Attitude adjustment method and device of test platform, equipment and storage medium

Abstract

The invention relates to an attitude adjustment method and device of a test platform, equipment and a storage medium. The test platform is a hydraulic control platform, adjustment of the posture of the platform is completed by controlling stretching and retracting of the hydraulic columns, the hydraulic control mode is high in response speed, and posture adjustment of the platform can be completed within a short time; moreover, a hydraulic control mode can be used for processing a larger load and is suitable for larger and heavier test samples, so that the application range of the test platform is widened; moreover, when the attitude of the test platform is adjusted, the attitude of each hydraulic column can be fed back and adjusted in real time according to the pressure value and the hydraulic value of each hydraulic column, so that the attitude adjusting speed and the adjusting precision are improved, the stability among different hydraulic columns is ensured, and the unbalance of the test platform caused by local adjustment is avoided.

Description

Technical Field

[0001] The present application relates to the field of testing technology, and in particular to a posture adjustment method, device, equipment and storage medium for a testing platform. Background Art

[0002] In the electric drive test, some tests need to control the angle of the test piece to test it more effectively. At present, the test platform posture can be adjusted through the motor system, screw lifting system, pneumatic control system, etc. However, the motor system controls the pitch offset of the test piece by rotating the motor shaft. This method is not suitable for heavy test pieces, and has poor flexibility and cannot quickly complete the movement of the test piece; the screw lifting system has a slow movement speed and takes a long time to adjust the angle; the pneumatic control system uses changes in air pressure to control the movement of the platform, but the output force of the pneumatic system is small, and it is difficult to handle heavy test pieces.

[0003] Therefore, how to accurately and quickly adjust the posture of the test platform is a problem that those skilled in the art need to solve. Summary of the invention

[0004] The present application provides a test platform posture adjustment method, device, equipment and storage medium to accurately and quickly adjust the posture of the test platform.

[0005] In a first aspect, the present application provides a posture adjustment method for a test platform, wherein the test platform is a hydraulic control platform, and the posture adjustment method comprises:

[0006] Determining the posture adjustment requirements of the hydraulic control platform;

[0007] According to the posture adjustment requirement, determining a first hydraulic input value corresponding to the first hydraulic column and a target parameter value corresponding to each hydraulic column; wherein the target parameter value is a parameter value when the hydraulic column is adjusted to meet the posture adjustment requirement, and the target parameter value includes a target pressure value and / or a target hydraulic value;

[0008] adjusting the posture of the first hydraulic column using the first hydraulic input value;

[0009] During the posture adjustment process of the first hydraulic column, the second hydraulic column to be adjusted and the corresponding second hydraulic input value are determined according to the target parameter value and real-time parameter value of each hydraulic column, and the posture of the second hydraulic column is adjusted using the second hydraulic input value until the hydraulic control platform meets the posture adjustment requirements.

[0010] Optionally, determining a first hydraulic input value corresponding to a first hydraulic column according to the posture adjustment requirement includes:

[0011] Determining a transverse hydraulic column group and a longitudinal hydraulic column group in the hydraulic control platform;

[0012] Determine a first hydraulic column group for initial adjustment from the transverse hydraulic column group and the longitudinal hydraulic column group by using the posture adjustment requirement;

[0013] The posture adjustment requirement is used to determine a first hydraulic input value corresponding to each first hydraulic column in the first hydraulic column group.

[0014] Optionally, determining the second hydraulic column to be adjusted and the corresponding second hydraulic input value according to the target parameter value and the real-time parameter value of each hydraulic column includes:

[0015] Determining a posture adjustment mode of the hydraulic control platform; the posture adjustment mode includes an intra-group adjustment mode and an inter-group adjustment mode;

[0016] determining at least two target hydraulic columns according to the posture adjustment mode;

[0017] According to the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns, a second hydraulic column to be adjusted and a corresponding second hydraulic input value are determined.

[0018] Optionally, determining at least two target hydraulic columns according to the posture adjustment mode includes:

[0019] If the posture adjustment mode is an intra-group adjustment mode, determining a first hydraulic column group from the transverse hydraulic column group or the longitudinal hydraulic column group;

[0020] Any two hydraulic columns are selected from the first hydraulic column group as first target hydraulic columns.

[0021] Optionally, determining the second hydraulic column to be adjusted and the corresponding second hydraulic input value according to the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns includes:

[0022] determining a real-time parameter value of each first target hydraulic column;

[0023] selecting at least one second hydraulic column to be adjusted from the first target hydraulic columns;

[0024] According to the target parameter value and the real-time parameter value of each first target hydraulic column, a second hydraulic input value of the second hydraulic column is determined.

[0025] Optionally, determining at least two target hydraulic columns according to the posture adjustment mode includes:

[0026] If the posture adjustment mode is the inter-group adjustment mode, determining a second hydraulic column group and a third hydraulic column group from the transverse hydraulic column group or the longitudinal hydraulic column group;

[0027] At least one hydraulic column is selected from the second hydraulic column group as a second target hydraulic column, and at least one hydraulic column is selected from the third hydraulic column group as a third target hydraulic column; wherein the number of the second target hydraulic columns is the same as the number of the third target hydraulic columns.

[0028] Optionally, determining the second hydraulic column to be adjusted and the corresponding second hydraulic input value according to the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns includes:

[0029] determining a real-time parameter value of each second target hydraulic column and a real-time parameter value of each third target hydraulic column;

[0030] Selecting at least one second hydraulic column to be adjusted from the second target hydraulic column and the third target hydraulic column;

[0031] The second hydraulic input value of the second hydraulic column is determined according to the target parameter value and the real-time parameter value of each of the second target hydraulic column and the third target hydraulic column.

[0032] In a second aspect, the present application provides a posture adjustment device for a test platform, wherein the test platform is a hydraulic control platform, and the posture adjustment device comprises:

[0033] A first determination module, used to determine the posture adjustment requirement of the hydraulic control platform;

[0034] A second determination module is used to determine, according to the posture adjustment requirement, a first hydraulic input value corresponding to the first hydraulic column and a target parameter value corresponding to each hydraulic column; wherein the target parameter value is a parameter value when the hydraulic column is adjusted to meet the posture adjustment requirement, and the target parameter value includes a target pressure value and / or a target hydraulic value;

[0035] A first adjustment module, configured to adjust the posture of the first hydraulic column using the first hydraulic input value;

[0036] a third determination module, used to determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value according to the target parameter value and the real-time parameter value of each hydraulic column during the posture adjustment process of the first hydraulic column;

[0037] The second adjustment module is used to adjust the posture of the second hydraulic column by using the second hydraulic input value until the hydraulic control platform meets the posture adjustment requirement.

[0038] In a third aspect, the present application provides an electronic device, including:

[0039] A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the steps of the posture adjustment method of the above-mentioned test platform of the present application through the computer program.

[0040] In a fourth aspect, the present application further provides a computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions are used to execute the steps of the posture adjustment method of the above-mentioned test platform of the present application.

[0041] The above-mentioned technical scheme provided by the embodiment of the present application has the following advantages compared with the prior art: the test platform in the embodiment of the present application is a hydraulically controlled platform, and the adjustment of the platform posture is completed by controlling the extension and retraction of the hydraulic column. The hydraulic control method has a fast response speed and can complete the posture adjustment of the platform in a short time; and the hydraulic control method can handle larger loads, which is suitable for larger and heavier test specimens, and broadens the application scope of the test platform; and when adjusting the posture of the test platform, the present application can adjust the posture of each hydraulic column in real time according to the pressure value and hydraulic value of each hydraulic column, thereby improving the posture adjustment speed and adjustment accuracy, ensuring the stability between different hydraulic columns, and avoiding imbalance of the test platform due to local adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0045] Figure 1 A flow chart of a method for adjusting the posture of a test platform provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of a hydraulic column section provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of the system structure of a hydraulic control platform provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the structure of a single hydraulic column provided in an embodiment of the present application;

[0049] Figure 5 A schematic flow chart of another method for adjusting the posture of a test platform provided in an embodiment of the present application;

[0050] Figure 6a A schematic diagram of an overall system structure provided for an embodiment of the present application;

[0051] Figure 6b A schematic diagram of a longitudinal hydraulic column group posture adjustment structure provided in an embodiment of the present application;

[0052] Figure 7 A schematic diagram of the structure of a posture adjustment device of a test platform provided in an embodiment of the present application;

[0053] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] In the traditional scheme, the test platform posture can be adjusted through the motor system, screw lifting system, pneumatic control system, etc. Among them, the motor system includes a base plate and a motor shaft, the base plate is connected to the motor shaft, and the pitch offset of the sample is controlled by the rotation of the motor shaft. This method has high requirements on the weight of the prototype. If the weight of the prototype is too large, it will cause damage to the equipment; and the scheme has low flexibility and cannot quickly complete the movement of the prototype. The screw lifting system of the screw lifting platform relies on the rotation of the screw to control the lifting and angle adjustment of the platform. Although it can adapt to prototypes of a certain weight, its movement speed is slow and it takes a long time to adjust the angle; and the screw lifting system will have high friction when it is under a large load, resulting in serious wear of the system. The pneumatic control system uses changes in air pressure to control the movement of the platform. It usually responds quickly, but the output force of the pneumatic system is small and it is difficult to handle prototypes with heavy weight.

[0055] Therefore, when the traditional solution adjusts the posture of the test platform, there will be problems such as poor flexibility, slow adjustment speed, and difficulty in handling heavy test pieces. In this application, a method, device, equipment and storage medium for adjusting the posture of the test platform are disclosed to accurately and quickly adjust the posture of the test platform.

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0057] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0058] See also Figure 1 , Figure 1 A flow chart of a method for adjusting the posture of a test platform provided in an embodiment of the present application, the method specifically comprises the following steps:

[0059] S101, determining the posture adjustment requirement of the hydraulic control platform;

[0060] In this embodiment, the test platform is a hydraulic control platform, and a hydraulic column is arranged at the bottom of the hydraulic control platform. The posture of the platform is precisely controlled by the extension and retraction of the hydraulic column. In this embodiment, m*n hydraulic columns are arranged in the hydraulic control platform, where m is the number of hydraulic columns in the horizontal direction, and n is the number of hydraulic columns in the longitudinal direction. Both m and n are greater than or equal to 2. Figure 2 , Figure 2 A schematic diagram of the hydraulic column division provided by an embodiment of the present invention, through Figure 2 It can be seen that in this embodiment, a total of nine hydraulic columns are arranged in the hydraulic control platform, and these nine hydraulic columns are evenly distributed in the four corners and the middle of the rectangle. The number m of hydraulic columns in the horizontal direction of the hydraulic control platform is 3, and the number n of hydraulic columns in the longitudinal direction is 3.

[0061] See also Figure 3 , Figure 3 Schematic diagram of the system structure of the hydraulic control platform provided in an embodiment of the present invention. In this embodiment, a single hydraulic column is simplified into a system. Figure 3As shown, the nine hydraulic columns can be simplified into nine systems, wherein system 1 is the system of hydraulic column No. 1, system 2 is the system of hydraulic column No. 2, system 3 is the system of hydraulic column No. 3, system 4 is the system of hydraulic column No. 4, system 5 is the system of hydraulic column No. 5, system 6 is the system of hydraulic column No. 6, system 7 is the system of hydraulic column No. 7, system 8 is the system of hydraulic column No. 8, and system 9 is the system of hydraulic column No. 9. In this embodiment, the bottom of the hydraulic control platform uses the above nine hydraulic columns, and the extension and contraction of each hydraulic column are hydraulically controlled to control the platform to different angles, thereby completing the posture adjustment of the platform.

[0062] The posture adjustment requirement in this embodiment is a work requirement, that is, a requirement to adjust the test platform to a predetermined angle, such as a posture adjustment requirement to adjust the platform to a 15 degree tilt forward and backward. The posture adjustment requirement can be customized according to the work requirement and is not specifically limited here.

[0063] S102, according to the posture adjustment requirement, determining a first hydraulic input value corresponding to the first hydraulic column and a target parameter value corresponding to each hydraulic column; wherein the target parameter value is a parameter value when the hydraulic column is adjusted to meet the posture adjustment requirement, and the target parameter value includes a target pressure value and / or a target hydraulic value;

[0064] S103, adjusting the posture of the first hydraulic column using the first hydraulic input value;

[0065] In this embodiment, when adjusting the posture of each hydraulic column, it is necessary to first determine the hydraulic column to be initially adjusted. In this embodiment, the hydraulic column to be initially adjusted is referred to as the first hydraulic column. Figure 3 As shown, the posture adjustment requirement is: adjust the platform to tilt 15 degrees forward and backward. At this time, hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7 can be selected as the first hydraulic column, that is, when adjusting the posture of each hydraulic column, the posture of hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7 is adjusted first. The first hydraulic input value is the value when the first hydraulic column is adjusted to meet the posture adjustment requirement. The first hydraulic input value can be understood as the oil intake. By adjusting the value of the oil intake of each hydraulic column, the posture of each first hydraulic column can be adjusted.

[0066] In this embodiment, the first hydraulic input value needs to be determined according to the posture adjustment requirement, such as: if the posture adjustment requirement is: adjust the platform to tilt 15 degrees forward and backward, see Figure 3In order to meet this requirement, it is necessary to increase the height of hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7 by ΔH1, and reduce the height of hydraulic column No. 3, hydraulic column No. 6 and hydraulic column No. 9 by ΔH2. Then, by calculation, the oil intake amount when hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7 are increased by ΔH1 is determined, thereby determining the first hydraulic input value of hydraulic column No. 1, the first hydraulic input value of hydraulic column No. 4 and the first hydraulic input value of hydraulic column No. 7.

[0067] Furthermore, in the adjustment process of this embodiment, it is necessary to gradually increase or decrease the lifting amount of the hydraulic column to avoid sudden and drastic changes that may cause the platform to become unstable. Therefore, in this embodiment, the posture of each hydraulic column is gradually adjusted by the target parameter value corresponding to each hydraulic column. Among them, the target parameter value is the parameter value when the hydraulic column is adjusted to meet the posture adjustment requirements. In this example, the target parameter value can be a target pressure value, a target hydraulic value, or both a target pressure value and a target hydraulic value, that is: this scheme can gradually adjust the posture of each hydraulic column only according to the pressure value of each hydraulic column, or can gradually adjust the posture of each hydraulic column only according to the hydraulic value of each hydraulic column, or can gradually adjust the posture of each hydraulic column according to the two parameter values ​​of the pressure value and the hydraulic value of each hydraulic column.

[0068] Among them, the target pressure value and the target hydraulic value can be determined according to the posture adjustment requirements: first, the height that each hydraulic column needs to be adjusted is calculated according to the posture adjustment requirements, and the oil intake of each hydraulic column is calculated according to the height, and then the target pressure value and target hydraulic value of each hydraulic column are calculated by combining the ratio between the oil intake and the pressure / hydraulic pressure. Among them, the values ​​of the target pressure value and the target hydraulic value are related to the load weight on the platform. The greater the load weight on the platform, the greater the target pressure value and the target hydraulic value of the hydraulic column, and the two are in a positive proportional relationship.

[0069] It is understandable that the structure of each hydraulic column in the hydraulic control platform is the same. Here, the structure of a single hydraulic column is used as an example for explanation. Figure 4 , Figure 4 A schematic diagram of the structure of a single hydraulic column provided in an embodiment of the present invention; Figure 4The figure is a schematic diagram of a single hydraulic column structure drawn by simulink (visual simulation tool), where: Manual SwitchConstant represents the switch, the switch is switched to the down arrow, indicating that the hydraulic input value is 0, that is, there is no input, the switch is switched to the up arrow, and the value of the up arrow input is recorded as the hydraulic input value; Simulink-PS Converter, PS-SimulinkConverter, PS-Simulink Converter1, PS-Simulink Converter2 represent different converters, ValveActuator represents valve actuator, Solver Configuration represents solver configuration, Hydraulic Reference represents oil tank, He represents oil pump, 4-Way Directional Valve represents four-way hydraulic valve, Double-ActingHydraulic Cylinder represents bidirectional hydraulic cylinder, Mass represents load, Translational Damper represents translation damper, Translational Spring represents translation spring, Ideal Force Sensor represents idealized force sensor, Hydraulic Pressure Seneor means hydraulic sensor, Hydraulic means flow sensor; Scope, Scope1 and Scope2 mean different oscilloscopes used to view simulation results.

[0070] pass Figure 4 It can be seen that the main part of the hydraulic column uses a two-way hydraulic cylinder and a four-way hydraulic valve. The four-way hydraulic valve is used to control the flow direction of the hydraulic fluid to ensure that the hydraulic cylinder is extended and retracted in the correct direction. The two-way hydraulic cylinder can convert the energy accumulated by the hydraulic fluid into mechanical energy, and control the displacement of the platform by extending and retracting the cylinder body. At the same time, a switch is designed to control the conduction of the valve. By controlling the opening and closing of the valve, it can respond quickly and automatically adjust the action of the hydraulic cylinder under different posture adjustment requirements.

[0071] S104. During the posture adjustment process of the first hydraulic column, the second hydraulic column to be adjusted and the corresponding second hydraulic input value are determined according to the target parameter value and real-time parameter value of each hydraulic column, and the posture of the second hydraulic column is adjusted using the second hydraulic input value until the hydraulic control platform meets the posture adjustment requirements.

[0072] In this embodiment, during the posture adjustment process of the first hydraulic column, a dual feedback mechanism of force feedback and / or hydraulic feedback can be used to adjust the postures of different hydraulic columns to improve the anti-interference ability and adjustment accuracy of the system. In this embodiment, the hydraulic column that needs to adjust its posture during the feedback adjustment process is called the second hydraulic column, and the hydraulic input value corresponding to the second hydraulic column is called the second hydraulic input value. The second hydraulic input value is used to adjust the posture of the second hydraulic column until the hydraulic control platform meets the posture adjustment requirements. It should be noted that the determination process of the second hydraulic column and the second hydraulic input value is constantly changing during the entire adjustment process. As long as it is detected that a certain hydraulic column needs to be adjusted, the hydraulic column to be adjusted is used as the second hydraulic column and the hydraulic input value is used as the second hydraulic input value for adjustment until the entire hydraulic control platform meets the posture adjustment requirements and there is no need to adjust the height position of the hydraulic column.

[0073] In this embodiment, the target parameter value and real-time parameter value of each hydraulic column determine whether there is a second hydraulic column to be adjusted. The target parameter value is the parameter value when the hydraulic column is adjusted to meet the posture adjustment requirements. The target parameter value can be a target pressure value and / or a target hydraulic value, and the real-time parameter value is the real-time pressure value and / or real-time hydraulic value of the current hydraulic column. If this solution is only adjusted by the pressure value, the target parameter value is the target pressure value, and the real-time parameter value is the real-time pressure value. If this solution is only adjusted by the hydraulic value, the target parameter value is the target hydraulic value, and the real-time parameter value is the real-time hydraulic value. If this solution is adjusted by the pressure value and the hydraulic value, the target parameter value is the target pressure value and the target hydraulic value, and the real-time parameter value is the real-time pressure value and the real-time hydraulic value. The posture of each hydraulic column is gradually adjusted by the pressure value and the hydraulic value.

[0074] Specifically, if the real-time parameter value of the hydraulic column is the same as the target parameter value, it indicates that the attitude of the hydraulic column does not need to be adjusted. If the real-time parameter value is different from the target parameter value, it means that the attitude of the hydraulic column still needs to be further adjusted. At this time, it is necessary to calculate the second hydraulic input value by combining the ratio between the oil intake and the parameter value, so as to feedback the error value of the parameter value to the oil volume control. Furthermore, by correcting the oil intake, the parameter value can be adjusted. For example, if the real-time pressure value of the hydraulic column is greater than the target pressure value, the pressure value needs to be reduced. At this time, it is necessary to determine the second hydraulic input value for reducing the pressure value by combining the ratio between the oil intake and the pressure. Therefore, after adjusting the oil intake through the second hydraulic input value, the real-time pressure value of the hydraulic column can be adjusted until the detected real-time pressure value is the target pressure value. Through continuous feedback adjustment, the real-time parameter values of each hydraulic column can be made the same as the target parameter values. At this time, it can be determined that the current attitude of the platform meets the attitude adjustment requirements. It should be noted that if the pressure generated by the hydraulic column is too large, the force can be reduced by lowering the height of the hydraulic column; if the pressure generated by the hydraulic column is too small, the force can be increased by raising the height of the hydraulic column.

[0075] For example: If the attitude adjustment requirement is to adjust the platform to tilt 15 degrees forward and backward. At this time, it is necessary to raise the heights of the 1st, 4th, and 7th hydraulic columns by ΔH1, and raise the heights of the 3rd, 6th, and 9th hydraulic columns by ΔH2. Determine the first hydraulic input value for raising the 1st, 4th, and 7th hydraulic columns, and adjust the heights of the 1st, 4th, and 7th hydraulic columns respectively according to the first hydraulic input value. During this adjustment process, in order to ensure the stability of the platform, it is necessary to determine the second hydraulic input value of the 3rd, 6th, and 9th hydraulic columns, and gradually adjust the heights of the 3rd, 6th, and 9th hydraulic columns through the second hydraulic input value. Moreover, during the adjustment process, if the heights to be raised by the 1st, 4th, and 7th hydraulic columns are the same, but the difference in the real-time pressure values between the 1st and 4th hydraulic columns is detected to be large, it indicates that the rising speeds of the 1st and 4th hydraulic columns are different. At this time, the hydraulic input value of the hydraulic column can be adjusted to reduce the difference in the real-time pressure values between the 1st and 4th hydraulic columns, ensuring the stability of the hydraulic column during the adjustment process.

[0076] In summary, it can be seen that the test platform in the embodiment of the present application is a hydraulically controlled platform, which adjusts the platform's posture by controlling the extension and retraction of the hydraulic columns. The hydraulic control method has a fast response speed and can complete the platform's posture adjustment in a short time; moreover, the hydraulic control method can handle larger loads and is suitable for larger and heavier test specimens, thereby broadening the application scope of the test platform; and, when adjusting the posture of the test platform, the present application can adjust the posture of each hydraulic column in real time according to the pressure value and hydraulic value of each hydraulic column, thereby improving the posture adjustment speed and adjustment accuracy, ensuring the stability between different hydraulic columns, and avoiding imbalance of the test platform due to local adjustment.

[0077] See also Figure 5 , Figure 5 A flow chart of another method for adjusting the posture of a test platform provided in an embodiment of the present application, the method specifically comprises the following steps:

[0078] S201, determining the posture adjustment requirement of the hydraulic control platform;

[0079] S202, determining a transverse hydraulic column group and a longitudinal hydraulic column group in the hydraulic control platform;

[0080] S203, determining a first hydraulic column group for initial adjustment from the transverse hydraulic column group and the longitudinal hydraulic column group according to the posture adjustment requirement;

[0081] S204, determining a first hydraulic input value corresponding to each first hydraulic column in the first hydraulic column group by using the posture adjustment requirement;

[0082] S205, determining a target parameter value corresponding to each hydraulic column according to the posture adjustment requirement; wherein the target parameter value is a parameter value when the hydraulic column is adjusted to meet the posture adjustment requirement, and the target parameter value includes a target pressure value and / or a target hydraulic pressure value;

[0083] S206, adjusting the posture of the first hydraulic column using the first hydraulic input value;

[0084] S207, during the posture adjustment process of the first hydraulic column, determining a posture adjustment mode of the hydraulic control platform, and determining at least two target hydraulic columns according to the posture adjustment mode; the posture adjustment mode includes an intra-group adjustment mode and an inter-group adjustment mode;

[0085] S208, determining a second hydraulic column to be adjusted and a corresponding second hydraulic input value according to target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns;

[0086] S209: Use the second hydraulic input value to adjust the posture of the second hydraulic column until the hydraulic control platform meets the posture adjustment requirements.

[0087] In this embodiment, when the first hydraulic input value corresponding to the first hydraulic column is determined according to the posture adjustment requirement, a certain group of hydraulic columns can be used as the first hydraulic column for further adjustment, thereby improving the posture adjustment speed and adjustment accuracy. Figure 3 , including a system corresponding to nine hydraulic columns. In this embodiment, the nine hydraulic columns can be divided into six groups, including three groups of transverse hydraulic column groups and three groups of longitudinal hydraulic column groups. The transverse hydraulic column groups are used to control the posture adjustment of the platform in the left and right directions, and the longitudinal hydraulic column groups are used to control the posture adjustment of the platform in the front and rear directions. Among them, the first group of transverse hydraulic column groups in this embodiment includes: No. 1 hydraulic column, No. 4 hydraulic column and No. 7 hydraulic column, the second group of transverse hydraulic column groups includes: No. 2 hydraulic column, No. 5 hydraulic column and No. 8 hydraulic column, the third group of transverse hydraulic column groups includes: No. 3 hydraulic column, No. 6 hydraulic column and No. 9 hydraulic column; the first group of longitudinal hydraulic column groups includes: No. 1 hydraulic column, No. 2 hydraulic column and No. 3 hydraulic column, the second group of longitudinal hydraulic column groups includes: No. 4 hydraulic column, No. 5 hydraulic column and No. 6 hydraulic column, and the third group of longitudinal hydraulic column groups includes: No. 7 hydraulic column, No. 8 hydraulic column and No. 9 hydraulic column.

[0088] When determining the first hydraulic column group for initial adjustment in this embodiment, any one group can be selected from the transverse hydraulic column group and the longitudinal hydraulic column group as the first hydraulic column group for initial adjustment according to the posture adjustment requirements. The hydraulic columns in the first hydraulic column group are the first hydraulic column group, and the hydraulic input value of each first hydraulic column is the first hydraulic input value. For example: if the posture adjustment requirement is: to adjust the platform to tilt 15 degrees forward and backward, then it is necessary to increase the height of hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7 in the first group of transverse hydraulic column groups by ΔH1, and increase the height of hydraulic column No. 3, hydraulic column No. 6 and hydraulic column No. 9 in the third group of transverse hydraulic column groups by ΔH2, while the height of hydraulic column No. 2, hydraulic column No. 5 and hydraulic column No. 8 in the second group of transverse hydraulic column groups remains unchanged. Therefore, in this embodiment, the first group of transverse hydraulic column groups can be used as the first hydraulic column group for initial adjustment, and hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7 in the first group of transverse hydraulic column groups are all first hydraulic columns, and the corresponding first hydraulic input value is calculated by the height value to be adjusted for each hydraulic column; it should be noted that in this embodiment, the transverse combination is given priority. If the longitudinal combination is given priority, the first group of longitudinal hydraulic column groups can also be set as the first hydraulic column group for initial adjustment, which is not specifically limited here.

[0089] Furthermore, when determining the second hydraulic column to be adjusted and the corresponding second hydraulic input value, this solution can be determined according to the posture adjustment mode of the hydraulic control platform, and the posture adjustment mode includes an intra-group adjustment mode and an inter-group adjustment mode. The group in this solution refers to a transverse hydraulic column group and a longitudinal hydraulic column group, and in order to more smoothly adjust the posture of each hydraulic column, this application needs to determine at least two target hydraulic columns according to the posture adjustment mode, and determine the second hydraulic column and the corresponding second hydraulic input value that need to adjust the posture according to the real-time parameter values ​​and target parameter values ​​of at least two target hydraulic columns; the second hydraulic column is any one or more of the target hydraulic columns, such as: the selected target hydraulic columns include hydraulic column No. 1 and hydraulic column No. 2, then the second hydraulic column can be hydraulic column No. 1, hydraulic column No. 2, or hydraulic column No. 1 and hydraulic column No. 2, which can be set according to actual conditions.

[0090] Among them, if the posture adjustment mode is the intra-group adjustment mode, at least two target hydraulic columns are selected from each hydraulic column in the transverse hydraulic column group, or at least two target hydraulic columns are selected from each hydraulic column in the longitudinal hydraulic column group, such as: No. 1 hydraulic column and No. 4 hydraulic column are selected as the target hydraulic columns from the first transverse hydraulic column group, and No. 1 hydraulic column is used as the second hydraulic column to be adjusted, then the posture of No. 1 hydraulic column is adjusted according to the real-time parameter values ​​and target parameter values ​​of No. 1 hydraulic column and No. 4 hydraulic column; if the posture adjustment mode is the inter-group adjustment mode, at least two target hydraulic columns are selected from the two transverse hydraulic column groups. At least two target hydraulic columns are selected, and the number of target hydraulic columns selected in each horizontal hydraulic column group is the same; or, at least two target hydraulic columns are selected in two longitudinal hydraulic column groups, and the number of target hydraulic columns selected in each longitudinal hydraulic column group is the same; for example: hydraulic column No. 1 is selected as the target hydraulic column from the first horizontal hydraulic column group, hydraulic column No. 2 is selected as the target hydraulic column from the second horizontal hydraulic column group, and hydraulic column No. 1 is used as the second hydraulic column to be adjusted, then the posture of hydraulic column No. 1 is adjusted according to the real-time parameter values ​​and target parameter values ​​of hydraulic column No. 1 and hydraulic column No. 2.

[0091] Specifically, when the present application determines the second hydraulic input value corresponding to the second hydraulic column to be adjusted, it can be determined in a variety of ways, which are not specifically limited here. For example: the target pressure values ​​of hydraulic column No. 1 and hydraulic column No. 4 are the same, but the real-time pressure value of hydraulic column No. 1 is less than the real-time pressure value of hydraulic column No. 4, and there is a pressure difference between hydraulic column No. 1 and hydraulic column No. 4. At this time, the real-time pressure value of hydraulic column No. 1 can be increased by setting the second hydraulic input value of hydraulic column No. 1, and the real-time pressure value of hydraulic column No. 4 can be reduced by setting the second hydraulic input value of hydraulic column No. 4. The second hydraulic input value of hydraulic column No. 1 and the second hydraulic input value of hydraulic column No. 4 can also be set at the same time, and the two steps of increasing the real-time pressure value of hydraulic column No. 1 and reducing the real-time pressure value of hydraulic column No. 4 are performed simultaneously to achieve rapid adjustment of the posture.

[0092] In summary, it can be seen that the present application divides the hydraulic control platform into a transverse hydraulic column group and a longitudinal hydraulic column group. When adjusting the platform posture, a group of hydraulic columns for initial adjustment is first determined from the transverse hydraulic column group and the longitudinal hydraulic column group for adjustment, so as to achieve rapid adjustment of the hydraulic columns; and, this method of first adjusting the first hydraulic column group and then adjusting the postures of other hydraulic columns based on the real-time parameter value feedback of each hydraulic column can ensure the balance and stability of the platform during posture adjustment; and, when adjusting the posture, the present scheme can determine the second hydraulic column to be adjusted according to the adjustment mode, thereby feedback adjusting the posture of the hydraulic column according to the parameter values ​​of the hydraulic columns within and between groups, so as to achieve precise control of the hydraulic column.

[0093] Based on the above embodiment, in this embodiment, if the posture adjustment mode is the intra-group adjustment mode, the present application determines at least two target hydraulic columns according to the posture adjustment mode, and determines the second hydraulic column to be adjusted and the corresponding second hydraulic input value according to the target parameter values ​​and real-time parameter values ​​of the at least two target hydraulic columns. The process specifically includes:

[0094] Determine a first hydraulic column group from the transverse hydraulic column group or the longitudinal hydraulic column group;

[0095] Select any two hydraulic columns from the first hydraulic column group as first target hydraulic columns;

[0096] determining a real-time parameter value of each first target hydraulic column;

[0097] selecting at least one second hydraulic column to be adjusted from the first target hydraulic columns;

[0098] According to the target parameter value and the real-time parameter value of each first target hydraulic column, a second hydraulic input value of the second hydraulic column is determined.

[0099] It is understandable that if the posture adjustment mode is the intra-group adjustment mode, the transverse hydraulic column group or the longitudinal hydraulic column group needs to be adjusted within the group. The transverse hydraulic column group is used to control the posture adjustment of the platform in the left and right directions. In the transverse hydraulic column group, the interaction between the hydraulic columns is mainly controlled by force feedback and hydraulic feedback. When the platform is quickly tilted left and right, the hydraulic columns can be fine-tuned in advance to prevent drastic posture changes and improve the smoothness and comfort of the platform adjustment. The longitudinal hydraulic column group is mainly used for the posture adjustment of the platform in the front and rear directions. Each hydraulic column in the longitudinal hydraulic column group is precisely controlled by force feedback combined with hydraulic feedback, so that the system can adjust the posture of each hydraulic column in real time according to different loads and posture adjustment requirements. When the force difference between the hydraulic columns is large, the system will automatically increase the response strength of the control feedback to shorten the adjustment time and reduce errors.

[0100] Specifically, during feedback adjustment, it is first necessary to determine the first hydraulic column group to be adjusted from the horizontal hydraulic column group or the longitudinal hydraulic column group, and select any two hydraulic columns from the first hydraulic column group as the first target hydraulic columns. The number of the first target hydraulic columns is two, and the second hydraulic column to be adjusted and the second hydraulic input value can be determined by comparing the real-time parameter values ​​between the two first target hydraulic columns. Among them, the second hydraulic column to be adjusted is selected from the two first target hydraulic columns, and the second hydraulic column can be any one of the first target hydraulic columns or the two first target hydraulic columns. Finally, the second hydraulic input value of the second hydraulic column is determined according to the target parameter value and real-time parameter value of each first target hydraulic column.

[0101] For example, if there are three groups of horizontal hydraulic column groups and three groups of vertical hydraulic column groups, all of the six groups of hydraulic column groups can be used as the first hydraulic column groups to be adjusted, or any one or more of the hydraulic column groups can be selected as the first hydraulic column groups to be adjusted. In this embodiment, only the first group of horizontal hydraulic column groups is used as an example for explanation. If the first group of horizontal hydraulic column groups includes: hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7, then hydraulic column No. 1 and hydraulic column No. 4 are selected as the first target hydraulic columns. If the target pressure value of hydraulic column No. 1 is 10, the target pressure value of hydraulic column No. 4 is also 10, and currently hydraulic column No. 1 and hydraulic column No. 4 are adjusting their postures according to the first hydraulic input value, but the current real-time pressure value of hydraulic column No. 1 is is 5, and the real-time pressure value of hydraulic column No. 4 is 3. It can be seen that the target pressure values ​​of hydraulic column No. 1 and hydraulic column No. 4 are the same, both 10. In order to ensure the balance of the platform, the real-time pressure values ​​of hydraulic column No. 1 and hydraulic column No. 4 should be kept the same, but the real-time pressure value of hydraulic column No. 1 should be higher than the real-time pressure value of hydraulic column No. 4. At this time, hydraulic column No. 4 can be used as the second hydraulic column to be adjusted. Since the difference between the real-time pressure values ​​of hydraulic column No. 1 and hydraulic column No. 4 is 2, the second hydraulic input value corresponding to the pressure value of hydraulic column No. 4 of 2 is calculated, so as to adjust the posture of hydraulic column No. 4 according to the second hydraulic input value, so that the real-time pressure value of hydraulic column No. 4 is the same as the real-time pressure value of hydraulic column No. 1, thereby improving the stability of the platform.

[0102] It should be noted that, when determining the second hydraulic input value of the second hydraulic column to be adjusted, the present application can calculate according to the ratio of the target parameter values ​​of each first target hydraulic column, such as: the target parameter value of hydraulic column No. 1 is 10, and the target parameter value of hydraulic column No. 4 is also 10. At this time, the ratio of the target parameter values ​​is 1:1. At this time, the difference between the real-time pressure values ​​of hydraulic column No. 1 and hydraulic column No. 4 is calculated to be 2, and the difference can be divided into two parts, that is: divide the difference by 2, and adjust the second hydraulic input value of hydraulic column No. 1 so that the real-time parameter value of hydraulic column No. 1 is reduced by 1, and adjust the second hydraulic input value of hydraulic column No. 4 so that the real-time parameter value of hydraulic column No. 4 is increased by 1, so that the balance of hydraulic column No. 1 and hydraulic column No. 4 can be achieved. In addition, since the target parameter value and the real-time parameter value in this embodiment can be not only pressure values, but also hydraulic values, the present application can be controlled by the dual feedback mechanism of pressure and hydraulic pressure during the adjustment process to ensure that the platform can operate stably at different angles.

[0103] In summary, the present application significantly improves the anti-interference ability of the system through the telescopic matching pressure of the hydraulic column and the dual feedback mechanism of the hydraulic pressure, realizes high-precision control of the platform angle, and ensures a stable posture in a complex test environment. In addition, the present application divides the hydraulic control platform into longitudinal and lateral combinations, which can flexibly and quickly adjust the front and back and left and right postures of the platform to adapt to different test requirements, greatly improving the test efficiency.

[0104] Based on the above embodiment, in this embodiment, if the posture adjustment mode is the inter-group adjustment mode, the present application determines at least two target hydraulic columns according to the posture adjustment mode, and according to the target parameter values ​​and real-time parameter values ​​of the at least two target hydraulic columns, the process of determining the second hydraulic column to be adjusted and the corresponding second hydraulic input value specifically includes:

[0105] Determining a second hydraulic column group and a third hydraulic column group from the transverse hydraulic column group or the longitudinal hydraulic column group;

[0106] Selecting at least one hydraulic column from the second hydraulic column group as the second target hydraulic column, and selecting at least one hydraulic column from the third hydraulic column group as the third target hydraulic column; wherein the number of the second target hydraulic columns is the same as the number of the third target hydraulic columns;

[0107] determining a real-time parameter value of each second target hydraulic column and a real-time parameter value of each third target hydraulic column;

[0108] Selecting at least one second hydraulic column to be adjusted from the second target hydraulic column and the third target hydraulic column;

[0109] The second hydraulic input value of the second hydraulic column is determined according to the target parameter value and the real-time parameter value of each of the second target hydraulic column and the third target hydraulic column.

[0110] In this embodiment, if the posture adjustment mode is an inter-group adjustment mode, it is necessary to adjust the posture of each hydraulic column through the real-time parameter value feedback between different groups. Among them, the different groups in this embodiment refer to: different transverse hydraulic column groups, or different longitudinal hydraulic column groups. Therefore, the second hydraulic column group and the third hydraulic column group selected in this embodiment are selected from the transverse hydraulic column group, or from the longitudinal hydraulic column group. After determining the second hydraulic column group and the third hydraulic column group, it is necessary to select at least one hydraulic column from the second hydraulic column group as the second target hydraulic column, and select at least one hydraulic column from the third hydraulic column group as the third target hydraulic column, and then determine the second hydraulic input value of the second hydraulic column according to the target parameter value and real-time parameter value of the second target hydraulic column and the third target hydraulic column; the second hydraulic column is the hydraulic column to be adjusted among the second target hydraulic column and the third target hydraulic column.

[0111] It should be noted that the present application realizes the posture adjustment of each group of hydraulic columns through the inter-group adjustment mode, and determines the hydraulic input value of the other groups of hydraulic columns by taking the hydraulic input value of the first group of hydraulic columns as a reference. For example, if the platform needs to have a certain slope, it is necessary to convert the rising slope requirement into the hydraulic input value of the first group of hydraulic columns according to the actual situation, and then adjust the posture of the first group of hydraulic columns. At this time, the real-time parameter value of the first group of hydraulic columns has changed. After detecting this change, it can be fed back to the second group of hydraulic columns according to the real-time parameter value. After receiving the feedback, the second group of hydraulic columns adjusts the hydraulic input of the second group of hydraulic columns according to the preset control strategy to generate a real-time parameter value that matches the real-time parameters of the first group of hydraulic columns.

[0112] For example: the lateral hydraulic column group includes the first lateral hydraulic column group, the second lateral hydraulic column group and the third lateral hydraulic column group. At this time, the first lateral hydraulic column group can be selected as the second hydraulic column group, and the second lateral hydraulic column group can be selected as the third hydraulic column group. The first lateral hydraulic column group includes: No. 1 hydraulic column, No. 4 hydraulic column and No. 7 hydraulic column, and the second lateral hydraulic column group includes: No. 2 hydraulic column, No. 5 hydraulic column and No. 8 hydraulic column. The three hydraulic columns in the first lateral hydraulic column group are selected as the second target hydraulic column, and the three hydraulic columns in the second lateral hydraulic column group are selected as the third target hydraulic column. Column, if the target parameter values ​​of hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7 are all 10, and the target parameter values ​​of hydraulic column No. 2, hydraulic column No. 5 and hydraulic column No. 8 are all 5, and the real-time parameter values ​​of hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7 are 2, and the target parameter values ​​of hydraulic column No. 2, hydraulic column No. 5 and hydraulic column No. 8 are all 0, it means that the posture of each hydraulic column of the first group of lateral hydraulic columns is adjusted first. At this time, the posture of the second group of lateral hydraulic columns can be adjusted according to the ratio of the target parameter values ​​of the first group of lateral hydraulic columns to the second group of lateral hydraulic columns.

[0113] Specifically, since the total target parameter value of the first group of lateral hydraulic column groups is 30, and the total target parameter value of the second group of lateral hydraulic column groups is 15, the ratio is: 2:1, and the real-time parameter values ​​of hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7 are 2, it is necessary to set the second hydraulic input value to adjust the real-time parameter values ​​of hydraulic column No. 2, hydraulic column No. 5 and hydraulic column No. 8 to 1; and, in the process of adjusting the postures of hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7, the postures of hydraulic column No. 2, hydraulic column No. 5 and hydraulic column No. 8 can be adjusted in real time according to the continuous changes in their real-time parameter values, to ensure that the ratio of the real-time parameter values ​​of hydraulic column No. 1, hydraulic column No. 4 and hydraulic column No. 7 to the real-time parameter values ​​of hydraulic column No. 2, hydraulic column No. 5 and hydraulic column No. 8 is maintained at 2:1, so that each hydraulic column can be stably and accurately adjusted to meet the posture adjustment requirements.

[0114] Through this inter-group adjustment mode, the hydraulic columns of different groups can be automatically adjusted according to the pressure feedback and hydraulic feedback to ensure the balance between the different hydraulic columns and avoid the imbalance of the platform due to local adjustment; and this inter-group adjustment mode allows the hydraulic columns of different groups to work together to prevent the platform from undergoing drastic posture changes, ensuring the stability of the entire platform and the accuracy of posture adjustment. In addition, this collaborative adjustment method greatly improves the response speed and stability of the platform posture adjustment. For example, when the first group of hydraulic columns adjusts the front and rear tilt of the platform, the system will automatically feed back the adjustment information of this group to the second group of hydraulic columns, and will not wait until the first group of hydraulic columns is adjusted before adjusting the second group of hydraulic columns, thereby ensuring that the platform will not be unbalanced due to the adjustment of a group of systems.

[0115] For ease of understanding, a specific embodiment is provided here to specifically illustrate the arrangement process of the posture adjustment method. The process includes the following three parts:

[0116] 1. Initialization phase:

[0117] During the initialization phase, first ensure that all hydraulic columns are in their initial state, that is, at the same height or at the preset reference position; check the pressure, flow and other parameters of the hydraulic system to ensure the normal operation of the system. Determine the tilt direction of the platform and the lifting direction of the hydraulic column, as well as the lifting height of the hydraulic column, according to the posture adjustment requirements.

[0118] For example, the hydraulic control platform includes nine hydraulic columns, which are distributed in a 3*3 pattern. The posture adjustment requirement is: if the platform is adjusted to tilt 15 degrees forward and backward, the first group of hydraulic columns (such as hydraulic columns 1, 4, and 7) need to be raised, the third group of hydraulic columns (such as hydraulic columns 3, 6, and 9) need to be lowered, and the second group of hydraulic columns remain unchanged (such as hydraulic columns 2, 5, and 8). Assuming that the initial height of the hydraulic columns is H0, when the platform needs to be adjusted to tilt 15 degrees forward and backward, the first group of hydraulic columns needs to be raised by ΔH1, and the third group of hydraulic columns needs to be lowered by ΔH2. Different heights correspond to different hydraulic input values, different target pressure values, and target hydraulic values.

[0119] 2. Group control:

[0120] First, the attitude control is performed according to the hydraulic input value of the first group of hydraulic columns. When adjusting the first group of hydraulic columns, the hydraulic input value of the third group of hydraulic columns is determined in real time according to the target parameter value and the real-time parameter value according to the inter-group adjustment mode, and the attitude of the third group of hydraulic columns is adjusted to maintain the stability of the platform and the accuracy of the attitude. It should be noted that since the height of the second group of hydraulic columns does not need to be adjusted, the hydraulic input value of the second group of hydraulic columns does not need to be adjusted; however, if necessary, the hydraulic input value of the second group of hydraulic columns can also be adjusted according to demand to achieve more complex attitude adjustments.

[0121] 3. Gradual Adjustment:

[0122] In the above adjustment process, not only the inter-group adjustment mode is required, but also the intra-group adjustment mode. Through the intra-group adjustment mode, the lifting amount of the hydraulic column can be gradually increased or decreased according to the target parameter values ​​and real-time parameter values ​​of different hydraulic columns in the group to avoid sudden and large changes that may cause the platform to become unstable. For example, if it is found that the pressure value generated by a certain hydraulic column is greatly different from the pressure value generated by other hydraulic columns, the lifting amount of the hydraulic column can be adjusted to keep it balanced with other hydraulic columns.

[0123] See also Figure 6a, is a schematic diagram of an overall system structure provided by an embodiment of the present invention, through Figure 6a It can be seen that the hydraulic control platform in this embodiment includes nine hydraulic column systems simplified from nine hydraulic columns, namely: system1, system2, system3...system9. The input on the left side of the figure is used to input the corresponding hydraulic input value to the hydraulic column system to be adjusted, and to obtain the pressure value and hydraulic value of each hydraulic column through the sensor group of each hydraulic column, and to adjust the posture of each hydraulic column through real-time feedback of the pressure value and the hydraulic value.

[0124] See also Figure 6b , is a schematic diagram of a longitudinal hydraulic column group posture adjustment structure provided in an embodiment of the present application. In this embodiment, the posture adjustment process of the longitudinal hydraulic column group composed of system1, system2, and system3 is taken as an example for explanation. Figure 6b It can be seen that each hydraulic column system measures the pressure value through the force sensor and the hydraulic pressure value through the hydraulic sensor. The specific meanings of each feedback loop in the figure are:

[0125] loop1_2P1: indicates that system1 and system2 use hydraulic value as control standard and perform feedback control on system1; loop1_2F1: indicates that system1 and system2 use pressure value as control standard and perform feedback control on system1; loop1_2F2: indicates that system1 and system2 use pressure value as control standard and perform feedback control on system2; loop1_2P2: indicates that system1 and system2 use hydraulic value as control standard and perform feedback control on system2; loop2_3F2: indicates that system2 and system3 use pressure value as control standard and perform feedback control on system2; loop2_3P2: indicates that system2 and system3 use hydraulic value as control standard and perform feedback control on system2; loop2_3F3: indicates that system2 and system3 use pressure value as control standard and perform feedback control on system3; loop2_3P3: indicates that system2 and system3 use hydraulic value as control standard and perform feedback control on system3; loop1_3F3: indicates that system1 and system3 use pressure value as control standard and perform feedback control on system3; loop1_3P3: indicates that system1 and system3 use hydraulic value as control standard and perform feedback control on system3.

[0126] When each feedback loop performs feedback control on the hydraulic column system to be adjusted, it can determine the hydraulic input value of the hydraulic column system to be adjusted according to the difference in pressure values / hydraulic values ​​between the two hydraulic column systems, and the adjustment input module adjusts the oil intake of the hydraulic column system according to the hydraulic input value; when adjusting, gradual adjustment is achieved through the corresponding flow sensor or pressure controller to avoid sudden and large changes that may cause platform instability.

[0127] For example: if it is determined that System1 and System2 need to be at the same height based on the posture adjustment requirements of the hydraulic control platform, the target pressure values ​​of System1 and System2 should be the same. If it is detected that the real-time pressure value of System1 is different from the real-time pressure value of System2, the hydraulic input value of System1 is adjusted according to the real-time pressure values ​​of System1 and System2 through the feedback loop Loop1_2F1, so that the real-time pressure values ​​of System1 and System2 are the same. In this way, the mechanical errors between different hydraulic control systems can be fed back to the oil quantity control, and the system balance can be achieved by correcting the oil intake.

[0128] In summary, this scheme uses a hydraulic control platform built based on Simulink, which uses multiple hydraulic columns to achieve precise control of the platform's posture by controlling the extension and retraction of each hydraulic column. In this scheme, each hydraulic column realizes dual control of the intra-group adjustment mode and the inter-group adjustment mode through longitudinal combination and lateral combination; in different modes, the oil intake of the hydraulic column can be automatically adjusted not only according to pressure feedback, but also through hydraulic feedback, which improves the system's anti-interference ability and adjustment accuracy, and ensures the response speed and stability of posture adjustment.

[0129] See also Figure 7 , Figure 7 A schematic diagram of the structure of a posture adjustment device of a test platform provided in an embodiment of the present application, the device specifically comprises:

[0130] A first determination module 11 is used to determine the posture adjustment requirement of the hydraulic control platform;

[0131] A second determination module 12 is used to determine, according to the posture adjustment requirement, a first hydraulic input value corresponding to the first hydraulic column and a target parameter value corresponding to each hydraulic column; wherein the target parameter value is a parameter value when the hydraulic column is adjusted to meet the posture adjustment requirement, and the target parameter value includes a target pressure value and / or a target hydraulic value;

[0132] A first adjustment module 13, configured to adjust the posture of the first hydraulic column using the first hydraulic input value;

[0133] A third determination module 14 is used to determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value according to the target parameter value and the real-time parameter value of each hydraulic column during the posture adjustment process of the first hydraulic column;

[0134] The second adjustment module 15 is used to adjust the posture of the second hydraulic column by using the second hydraulic input value until the hydraulic control platform meets the posture adjustment requirement.

[0135] As an optional embodiment, the second determining module is specifically configured to:

[0136] Determine a transverse hydraulic column group and a longitudinal hydraulic column group in the hydraulic control platform; determine a first hydraulic column group for initial adjustment from the transverse hydraulic column group and the longitudinal hydraulic column group using the posture adjustment requirement; determine a first hydraulic input value corresponding to each first hydraulic column in the first hydraulic column group using the posture adjustment requirement.

[0137] As an optional embodiment, the third determining module includes:

[0138] A first determining unit is used to determine a posture adjustment mode of the hydraulic control platform; the posture adjustment mode includes an intra-group adjustment mode and an inter-group adjustment mode;

[0139] a second determination unit, configured to determine at least two target hydraulic columns according to the posture adjustment mode;

[0140] The third determination unit is used to determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value according to the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns.

[0141] As an optional embodiment, the second determining unit is specifically configured to:

[0142] If the posture adjustment mode is an intra-group adjustment mode, a first hydraulic column group is determined from the transverse hydraulic column group or the longitudinal hydraulic column group; and any two hydraulic columns are selected from the first hydraulic column group as first target hydraulic columns.

[0143] As an optional embodiment, the third determining unit is specifically configured to:

[0144] Determine the real-time parameter value of each first target hydraulic column; select at least one second hydraulic column to be adjusted from the first target hydraulic columns; determine the second hydraulic input value of the second hydraulic column according to the target parameter value and the real-time parameter value of each first target hydraulic column.

[0145] As an optional embodiment, the second determining unit is specifically configured to:

[0146] If the posture adjustment mode is an inter-group adjustment mode, a second hydraulic column group and a third hydraulic column group are determined from the transverse hydraulic column group or the longitudinal hydraulic column group; at least one hydraulic column is selected from the second hydraulic column group as a second target hydraulic column, and at least one hydraulic column is selected from the third hydraulic column group as a third target hydraulic column; wherein the number of the second target hydraulic columns is the same as the number of the third target hydraulic columns.

[0147] As an optional embodiment, the third determining unit is specifically configured to:

[0148] Determine the real-time parameter value of each second target hydraulic column and the real-time parameter value of each third target hydraulic column; select at least one second hydraulic column to be adjusted from the second target hydraulic column and the third target hydraulic column; determine the second hydraulic input value of the second hydraulic column based on the target parameter value and the real-time parameter value of each second target hydraulic column and the third target hydraulic column.

[0149] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0150] See also Figure 8 , Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, the electronic device specifically includes:

[0151] The processor 21, the memory 22 and the computer program stored in the memory 22 and executable on the processor 21, the processor 21 executes the steps of the posture adjustment method described in any of the above method embodiments through the computer program.

[0152] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0153] The memory 22 may include one or more computer-readable storage media, which may be non-transitory. The memory 22 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 22 is at least used to store the following computer program 221, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps in the posture adjustment method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 22 may also include an operating system 222 and data 223, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 222 may include Windows, Unix, Linux, etc.

[0154] In some embodiments, the electronic device may further include a display screen 23 , an input / output interface 24 , a communication interface 25 , a sensor 26 , a power source 27 , and a communication bus 28 .

[0155] certainly, Figure 8 The structure of the electronic device shown does not constitute a limitation on the electronic device in the embodiments of the present application. In actual applications, the electronic device may include Figure 8 More or fewer components than shown, or combinations of certain components.

[0156] In another exemplary embodiment, a computer storage medium is also provided, and when the program instructions are executed by a processor, the steps of the posture adjustment method described in any of the above method embodiments are implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0157] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0158] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0159] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for adjusting the posture of a test platform, characterized in that: The test platform is a hydraulic control platform, and the posture adjustment method includes: Determining the posture adjustment requirements of the hydraulic control platform; According to the posture adjustment requirement, determining a first hydraulic input value corresponding to the first hydraulic column and a target parameter value corresponding to each hydraulic column; wherein the target parameter value is a parameter value when the hydraulic column is adjusted to meet the posture adjustment requirement, and the target parameter value includes a target pressure value and / or a target hydraulic value; adjusting the posture of the first hydraulic column using the first hydraulic input value; During the posture adjustment process of the first hydraulic column, the second hydraulic column to be adjusted and the corresponding second hydraulic input value are determined according to the target parameter value and real-time parameter value of each hydraulic column, and the posture of the second hydraulic column is adjusted using the second hydraulic input value until the hydraulic control platform meets the posture adjustment requirements.

2. The posture adjustment method according to claim 1, characterized in that: Determining a first hydraulic input value corresponding to a first hydraulic column according to the posture adjustment requirement includes: Determining a transverse hydraulic column group and a longitudinal hydraulic column group in the hydraulic control platform; Determine a first hydraulic column group for initial adjustment from the transverse hydraulic column group and the longitudinal hydraulic column group by using the posture adjustment requirement; The posture adjustment requirement is used to determine a first hydraulic input value corresponding to each first hydraulic column in the first hydraulic column group.

3. The posture adjustment method according to claim 2, characterized in that: According to the target parameter value and the real-time parameter value of each hydraulic column, determining the second hydraulic column to be adjusted and the corresponding second hydraulic input value includes: Determining a posture adjustment mode of the hydraulic control platform; the posture adjustment mode includes an intra-group adjustment mode and an inter-group adjustment mode; determining at least two target hydraulic columns according to the posture adjustment mode; According to the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns, a second hydraulic column to be adjusted and a corresponding second hydraulic input value are determined.

4. The posture adjustment method according to claim 3, characterized in that: The step of determining at least two target hydraulic columns according to the posture adjustment mode comprises: If the posture adjustment mode is an intra-group adjustment mode, determining a first hydraulic column group from the transverse hydraulic column group or the longitudinal hydraulic column group; Any two hydraulic columns are selected from the first hydraulic column group as first target hydraulic columns.

5. The posture adjustment method according to claim 4, characterized in that: Determining a second hydraulic column to be adjusted and a corresponding second hydraulic input value according to target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns includes: determining a real-time parameter value of each first target hydraulic column; selecting at least one second hydraulic column to be adjusted from the first target hydraulic columns; According to the target parameter value and the real-time parameter value of each first target hydraulic column, a second hydraulic input value of the second hydraulic column is determined.

6. The posture adjustment method according to claim 3, characterized in that: The step of determining at least two target hydraulic columns according to the posture adjustment mode comprises: If the posture adjustment mode is the inter-group adjustment mode, determining a second hydraulic column group and a third hydraulic column group from the transverse hydraulic column group or the longitudinal hydraulic column group; At least one hydraulic column is selected from the second hydraulic column group as a second target hydraulic column, and at least one hydraulic column is selected from the third hydraulic column group as a third target hydraulic column; wherein the number of the second target hydraulic columns is the same as the number of the third target hydraulic columns.

7. The posture adjustment method according to claim 6, characterized in that: Determining a second hydraulic column to be adjusted and a corresponding second hydraulic input value according to target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns includes: determining a real-time parameter value of each second target hydraulic column and a real-time parameter value of each third target hydraulic column; Selecting at least one second hydraulic column to be adjusted from the second target hydraulic column and the third target hydraulic column; The second hydraulic input value of the second hydraulic column is determined according to the target parameter value and the real-time parameter value of each of the second target hydraulic column and the third target hydraulic column.

8. A posture adjustment device for a test platform, characterized in that: The test platform is a hydraulic control platform, and the posture adjustment device includes: A first determination module, used to determine the posture adjustment requirement of the hydraulic control platform; A second determination module is used to determine, according to the posture adjustment requirement, a first hydraulic input value corresponding to the first hydraulic column and a target parameter value corresponding to each hydraulic column; wherein the target parameter value is a parameter value when the hydraulic column is adjusted to meet the posture adjustment requirement, and the target parameter value includes a target pressure value and / or a target hydraulic value; A first adjustment module, configured to adjust the posture of the first hydraulic column using the first hydraulic input value; a third determination module, used to determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value according to the target parameter value and the real-time parameter value of each hydraulic column during the posture adjustment process of the first hydraulic column; The second adjustment module is used to adjust the posture of the second hydraulic column by using the second hydraulic input value until the hydraulic control platform meets the posture adjustment requirement.

9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the steps of the posture adjustment method of the test platform described in any one of claims 1 to 7 of the present application through the computer program.

10. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, and the computer executable instructions are used to execute the steps of the posture adjustment method of the test platform described in any one of claims 1 to 7 of the present application.

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