A platform leveling control method and platform system

Abstract

The present application belongs to the technical field of platform leveling control, and particularly relates to a platform leveling control method and a platform system, the platform system comprising a platform, a launching rack, the launching rack comprising a launching rack plane parallel to the platform plane, the platform plane being supported by a plurality of telescopic leveling legs, and further comprising a leveling controller connected to the leveling legs; the platform plane and the launching rack plane are respectively provided with a platform detection device and a launching rack detection device for detecting the inclination of the planes, and the leveling controller executes instructions to realize platform leveling: first, the leveling legs are adjusted until the inclination of the platform plane detected by the platform detection device does not exceed a first set threshold; second, the leveling legs are adjusted until the inclination of the launching rack plane detected by the launching rack detection device does not exceed a second set threshold. The control method combines coarse leveling and fine leveling according to the horizontal inclination, avoids the influence of the uneven platform on the launching rack, and improves the leveling precision.

Description

Technical Field

[0001] This invention belongs to the field of platform leveling control technology, specifically relating to a platform leveling control method and platform system. Background Technology

[0002] The existing launch platform mainly consists of a vehicle platform subsystem, a launcher subsystem, and a positioning and orientation subsystem. It is used to complete field mobile launch missions in environments such as sandy soil, hard soil or cement ground, and launch geology. The general launch platform needs to be compatible with launching different types of launch devices. However, the launch accuracy requirements of various launch devices are different. In order to take into account the launch of various types of launch devices and improve the initial accuracy of launch devices, the launch platform has high requirements for levelness, so as to provide a level reference for the pre-launch calibration and launch of launch devices.

[0003] Traditional designs often employ four-point or six-point support automatic leveling methods. The controlled object is the vehicle platform. After the launch vehicle enters the launch site, the detection device on the platform inputs the measured horizontal angle parameters into the controller. The controller then outputs a control variable based on the control law, controlling the leveling actuator to extend and retract, thus achieving automatic leveling. However, this leveling method treats the vehicle platform and launch pad as rigid bodies, failing to consider the impact of platform unevenness on the launch pad. Simply leveling the launch platform based on its levelness makes it difficult to achieve higher leveling accuracy. Summary of the Invention

[0004] The purpose of this invention is to provide a platform leveling control method and platform system to solve the problem of low accuracy in existing platform leveling systems.

[0005] To solve the above-mentioned technical problems, the present invention provides a technical solution for a platform system. The platform system includes a platform and a launcher mounted on a platform plane. The launcher includes at least one launcher plane parallel to the platform plane. The platform plane is supported by a plurality of retractable leveling legs. The system also includes a leveling controller connected to the leveling legs. The platform plane is further provided with a platform detection device for detecting the tilt of the platform plane, and at least one launcher plane is provided with a launcher detection device for detecting the tilt of the launcher plane. The leveling controller executes instructions to implement the following platform leveling method steps:

[0006] 1) Adjust the platform plane tilt detected by the platform detection device by adjusting the leveling legs until it does not exceed the first set threshold.

[0007] 2) If the launcher plane tilt detected by the launcher detection device exceeds the second set threshold, continue to adjust by leveling legs until the launcher plane tilt detected by the launcher detection device does not exceed the second set threshold.

[0008] Its beneficial effects are as follows: By setting detection devices on the platform and launcher to detect the tilt of the platform and launcher, and first performing a coarse leveling process based on the data from the platform detection device to meet the platform leveling requirements, a fine leveling process is then performed based on the data from the launcher detection device to further level the platform plane. Existing leveling technologies only consider the horizontal sensors of the platform plane itself. However, platform unevenness can cause the launcher, which is mounted on the platform at a certain height, to tilt. The deformation caused by the launcher tilt further amplifies the tilt degree of the plane parallel to the platform on the launcher. This allows minute tilts that were previously undetectable due to sensor accuracy to be detected under the magnification of the high tower. Based on this detected launcher tilt degree, the platform plane is then leveled, improving the leveling accuracy of the platform plane. Therefore, this invention, based on the launcher mounted on the platform, and through the launcher detection device mounted on the launcher plane, and the aforementioned leveling process, further improves the leveling accuracy of the platform plane.

[0009] Furthermore, the platform detection device is a dual-axis tilt sensor used to detect the levelness of the platform plane in two mutually perpendicular directions. It includes an X-axis detection component indicating the levelness in the lateral direction and a Y-axis detection component indicating the levelness in the longitudinal direction. By detecting the levelness along the two mutually perpendicular X-axis and Y-axis of the platform plane, the tilt degree of the platform plane is accurately reflected, providing a complete basis for platform leveling.

[0010] Furthermore, there are four leveling outriggers.

[0011] Further, the leveling support leg adjustment method in step 1) is as follows: based on the platform plane tilt detected by the platform detection device, the leveling support leg corresponding to the highest point of the platform plane is controlled to remain stationary; the two leveling support legs on the other side of the horizontal axis corresponding to the highest point of the platform plane are simultaneously extended until the horizontal level of the X-axis does not exceed a first set threshold; and the two leveling support legs on the other side of the vertical axis corresponding to the highest point of the platform plane are simultaneously extended until the horizontal level of the Y-axis does not exceed a first set threshold. This "gradual height method" for leveling the horizontal level of the X-axis and Y-axis is simple, fast, and highly efficient.

[0012] Furthermore, the launcher detection device is a dual-axis tilt sensor used to detect the levelness of the launcher plane in two mutually perpendicular directions, including an X-axis detection component indicating the levelness in the lateral horizontal direction and a Y-axis detection component indicating the levelness in the longitudinal horizontal direction.

[0013] Furthermore, the launcher detection device comprises two single-axis tilt sensors, used to detect the levelness of the launcher plane in two mutually perpendicular directions. These include an X-axis detection component indicating levelness in the lateral direction and a Y-axis detection component indicating levelness in the longitudinal direction. By detecting the levelness along the two mutually perpendicular X-axis and Y-axis of the launcher plane, the tilt degree of the launcher plane is accurately reflected, providing a complete basis for further leveling of the platform plane.

[0014] Further, the leveling support leg adjustment method in step 2) is as follows: based on the launcher plane tilt detected by the launcher detection device, the leveling support leg at the highest point of the platform plane corresponding to the highest point of the launcher plane is controlled to remain stationary; the two leveling support legs on the other side of the horizontal plane corresponding to the highest point of the platform plane are simultaneously extended until the horizontal level of the X-axis does not exceed a second set threshold; and the two leveling support legs on the other side of the vertical plane corresponding to the highest point of the platform plane are simultaneously extended until the horizontal level of the Y-axis does not exceed a second set threshold. The process of leveling the platform plane using the "gradual height method" by adjusting the horizontal level of the X-axis and Y-axis based on the launcher tilt detected by the launcher detection device is simple, fast, and highly efficient.

[0015] Furthermore, the X-axis detection component is positioned on the launcher plane where the lateral deformation is most severe, and the Y-axis detection component is positioned on the launcher plane where the longitudinal deformation is most severe. Based on simulation results, placing the two single-axis tilt sensors at the locations of the most severe lateral and longitudinal deformations of the launcher, respectively, results in more accurate tilt data, leading to a higher levelness of the platform after leveling and further improvement in leveling accuracy.

[0016] Furthermore, the platform is mounted on the vehicle chassis. In step 2), before adjusting the leveling outriggers, the adjustment amount of the platform plane is determined. If the adjustment amount is greater than the overturning angle of the vehicle body, the adjustment of the leveling outriggers is stopped, and a warning is issued. By monitoring the leveling angle before leveling, the impact of the leveling process on the stability of the vehicle body is avoided, thus improving the reliability of leveling.

[0017] To solve the above-mentioned technical problems, the present invention also provides a technical solution for a platform leveling control method, which includes the steps of a platform leveling control method in a platform system corresponding to any one of the above claims 1 to 9. Attached Figure Description

[0018] Figure 1 This is a structural block diagram of the platform leveling control system of the present invention;

[0019] Figure 2 This is a schematic diagram of the platform structure of the platform leveling control system of the present invention;

[0020] Figure 3 This is a schematic diagram of the launcher structure of the platform leveling control system of the present invention;

[0021] Figure 4 The control flowchart of the platform leveling control system of the present invention is shown.

[0022] Among them, 1. Longitudinal indicator arrow; 2. Lateral indicator arrow; 3. Dual-axis tilt sensor; 4. Longitudinal single-axis tilt sensor; 5. Lateral single-axis tilt sensor; 6. First leveling support leg; 7. Second leveling support leg; 8. Third leveling support leg; 9. Fourth leveling support leg. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0024] An embodiment of the platform system of the present invention:

[0025] The platform system includes a platform, a launcher, detection devices respectively mounted on the platform plane and a launcher plane parallel to the platform plane, and a leveling controller. The system first performs coarse leveling of the platform plane by adjusting it using several retractable leveling legs until the tilt of the platform plane detected by the platform detection devices does not exceed a first set threshold. Then, it performs fine leveling of the platform plane by adjusting the platform plane again using the leveling legs if the tilt of the launcher plane detected by the launcher detection devices exceeds a second set threshold until the tilt of the launcher plane detected by the launcher detection devices does not exceed the second set threshold. This improves the leveling accuracy of the platform plane.

[0026] Specifically, such as Figure 1As shown, the platform system includes a leveling controller, a platform, and a launcher frame. The leveling controller is a PLC. The platform includes four hydraulic outriggers. The extension and retraction of these four outriggers are controlled by valves on a hydraulic pump station, which regulate the movement of the hydraulic cylinders. The cylinders then push the four outriggers to extend and retract. A dual-axis tilt sensor is also installed on the platform plane to detect the platform's tilt. A longitudinal single-axis tilt sensor and a transverse single-axis tilt sensor are installed on the launcher plane, parallel to the platform plane, to detect the launcher's tilt angle. Alternatively, a dual-axis tilt sensor can be installed on the launcher frame. The leveling process, controlled by the platform, launcher frame, and leveling controller, involves the leveling controller adjusting the valve flow according to the tilt sensor data and a pre-set leveling control program. This adjusts the hydraulic cylinder movement speed, causing the cylinders to push the four leveling outriggers to extend horizontally and vertically, thus controlling the extension and retraction of the four outriggers and achieving the platform leveling process. To avoid affecting the stability of the vehicle during the leveling process, the controller first determines whether the adjustment will cause the vehicle to tip over before controlling the extension and retraction of the outriggers. If there is a risk of tipping over, a warning is issued. Figure 1 The method shown involves sending safety warning information to the platform information detection equipment, which avoids the risk of vehicle overturning during the leveling process and improves the reliability of leveling. Alternatively, the above judgment process can be omitted in other implementations.

[0027] like Figure 2 As shown, four leveling legs are installed, two at the front and two at the rear of the platform chassis. A dual-axis tilt sensor 3 is installed on the platform to detect the levelness of the platform plane in two mutually perpendicular directions, specifically the tilt angle between the longitudinal Y-axis (indicated by the longitudinal indicator arrow 1) and the lateral X-axis (indicated by the lateral indicator arrow 2). Figure 3As shown, the launcher is equipped with two single-axis tilt sensors. These tilt sensors are designed to account for the impact of launcher deformation on leveling accuracy (i.e., the deformation caused by the launcher tilt further amplifies the degree of tilt of the launcher relative to the plane parallel to the platform, making minute tilts that were previously undetectable due to limitations in sensor accuracy detectable under the magnification of the high tower). Therefore, the lateral single-axis tilt sensor 5 is placed at the position with the most severe lateral deformation, and the longitudinal single-axis tilt sensor 4 is placed at the position with the most severe longitudinal deformation. This results in more accurate launcher tilt data, leading to more accurate leveling results and improved leveling accuracy. The position with the most severe deformation is determined through multiple experimental data and simulation calculations. To ensure the accuracy of the leveling data, the selected tilt sensors achieve a leveling error of no more than 3′, meeting the accuracy measurement requirements. Alternatively, the degree of deformation of the launcher can be disregarded, and the lateral single-axis tilt sensor and the longitudinal single-axis tilt sensor can be placed on the plane of the launcher. Or, a dual-axis tilt sensor can be directly placed on the launcher to detect the lateral and longitudinal tilt angles of the launcher.

[0028] like Figure 4 The diagram shown is a flowchart of the leveling control process. The specific leveling process is as follows:

[0029] 1) The platform system is powered on and started. After receiving the leveling command, the PLC begins to execute the leveling process.

[0030] 2) By controlling the valve switches on the hydraulic pump station, the movement of the oil cylinder is adjusted, and the oil cylinder pushes the four outriggers of the vehicle platform to extend to a certain height and then touch the ground;

[0031] 3) Based on the X-axis and Y-axis horizontality (i.e., lateral horizontal tilt angle α1 and longitudinal horizontal tilt angle β1) output by the dual-axis tilt sensors set on the platform plane, determine whether to perform a coarse leveling process. When the absolute values ​​of α1 and β1 do not exceed the first set threshold (e.g., 5′), proceed to step 4); when the absolute value of α1 or β1 is greater than the first set threshold, perform coarse leveling. The coarse leveling uses a "progressive height method" control algorithm to level, keeping the position of one support leg, and gradually reducing the tilt angle by extending or retracting the other three support legs. For example, if the first leveling support leg 6 is at the highest point, keep the first leveling support leg 6 stationary, and control the extension of the second leveling support leg 7 and the fourth leveling support leg 9 to reduce the lateral horizontal tilt angle, i.e., reduce the absolute value of α1. When the lateral horizontal tilt angle is 0°, stop extending the second leveling support leg 7 and the fourth leveling support leg 9; then control the extension of the third leveling support leg 8 and the fourth leveling support leg 9 to reduce the longitudinal horizontal tilt angle, i.e., reduce the absolute value of β1. When the longitudinal horizontal tilt angle is 0°, stop extending the third leveling support leg 8 and the fourth leveling support leg 9, so that the absolute values ​​of α1 and β1 both satisfy ≤5′.

[0032] 4) After coarse leveling, if the platform meets the leveling requirements, determine whether to proceed with fine leveling based on the lateral tilt angle α2 output by the lateral tilt sensor and the longitudinal tilt angle β2 output by the longitudinal tilt sensor on the launcher plane. When the absolute values ​​of α2 and β2 do not exceed the second set threshold (e.g., 10′), the current leveling process ends. When the absolute value of α2 or β2 is greater than the second set threshold, fine leveling is performed. Fine leveling uses a "gradual height method" control algorithm, maintaining the position of one support leg and gradually reducing the launcher tilt angle by adjusting the extension or retraction of the other three support legs. For example, if the highest point of the platform plane corresponding to the highest point of the launcher plane is the first leveling support leg 6, then the first leveling support leg 6 is kept stationary, and the control... Extend the second leveling leg 7 and the fourth leveling leg 9 to reduce the lateral horizontal tilt angle of the launcher, i.e., reduce the absolute value of α2. When the lateral horizontal tilt angle is 0°, stop extending the second leveling leg 7 and the fourth leveling leg 9. Then control the extension of the third leveling leg 8 and the fourth leveling leg 9 to reduce the longitudinal horizontal tilt angle of the launcher, i.e., reduce the absolute value of β2. When the longitudinal horizontal tilt angle is 0°, stop extending the third leveling leg 8 and the fourth leveling leg 9, so that the absolute values ​​of α2 and β2 both satisfy ≤10′.

[0033] 5) After fine leveling is completed, continue with the fine leveling control process as in step 4). Leveling stops upon receiving a withdrawal command. Leveling is a repetitive and dynamic process. After automatic leveling, before receiving a withdrawal command, the system continuously monitors the longitudinal and lateral horizontal tilt angles of the launch pad using the longitudinal and lateral single-axis tilt sensors. If the platform experiences a sudden angular deviation due to external force and fails to meet the horizontal tilt requirement, the system will control the leveling outriggers to adjust the angle according to the fine leveling process (step 4). If a withdrawal command is received, the leveling process stops.

[0034] To avoid affecting vehicle stability during the leveling process and improve the reliability of leveling, this embodiment performs a judgment before fine leveling. The specific judgment process is as follows: when the absolute value of α2 or β2 is greater than 10′, the adjustment amount of the launcher's horizontal tilt angle is calculated; when α2 > 0, Δ X2 =α2-10; when α2<0, Δ X2 =α2+10; when β2>0, Δ Y2 =β2-10; when β2<0, Δ Y2 =β2+10; Based on the adjustment amount of the launcher's horizontal tilt angle, calculate the fine-tuning control amount of the platform plane, Δ X1 =α1-Δ X2 Δ Y1 =β1-Δ Y2; Determine whether the fine leveling control amount exceeds the vehicle's overturning angle. If it does not exceed the vehicle's overturning angle, then proceed with the fine leveling process in step 4) above. If the adjustment amount is greater than the angle that is likely to cause the vehicle to overturn, do not perform leveling, and the software will send a prompt to the platform information monitoring equipment to change the vehicle's parking position.

[0035] Through the aforementioned coarse and fine leveling processes, tilt sensors are rationally positioned on the platform plane and launcher plane. Data from three sets of tilt sensors (dual-axis tilt sensor, single-axis lateral tilt sensor, and single-axis longitudinal tilt sensor) are used as input. Based on the horizontal tilt error, a control method combining coarse and fine leveling is adopted. This effectively solves the problem of not considering the impact of platform unevenness on the launcher, improves leveling accuracy, and monitors the horizontal angle adjustment amount to avoid affecting the stability of the vehicle body during the leveling process, thus improving the reliability of leveling.

[0036] An embodiment of a platform leveling control method:

[0037] The platform leveling control method of the present invention has been described sufficiently in the leveling process section of the platform system embodiment, and will not be repeated here.

[0038] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present invention shall also be included within the scope of protection of the present invention.

Claims

1. A platform system comprising a platform and a launcher disposed on a plane of the platform, the launcher including at least one launcher plane parallel to the plane of the platform, characterized in that, The platform plane is supported by four retractable leveling legs and includes a leveling controller that controls the connection of the leveling legs. The platform plane is also equipped with a dual-axis tilt sensor for detecting the levelness of the platform plane in two mutually perpendicular directions, including an X-axis detection component indicating the levelness in the lateral horizontal direction and a Y-axis detection component indicating the levelness in the longitudinal horizontal direction. At least one launcher plane is equipped with two single-axis tilt sensors for detecting the levelness of the launcher plane in two mutually perpendicular directions, including an X-axis detection component indicating the levelness in the lateral horizontal direction located on the launcher plane with the most severe lateral deformation, and a Y-axis detection component indicating the levelness in the longitudinal horizontal direction located on the launcher plane with the most severe longitudinal deformation. The leveling controller executes instructions to implement the following platform leveling method steps: 1) Based on the platform plane tilt detected by the dual-axis tilt sensor, control the leveling legs corresponding to the highest point of the platform plane to not extend or retract, control the two leveling legs on the other side of the horizontal plane corresponding to the highest point of the platform plane to extend simultaneously until the horizontal level of the X-axis does not exceed the first set threshold, and control the two leveling legs on the other side of the vertical plane corresponding to the highest point of the platform plane to extend simultaneously until the horizontal level of the Y-axis does not exceed the first set threshold. 2) If the tilt angle of the launcher plane detected by the two single-axis tilt sensors exceeds the second set threshold, the leveling legs of the platform plane at the highest point of the control launcher plane will not extend or retract, and the two leveling legs on the other side of the horizontal corresponding to the highest point of the control response platform plane will extend simultaneously until the horizontal level of the X-axis does not exceed the second set threshold, and the two leveling legs on the other side of the longitudinal corresponding to the highest point of the control response platform plane will extend simultaneously until the horizontal level of the Y-axis does not exceed the second set threshold.

2. The platform system according to claim 1, characterized in that, The first set threshold is 5 points.

3. The platform system according to claim 1, characterized in that, The second set threshold is 10 points.

4. The platform system according to claim 1, characterized in that, The platform is set on the vehicle chassis. In step 2), before adjusting the leveling outriggers, the adjustment amount of the platform plane is also determined. If the adjustment amount is greater than the overturning angle of the vehicle body, the adjustment of the leveling outriggers is stopped and a warning is issued.

5. A platform leveling control method, characterized in that, This invention relates to a platform system comprising a platform and a launcher mounted on a platform plane. The launcher includes at least one launcher plane parallel to the platform plane. The platform plane is supported by four retractable leveling legs and includes a leveling controller connected to the leveling legs. The platform plane is also equipped with a dual-axis tilt sensor for detecting the levelness of the platform plane in two mutually perpendicular directions, including an X-axis detection component indicating the levelness in the lateral horizontal direction and a Y-axis detection component indicating the levelness in the longitudinal horizontal direction. At least one launcher plane is equipped with two single-axis tilt sensors for detecting the levelness of the launcher plane in two mutually perpendicular directions, including an X-axis detection component located on the launcher plane with the most severe lateral deformation, indicating the levelness in the lateral horizontal direction, and a Y-axis detection component located on the launcher plane with the most severe longitudinal deformation, indicating the levelness in the longitudinal horizontal direction. The leveling controller executes instructions to implement the following platform leveling method steps: 1) Based on the platform plane tilt detected by the dual-axis tilt sensor, control the leveling legs corresponding to the highest point of the platform plane to not extend or retract, control the two leveling legs on the other side of the horizontal plane corresponding to the highest point of the platform plane to extend simultaneously until the horizontal level of the X-axis does not exceed the first set threshold, and control the two leveling legs on the other side of the vertical plane corresponding to the highest point of the platform plane to extend simultaneously until the horizontal level of the Y-axis does not exceed the first set threshold. 2) If the tilt angle of the launcher plane detected by the two single-axis tilt sensors exceeds the second set threshold, the leveling legs of the platform plane at the highest point of the control launcher plane will not extend or retract, and the two leveling legs on the other side of the horizontal corresponding to the highest point of the control response platform plane will extend simultaneously until the horizontal level of the X-axis does not exceed the second set threshold, and the two leveling legs on the other side of the longitudinal corresponding to the highest point of the control response platform plane will extend simultaneously until the horizontal level of the Y-axis does not exceed the second set threshold.

6. The platform leveling control method according to claim 5, characterized in that, The first set threshold is 5 points.

7. The platform leveling control method according to claim 5, characterized in that, The second set threshold is 10 points.

8. The platform leveling control method according to claim 5, characterized in that, The platform is set on the vehicle chassis. In step 2), before adjusting the leveling outriggers, the adjustment amount of the platform plane is also determined. If the adjustment amount is greater than the overturning angle of the vehicle body, the adjustment of the leveling outriggers is stopped and a warning is issued.

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