housing (110), wherein the controller (140), the motor drive unit (150) and the power socket (120) are respectively electrically connected to the voltage-stabilized power supply (170); A pan mechanism (200) comprises a pan bracket (210) mounted on the top of a housing (110) and integrally cast with the housing (110), a pan shaft sleeve (220) located outside the pan bracket (210) and penetrating the pan bracket (210), and a pan assembly (230) located inside the pan shaft sleeve (220), wherein the pan assembly (230) comprises a pan encoder (230-1), a pan servo motor (230-2), and a pan reducer (230-3) connected in sequence from outside to inside, wherein the pan servo motor (230-2) is a double-axle extension motor, wherein one output shaft is connected to the pan encoder (230-1), and the other output shaft is connected to an input end of the pan reducer (230-3), and a pan output shaft (230-3a) of the pan reducer (230-3) extends inwardly into an inner cavity of the pan bracket (210); The pitch mechanism (300) comprises a pitch bracket (310) installed above a housing (110), a pitch shaft sleeve (320) located outside the pitch bracket (310) and penetrating the pitch bracket (310), and a pitch assembly (330) located inside the pitch shaft sleeve (320), wherein the pitch bracket (310) comprises a first connection portion (310-1) arranged parallel to the roll bracket (210) and a second connection portion (310-2) arranged perpendicular to one end of the first connection portion (310-1), wherein the pitch bracket (310) comprises a first connection portion (310-1) arranged parallel to the roll bracket (210) and a second connection portion (310-2) arranged perpendicular to one end of the first connection portion (310-1), and wherein the pitch bracket (310) comprises a first connection portion (310-1) arranged parallel to the roll bracket (210) and a second connection portion (310-2) arranged perpendicular to one end of the first connection portion (310-1). The pan assembly (330) comprises a pitch encoder (330-1), a pitch servo motor (330-2) and a pitch reducer (330-3) which are connected in sequence from the outside to the inside, the pitch servo motor (330-2) being a double-axle extension motor, one output shaft of which is fixedly connected to the pitch encoder (330-1), and the other output shaft of which is fixedly connected to the input end of the pitch reducer (330-3), and the pitch output shaft of the pitch reducer (330-3) extends inwardly into the inner cavity of the second connecting portion (310-2); The roll mechanism (200) further comprises a roll connection shaft (240) mounted on an outer wall of one end of the first connection portion (310-1) close to the roll bracket (210), the other end of the roll connection shaft (240) passing through the outer wall of the roll bracket (210) and connected to a roll output shaft (230-3a) of the roll reducer (230-3); A load mounting platform (400) is located above the housing (110) and on the inner outer wall of the second connecting portion (310-2), and a first mounting hole (410) is provided at the top of the load mounting platform (400). The load mounting platform (400) and the second connecting portion (310-2) as well as the first connecting portion (310-1) and the roll bracket (210) are all connected via flanges. The pitch mechanism (300) further comprises a pitch connection shaft mounted on an outer wall of one end of the load mounting platform (400) close to the second connection part (310-2), the other end of the pitch connection shaft passing through the outer wall of the second connection part (310-2) and connected to the pitch output shaft of the pitch reducer (330-3); The pan encoder (230-1), the pitch encoder (330-1), the inclinometer (160) and the communication socket (130) are respectively connected to the input end of the controller (140) via wires, and the pan servo motor (230-2) and the pitch servo motor (330-2) are respectively connected to the output end of the controller (140) via wires; The control method comprises the following steps: 1) Command reception: The controller (140) receives commands from the host computer via the RS422 serial port or the network port; 2) Data collection: The ship's rolling angle and speed data collected by the roll encoder (230-1), the pitch encoder (330-1) and the inclinometer (160) are transmitted to the controller (140); 3) Algorithm implementation: the controller (140) performs algorithmic control on the roll servo motor (230-2) and the pitch servo motor (330-2) according to the received target angle, current angle and speed; 4) Motor drive: The controller (140) controls the pan motor drive unit and the pitch motor drive unit respectively, thereby controlling the pan servo motor (230-2) and the pitch servo motor (330-2). The controller (140) completes position loop closed-loop control of the pan servo motor (230-2) and the pitch servo motor (330-2), and the motor drive unit (150) completes speed loop and current loop closed-loop control to achieve leveling of the load mounting platform (400); 5) Fully automatic monitoring: The upper computer software is remotely controlled by accessing the communication socket (130) and displays the leveling status in real time through the status monitoring function; The algorithm control in step 3) is a composite PI algorithm control, which includes the following steps: 1) Determine the principle block diagram of the servo system according to the working principle of the leveling device; 2) Composite control design; The composite PI algorithm control is a composite control strategy based on the combination of feedforward compensation and PI. 2-1) Calculate the feedforward output signal for, （1） In the formula, is the target angle signal, is the transfer function; 2-2) Calculate the total control output of the feedforward compensation controller for, （2） In the formula, is the PI control output, is the feedforward control output; 2-3) Set the controller to output Written in discrete form , （3） In the formula, is the PI controller output, Feedback control output; 2-4) Set the target angle With current angle Compare the difference between the target angle and the current angle , difference Perform PI operation to get the PI controller output , plus the current ship rolling speed measured by the inclinometer As an input signal of the motor drive unit (150), the motor drive unit (150) completes the speed loop and current loop control of the servo control and then drives the pan servo motor (230-2) and the tilt servo motor (330-2) to operate.

2. The intelligent real-time leveling device according to claim 1, characterized in that: It also includes a mechanical limiting mechanism (500), wherein the mechanical limiting mechanism (500) includes: A roll limit assembly (510) is located between the roll bracket (210) and the pitch bracket (310), comprising a first limit rod (510-1) mounted on the outer wall of the first connecting portion (310-1) and two first limit blocks (510-2) symmetrically arranged on the outer wall of the roll bracket (210); When the pan assembly (230) drives the pitch bracket (310) to move, the first limit rod (510-1) swings between the two first limit blocks (510-2); A pitch limit assembly (520) is located between the pitch support (310) and the load mounting platform (400), comprising a second limit rod (520-1) mounted on the outer side wall of the load mounting platform (400) and two second limit blocks (520-2) symmetrically arranged on the outer side wall of the second connecting portion (310-2); When the pitch assembly (330) drives the load installation platform (400) to move, the second limit rod (520-1) is caused to swing between the two second limit blocks (520-2).

3. The intelligent real-time leveling device according to claim 1, characterized in that: The controller (140) comprises an interactive FPGA chip and a DSP chip; the pan encoder (230-1), the pitch encoder (330-1) and the inclinometer (160) are all connected to the input end of the FPGA chip via a serial port chip; and the pan servo motor (230-2) and the pitch servo motor (330-2) are respectively connected to the output end of the DSP chip via a pan motor drive unit and a pitch motor drive unit.

4. The intelligent real-time leveling device according to claim 1, characterized in that: A first bearing assembly is connected between the first connection portion (310-1) and the roll bracket (210), the first bearing assembly comprising a first bearing inner ring (610) connected to the shaft shoulder of the roll connection shaft (240), a first bearing outer ring connected to the outer wall of the roll bracket (210) via a first bearing bushing (620), a first bearing inner ring pressure plate (630) positioned on the roll output shaft (230-3a) of the roll reducer (230-3) via the shaft shoulder of the roll connection shaft (240), and a first bearing outer ring pressure plate (640) connected to the outer wall of the roll bracket (210); A second bearing assembly is connected between the second connection part (310-2) and the load mounting platform (400), the second bearing assembly comprising a second bearing inner ring connected to the shoulder of the pitch connection shaft, a second bearing outer ring connected to the outer wall of the second connection part (310-2) via a second bearing bushing, a second bearing inner ring pressure plate positioned on the pitch output shaft of the pitch reducer (330-3) via the shoulder of the pitch connection shaft, and a second bearing outer ring pressure plate connected to the outer wall of the second connection part (310-2).

5. The intelligent real-time leveling device according to claim 1, characterized in that: Guide rails are arranged in a transversely aligned manner inside both left and right ends of the housing (110), a device mounting plate (180) is slidably connected to the guide rails, and the controller (140) and the inclinometer (160) are mounted on the device mounting plate (180).

6. The intelligent real-time leveling device according to claim 1, characterized in that: Both ends of the bottom outer wall of the shell (110) extend outward horizontally to form a mounting plate (110-1), and a second mounting hole (110-1a) penetrating to the bottom end of the mounting plate (110-1) is provided at the top end of the mounting plate (110-1).

7. The intelligent real-time leveling device according to claim 1, characterized in that: The outer surfaces of the housing (110), the roll bracket (210), the roll shaft sleeve (220), the pitch bracket (310) and the pitch shaft sleeve (320) are all sprayed with an anti-corrosion coating.

8. The intelligent real-time leveling device according to claim 1, characterized in that: The pan encoder (230-1) and the tilt encoder (330-1) are both absolute rotary encoders.

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