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

Abstract

The application relates to a posture adjustment method and device of a test platform, equipment and a storage medium. The test platform in the application is a hydraulic control platform, the posture adjustment of the platform is completed by controlling the extension and retraction of hydraulic columns, the hydraulic control mode has fast response speed, can complete the posture adjustment of the platform in a short time, can process larger loads, is suitable for larger and heavier test samples, and widens the application range of the test platform. When the posture of the test platform is adjusted, the posture of each hydraulic column can be adjusted in real time according to the pressure value and the hydraulic value of each hydraulic column, so that the posture adjustment speed and the adjustment accuracy are improved, the stability between different hydraulic columns is ensured, and the imbalance of the test platform caused by local adjustment is avoided.

Description

Technical Field

[0001] This application relates to the field of testing technology, and in particular to a method, apparatus, device and storage medium for adjusting the attitude of a testing platform. Background Technology

[0002] In electric drive testing, some tests require controlling the angle of the test piece (DPT) for more effective testing. Currently, the attitude of the test platform can be adjusted using motor systems, screw jack systems, and pneumatic control systems. However, motor systems control the pitch offset of the DPT by rotating the motor shaft, which is unsuitable for heavy DPTs and lacks flexibility, making it difficult to move the DPT quickly. Screw jack systems have slow movement speeds and take a long time to adjust the angle. Pneumatic control systems use changes in air pressure to control the platform's movement, but their output force is relatively small, making it difficult to handle heavy DPTs.

[0003] Therefore, how to accurately and quickly adjust the posture of the test platform is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for adjusting the attitude of a test platform, so as to accurately and quickly adjust the attitude of the test platform.

[0005] In a first aspect, this application provides a method for adjusting the attitude of a test platform, wherein the test platform is a hydraulically controlled platform, and the attitude adjustment method includes:

[0006] Determine the attitude adjustment requirements of the hydraulic control platform;

[0007] Based on the attitude adjustment requirements, a first hydraulic input value corresponding to the first hydraulic column and a target parameter value corresponding to each hydraulic column are determined; wherein, the target parameter value is the parameter value when the hydraulic column is adjusted to meet the attitude adjustment requirements, and the target parameter value includes a target pressure value and / or a target hydraulic value;

[0008] The posture of the first hydraulic column is adjusted using the first hydraulic input value;

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

[0010] Optionally, based on the attitude adjustment requirements, a first hydraulic input value corresponding to the first hydraulic column is determined, including:

[0011] Determine the transverse hydraulic column assembly and the longitudinal hydraulic column assembly in the hydraulic control platform;

[0012] Based on the posture adjustment requirements, the first hydraulic column group for initial adjustment is determined from the transverse hydraulic column group and the longitudinal hydraulic column group;

[0013] Using the posture adjustment requirements, determine the first hydraulic input value corresponding to each first hydraulic column in the first hydraulic column group.

[0014] Optionally, based on the target parameter value and real-time parameter value of each hydraulic column, the second hydraulic column to be adjusted and the corresponding second hydraulic input value are determined, including:

[0015] The attitude adjustment mode of the hydraulic control platform is determined; the attitude adjustment mode includes intra-group adjustment mode and inter-group adjustment mode.

[0016] At least two target hydraulic cylinders are determined based on the attitude adjustment mode;

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

[0018] Optionally, determining at least two target hydraulic columns based on the attitude adjustment mode includes:

[0019] If the attitude adjustment mode is an intra-group adjustment mode, then the first hydraulic column group is determined from the transverse hydraulic column group or the longitudinal hydraulic column group.

[0020] Select any two hydraulic columns from the first hydraulic column group as the first target hydraulic columns.

[0021] Optionally, based on the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns, the second hydraulic column to be adjusted and the corresponding second hydraulic input value are determined, including:

[0022] Determine the real-time parameter values ​​for each first target hydraulic column;

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

[0024] The second hydraulic input value of the second hydraulic column is determined based on the target parameter value and real-time parameter value of each first target hydraulic column.

[0025] Optionally, determining at least two target hydraulic columns based on the attitude adjustment mode includes:

[0026] If the attitude adjustment mode is an inter-group adjustment mode, then the second hydraulic column group and the third hydraulic column group are determined 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 the second target hydraulic column, and at least one hydraulic column is selected 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.

[0028] Optionally, based on the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns, the second hydraulic column to be adjusted and the corresponding second hydraulic input value are determined, including:

[0029] Determine the real-time parameter values ​​for each second target hydraulic column and each third target hydraulic column;

[0030] Select 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 based on the target parameter values ​​and real-time parameter values ​​of each second target hydraulic column and the third target hydraulic column.

[0032] Secondly, this application provides an attitude adjustment device for a test platform, wherein the test platform is a hydraulically controlled platform, and the attitude adjustment device includes:

[0033] The first determining module is used to determine the attitude adjustment requirements of the hydraulic control platform;

[0034] The second determining module is used to determine, based on the attitude adjustment requirements, 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 the parameter value for adjusting the hydraulic column to meet the attitude adjustment requirements, and the target parameter value includes a target pressure value and / or a target hydraulic value;

[0035] The first adjustment module is used to adjust the posture of the first hydraulic column using the first hydraulic input value;

[0036] The third determining module is used to determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value based on the target parameter value and 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 using the second hydraulic input value until the hydraulic control platform meets the posture adjustment requirements.

[0038] Thirdly, this application provides an electronic device, comprising:

[0039] The processor, memory, and computer program stored in the memory and executable on the processor, wherein the processor executes the steps of the attitude adjustment method of the test platform described above in this application through the computer program.

[0040] Fourthly, this application also provides a computer storage medium storing computer-executable instructions for performing the steps of the attitude adjustment method of the test platform described above.

[0041] Compared with the prior art, the technical solution provided in this application has the following advantages: The test platform in this application is a hydraulic control platform. The platform posture is adjusted by controlling the extension and retraction of the hydraulic columns. This hydraulic control method has a fast response speed and can complete the posture adjustment of the platform in a short time. In addition, the hydraulic control method can handle larger loads and is suitable for larger and heavier test samples, thus broadening the application range of the test platform. Furthermore, when adjusting the posture of the test platform, this 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 the test platform from becoming unbalanced due to local adjustments. Attached Figure Description

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

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0044] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0045] Figure 1 A schematic flowchart of a test platform attitude adjustment method provided in an embodiment of this application;

[0046] Figure 2 A schematic diagram of a hydraulic column configuration provided in this application embodiment;

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

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

[0049] Figure 5 A schematic flowchart of an attitude adjustment method for another testing platform provided in an embodiment of this application;

[0050] Figure 6a A schematic diagram of the overall system structure provided in this application embodiment;

[0051] Figure 6b A schematic diagram of a longitudinal hydraulic column assembly posture adjustment structure provided in this application embodiment;

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

[0053] Figure 8 This is a schematic diagram of an electronic device structure provided in an embodiment of this application. Detailed Implementation

[0054] Traditional solutions utilize motor systems, screw jack systems, and pneumatic control systems to adjust the attitude of the test platform. The motor system, consisting of a base plate and a motor shaft connected to it, controls the pitch and offset of the prototype through shaft rotation. This method is highly dependent on the weight of the prototype; excessive weight can damage the equipment. Furthermore, this solution lacks flexibility and cannot quickly move the prototype. Screw jack platforms rely on screw rotation to control platform lifting and angle adjustment. While adaptable to prototypes of a certain weight, their movement speed is slow, and angle adjustments are time-consuming. Additionally, screw jack systems experience high friction under heavy loads, leading to severe system wear. Pneumatic control systems utilize air pressure changes to control platform movement, typically offering fast response times. However, pneumatic systems have relatively low output force, making them unsuitable for handling heavy prototypes.

[0055] Therefore, traditional methods for adjusting the attitude of test platforms suffer from problems such as poor flexibility, slow adjustment speed, and difficulty in handling heavy test pieces. This application discloses a method, apparatus, device, and storage medium for adjusting the attitude of a test platform, enabling accurate and rapid adjustment of the platform's attitude.

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0058] See Figure 1 , Figure 1 This application provides a flowchart illustrating a method for adjusting the attitude of a testing platform, which specifically includes the following steps:

[0059] S101. Determine the attitude adjustment requirements of the hydraulic control platform;

[0060] In this embodiment, the test platform is a hydraulic control platform. Hydraulic columns are installed at the bottom of the platform, and precise control of the platform's attitude is achieved through the extension and retraction of these columns. In this embodiment, the hydraulic control platform has m*n hydraulic columns, where m is the number of hydraulic columns in the horizontal direction and n is the number of hydraulic columns in the vertical direction, and both m and n are greater than or equal to 2. See also... Figure 2 , Figure 2 This is a schematic diagram of the hydraulic column components provided in an embodiment of the present invention. Figure 2 As can be seen, in this embodiment, the hydraulic control platform is equipped with nine hydraulic columns, which are evenly distributed at the four corners and the middle of the rectangle. The number of hydraulic columns m in the horizontal direction of the hydraulic control platform is 3, and the number of hydraulic columns n in the vertical direction is 3.

[0061] See Figure 3 , Figure 3 This is a 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 to a system, such as... Figure 3As shown, these nine hydraulic columns can be simplified into nine systems, where system 1 is the system of hydraulic column 1, system 2 is the system of hydraulic column 2, system 3 is the system of hydraulic column 3, system 4 is the system of hydraulic column 4, system 5 is the system of hydraulic column 5, system 6 is the system of hydraulic column 6, system 7 is the system of hydraulic column 7, system 8 is the system of hydraulic column 8, and system 9 is the system of hydraulic column 9. In this embodiment, the bottom of the hydraulic control platform uses the above nine hydraulic columns. By hydraulically controlling the extension and retraction of each hydraulic column, the platform is controlled to different angles, thus completing the attitude adjustment of the platform.

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

[0063] S102. Based on the attitude adjustment requirements, determine the first hydraulic input value corresponding to the first hydraulic column and the target parameter value corresponding to each hydraulic column; wherein, the target parameter value is the parameter value when the hydraulic column is adjusted to meet the attitude adjustment requirements, and the target parameter value includes the target pressure value and / or the target hydraulic value;

[0064] S103. Adjust 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 first necessary to determine the initial hydraulic column to be adjusted. In this embodiment, the initial hydraulic column to be adjusted is referred to as the first hydraulic column, such as... Figure 3 As shown, the attitude adjustment requirement is to adjust the platform to a 15-degree forward and backward tilt. At this point, hydraulic columns 1, 4, and 7 can be selected as the first hydraulic columns. That is, when adjusting the attitude of each hydraulic column, the attitude of hydraulic columns 1, 4, and 7 should be adjusted first. The first hydraulic input value is the value at which the first hydraulic columns are adjusted to meet the attitude adjustment requirement. This first hydraulic input value can be understood as the oil inlet volume. By adjusting the oil inlet volume of each hydraulic column, the attitude of each first hydraulic column can be adjusted.

[0066] In this embodiment, the first hydraulic input value needs to be determined based on the attitude adjustment requirements. For example, if the attitude adjustment requirement is to adjust the platform to tilt forward and backward by 15 degrees, see [reference needed]. Figure 3To meet this requirement, the heights of hydraulic columns 1, 4, and 7 need to be increased by ΔH1, while the heights of hydraulic columns 3, 6, and 9 need to be decreased by ΔH2. Then, through calculation, the oil intake volume when hydraulic columns 1, 4, and 7 are increased by ΔH1 is determined, thereby determining the first hydraulic input values ​​for hydraulic columns 1, 4, and 7.

[0067] Furthermore, in this embodiment, the lifting and lowering of the hydraulic columns needs to be gradually increased or decreased during the adjustment process to avoid sudden, large changes that could cause platform instability. Therefore, in this embodiment, the posture of each hydraulic column is gradually adjusted using the target parameter value corresponding to each hydraulic column. The target parameter value is the parameter value used to adjust the hydraulic column to meet the posture adjustment requirements. In this example, the target parameter value can be the target pressure value, the target hydraulic pressure value, or both. That is, this solution can gradually adjust the posture of each hydraulic column based solely on its pressure value, solely on its hydraulic pressure value, or gradually adjust the posture of each hydraulic column based on both its pressure and hydraulic pressure values.

[0068] The target pressure and hydraulic pressure values ​​can be determined based on the attitude adjustment requirements: First, calculate the required adjustment height for each hydraulic cylinder based on the attitude adjustment requirements. Then, calculate the oil inlet volume for each hydraulic cylinder based on this height. Finally, combine the oil inlet volume with the pressure / hydraulic pressure ratio to calculate the target pressure and hydraulic pressure values ​​for each hydraulic cylinder. The target pressure and hydraulic pressure values ​​are related to the load weight on the platform; the greater the load weight, the greater the target pressure and hydraulic pressure values ​​of the hydraulic cylinders, showing a direct proportional relationship.

[0069] It is understandable that the structure of each hydraulic column in the hydraulic control platform is identical; therefore, the structure of a single hydraulic column will be used as an example for explanation. (See also...) Figure 4 , Figure 4 A schematic diagram of the structure of a single hydraulic column provided in an embodiment of the present invention; Figure 4This is a schematic diagram of a single hydraulic cylinder structure drawn using Simulink (a visualization simulation tool). In the diagram: Manual SwitchConstant represents a switch; when the switch is to the down arrow, the hydraulic input value is 0, meaning there is no input. When the switch is to the up arrow, the value input is recorded as the hydraulic input value. Simulink-PS Converter, PS-SimulinkConverter, PS-Simulink Converter1, and PS-Simulink Converter2 represent different converters. ValveActuator represents a valve actuator. Solver Configuration represents the solver configuration. Hydraulic Reference represents the oil tank. He represents the oil pump. 4-Way Directional Valve represents a four-way hydraulic valve. Double-ActingHydraulic Cylinder represents a two-way hydraulic cylinder. Mass represents the load. Translational Damper represents a translational damper. Translational Spring represents a translational spring. Ideal Force Sensor represents an idealized force sensor. Hydraulic Pressure... Seneor represents a hydraulic sensor, Hydraulic represents a flow sensor; Scope, Scope1, and Scope2 represent different oscilloscopes used to view simulation results.

[0070] pass Figure 4 As can be seen, the main body 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, ensuring that the hydraulic cylinder extends and retracts in the correct direction. The two-way hydraulic cylinder can convert the energy stored in the hydraulic system 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 valve's conduction. By controlling the opening and closing of the valve, the hydraulic cylinder's action can be quickly responded to and automatically adjusted according to different posture adjustment requirements.

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

[0072] In this embodiment, during the attitude adjustment of the first hydraulic column, a dual feedback mechanism of force feedback and / or hydraulic feedback can be used to adjust the attitude of different hydraulic columns, improving the system's anti-interference capability and adjustment accuracy. In this embodiment, the hydraulic column whose attitude needs adjustment during the feedback adjustment process is referred to as the second hydraulic column, and the hydraulic input value corresponding to the second hydraulic column is referred to as the second hydraulic input value. The attitude of the second hydraulic column is adjusted using the second hydraulic input value until the hydraulic control platform meets the attitude adjustment requirements. It should be noted that the determination process of the second hydraulic column and the second hydraulic input value is continuously changing throughout the adjustment process. Whenever an adjustment is detected for a particular hydraulic column, the hydraulic column to be adjusted is designated as the second hydraulic column, and the hydraulic input value is designated as the second hydraulic input value for adjustment, until the entire hydraulic control platform meets the attitude adjustment requirements, and the height position of the hydraulic columns no longer needs to be adjusted.

[0073] In this embodiment, the existence of a second hydraulic column to be adjusted is determined by the target parameter value and real-time parameter value of each hydraulic column. The target parameter value is the parameter value required to adjust the hydraulic column to meet the posture adjustment requirements. The target parameter value can be a target pressure value and / or a target hydraulic value. The real-time parameter value is the current real-time pressure value and / or real-time hydraulic value of the hydraulic column. If this solution only uses pressure value for feedback adjustment, then the target parameter value is the target pressure value, and the real-time parameter value is the real-time pressure value. If this solution only uses hydraulic value for feedback adjustment, then the target parameter value is the target hydraulic value, and the real-time parameter value is the real-time hydraulic value. If this solution uses both pressure value and hydraulic value for feedback adjustment, then 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 combining the pressure value and the hydraulic value.

[0074] Specifically, if the real-time parameter values ​​of the hydraulic cylinders are the same as the target parameter values, it means that the posture of the hydraulic cylinders does not need to be adjusted. If the real-time parameter values ​​are different from the target parameter values, it means that the posture of the hydraulic cylinders needs to be further adjusted. At this time, it is necessary to calculate a second hydraulic input value based on the ratio between the oil supply and the parameter values, so that the error value of the parameter values ​​is fed back to the oil supply control. Then, by correcting the oil supply, the parameter values ​​are adjusted. For example, if the real-time pressure value of the hydraulic cylinder 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 that needs to be adjusted to reduce the pressure value based on the ratio between the oil supply and the pressure. Therefore, after adjusting the oil supply through the second hydraulic input value, the real-time pressure value of the hydraulic cylinder 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 cylinder can be made the same as the target parameter values. At this time, it can be determined that the current posture of the platform meets the posture adjustment requirements. It should be noted that if the pressure generated by the hydraulic cylinder is too high, the force can be reduced by lowering the height of the hydraulic cylinder; if the pressure generated by the hydraulic cylinder is too low, the force can be increased by raising the height of the hydraulic cylinder.

[0075] For example: If the posture adjustment requirement is to adjust the platform to tilt forward and backward by 15 degrees, then it is necessary to raise the height of hydraulic column 1, hydraulic column 4 and hydraulic column 7 by ΔH1, and raise the height of hydraulic column 3, hydraulic column 6 and hydraulic column 9 by ΔH2. Determine the first hydraulic input value for raising hydraulic column 1, hydraulic column 4 and hydraulic column 7, and adjust the height of hydraulic column 1, hydraulic column 4 and hydraulic column 7 respectively according to the first hydraulic input value. During this adjustment process, to ensure platform stability, it is necessary to determine the second hydraulic input values ​​for hydraulic columns 3, 6, and 9. The heights of hydraulic columns 3, 6, and 9 are then gradually adjusted based on these second hydraulic input values. Furthermore, if hydraulic columns 1, 4, and 7 are to rise to the same height, but a significant difference in real-time pressure values ​​is detected between hydraulic columns 1 and 4, it indicates that their rising speeds are different. In this case, the hydraulic input values ​​of the hydraulic columns can be adjusted to reduce the difference in real-time pressure values ​​between hydraulic columns 1 and 4, thus ensuring the stability of the hydraulic columns during the adjustment process.

[0076] In summary, the test platform in this embodiment is a hydraulic control platform. The platform's posture is adjusted by controlling the extension and retraction of the hydraulic cylinders. This hydraulic control method has a fast response speed and can complete the posture adjustment of the platform in a short time. Furthermore, the hydraulic control method can handle larger loads and is suitable for larger and heavier test samples, thus broadening the application range of the test platform. Moreover, when adjusting the posture of the test platform, this application can adjust the posture of each hydraulic cylinder in real time based on the pressure and hydraulic value of each hydraulic cylinder, thereby improving the posture adjustment speed and accuracy, ensuring the stability between different hydraulic cylinders, and avoiding the test platform from becoming unbalanced due to local adjustments.

[0077] See Figure 5 , Figure 5 A schematic flowchart of another attitude adjustment method for a testing platform provided in this application embodiment is shown. The method specifically includes the following steps:

[0078] S201. Determine the attitude adjustment requirements of the hydraulic control platform;

[0079] S202. Determine the transverse hydraulic column assembly and the longitudinal hydraulic column assembly in the hydraulic control platform;

[0080] S203. Based on the posture adjustment requirements, determine the first hydraulic column group for initial adjustment from the horizontal hydraulic column group and the longitudinal hydraulic column group.

[0081] S204. Based on the attitude adjustment requirements, determine the first hydraulic input value corresponding to each first hydraulic column in the first hydraulic column group;

[0082] S205. Determine the target parameter values ​​corresponding to each hydraulic column according to the attitude adjustment requirements; wherein, the target parameter values ​​are the parameter values ​​that will adjust the hydraulic column to meet the attitude adjustment requirements, and the target parameter values ​​include target pressure values ​​and / or target hydraulic values.

[0083] S206. Adjust the posture of the first hydraulic column using the first hydraulic input value;

[0084] S207. During the attitude adjustment process of the first hydraulic column, the attitude adjustment mode of the hydraulic control platform is determined, and at least two target hydraulic columns are determined according to the attitude adjustment mode; the attitude adjustment mode includes intra-group adjustment mode and inter-group adjustment mode.

[0085] S208. Determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value based on the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns.

[0086] S209. Adjust the posture of the second hydraulic column using the second hydraulic input value until the hydraulic control platform meets the posture adjustment requirements.

[0087] In this embodiment, when determining the first hydraulic input value corresponding to the first hydraulic column based on the attitude adjustment requirements, a certain group of hydraulic columns can be used as the first hydraulic column for adjustment, thereby improving the attitude adjustment speed and accuracy. See also... Figure 3 The system includes nine hydraulic columns. In this embodiment, the nine hydraulic columns can be divided into six groups: three groups of horizontal hydraulic columns and three groups of vertical hydraulic columns. The horizontal hydraulic column groups are used to control the platform's attitude adjustment in the left-right direction, and the vertical hydraulic column groups are used to control the platform's attitude adjustment in the front-back direction. Specifically, in this embodiment, the first group of horizontal hydraulic columns includes hydraulic columns 1, 4, and 7; the second group includes hydraulic columns 2, 5, and 8; and the third group includes hydraulic columns 3, 6, and 9. Similarly, the first group of vertical hydraulic columns includes hydraulic columns 1, 2, and 3; the second group includes hydraulic columns 4, 5, and 6; and the third group includes hydraulic columns 7, 8, and 9.

[0088] In this embodiment, when determining the first hydraulic column group for initial adjustment, any group can be selected from the horizontal 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 forward and backward by 15 degrees, then the height of hydraulic columns 1, 4, and 7 in the first group of horizontal hydraulic columns needs to be increased by ΔH1, and the height of hydraulic columns 3, 6, and 9 in the third group of horizontal hydraulic columns needs to be increased by ΔH2. The height of hydraulic columns 2, 5, and 8 in the second group of horizontal hydraulic columns remains unchanged. Therefore, in this embodiment, the first group of horizontal hydraulic columns can be used as the first hydraulic column group for initial adjustment, and hydraulic columns 1, 4, and 7 in the first group of horizontal hydraulic columns are all first hydraulic columns. The corresponding first hydraulic input value is calculated based on the height value to be adjusted for each hydraulic column. It should be noted that in this embodiment, the horizontal combination is given priority. If the longitudinal combination is given priority, the first group of longitudinal hydraulic columns can also be used as the first hydraulic column group for initial adjustment; this is not specifically limited here.

[0089] Furthermore, when determining the second hydraulic column to be adjusted and its corresponding second hydraulic input value, this solution can be based on the attitude adjustment mode of the hydraulic control platform. This attitude adjustment mode includes intra-group adjustment mode and inter-group adjustment mode. In this solution, "group" refers to the transverse hydraulic column group and the longitudinal hydraulic column group. Moreover, to more smoothly adjust the attitude of each hydraulic column, this application needs to determine at least two target hydraulic columns based on the attitude adjustment mode. Based on the real-time parameter values ​​and target parameter values ​​of at least two target hydraulic columns, the second hydraulic column whose attitude needs adjustment and its corresponding second hydraulic input value are determined. The second hydraulic column can be any one or more of the target hydraulic columns. For example, if the selected target hydraulic columns include hydraulic column 1 and hydraulic column 2, then the second hydraulic column can be hydraulic column 1, hydraulic column 2, or both hydraulic columns 1 and 2, and can be set according to the actual situation.

[0090] If the attitude adjustment mode is an intra-group adjustment mode, then 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. For example, hydraulic columns 1 and 4 are selected as target hydraulic columns from the first transverse hydraulic column group, and hydraulic column 1 is selected as the second hydraulic column to be adjusted. Then, the attitude of hydraulic column 1 is adjusted according to the real-time parameter values ​​and target parameter values ​​of hydraulic columns 1 and 4. If the attitude adjustment mode is an inter-group adjustment mode, then at least two target hydraulic columns are selected from the two transverse hydraulic column groups. Two target hydraulic columns can be selected, with the same number of target hydraulic columns selected in each transverse hydraulic column group; or, at least two target hydraulic columns can be selected from two longitudinal hydraulic column groups, with the same number of target hydraulic columns selected in each longitudinal hydraulic column group. For example, if hydraulic column No. 1 is selected as the target hydraulic column from the first transverse hydraulic column group, hydraulic column No. 2 is selected as the target hydraulic column from the second transverse hydraulic column group, and hydraulic column No. 1 is selected as the second hydraulic column to be adjusted, then the attitude of hydraulic column No. 1 is adjusted according to the real-time parameter values ​​and target parameter values ​​of hydraulic columns No. 1 and No. 2.

[0091] Specifically, when determining the second hydraulic input value corresponding to the second hydraulic column to be adjusted, this application can use various methods, which are not specifically limited here. For example, if the target pressure values ​​of hydraulic columns 1 and 4 are the same, but the real-time pressure value of hydraulic column 1 is less than that of hydraulic column 4, and there is a pressure difference between hydraulic columns 1 and 4, then the real-time pressure value of hydraulic column 1 can be increased by setting the second hydraulic input value of hydraulic column 1, or the real-time pressure value of hydraulic column 4 can be decreased by setting the second hydraulic input value of hydraulic column 4. Alternatively, the second hydraulic input values ​​of hydraulic columns 1 and 4 can be set simultaneously, allowing for the simultaneous execution of both steps to achieve rapid attitude adjustment.

[0092] In summary, this application divides the hydraulic control platform into a horizontal hydraulic column group and a vertical hydraulic column group. When adjusting the platform's posture, it first determines one set of hydraulic columns from the horizontal and vertical hydraulic column groups for initial adjustment, achieving rapid adjustment of the hydraulic columns. Furthermore, this method of first adjusting the first hydraulic column group and then adjusting the posture of other hydraulic columns based on the real-time parameter values ​​of each hydraulic column ensures the balance and stability of the platform during posture adjustment. Moreover, when adjusting the posture, this solution can determine the second hydraulic column to be adjusted according to the adjustment mode, thereby adjusting the posture of the hydraulic columns based on the parameter values ​​of the hydraulic columns within and between groups, achieving precise control of the hydraulic columns.

[0093] Based on the above embodiments, in this embodiment, if the attitude adjustment mode is an intra-group adjustment mode, then this application determines at least two target hydraulic columns according to the attitude adjustment mode, and the process of 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 the at least two target hydraulic columns specifically includes:

[0094] The first hydraulic column group is determined from either the transverse hydraulic column group or the longitudinal hydraulic column group;

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

[0096] Determine the real-time parameter values ​​for each first target hydraulic column;

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

[0098] The second hydraulic input value of the second hydraulic column is determined based on the target parameter value and real-time parameter value of each first target hydraulic column.

[0099] Understandably, if the attitude adjustment mode is set to intra-group adjustment, then intra-group attitude adjustment is required for either the transverse or longitudinal hydraulic column group. The transverse hydraulic column group controls the platform's attitude adjustment in the left-right direction. In this group, the interaction between the hydraulic columns is primarily controlled through force and hydraulic feedback. When the platform undergoes rapid left-right tilt adjustments, the hydraulic columns can be fine-tuned in advance to prevent drastic attitude changes, improving the smoothness and comfort of platform adjustment. The longitudinal hydraulic column group is mainly used for the platform's attitude adjustment in the forward-backward direction. In this group, each hydraulic column is precisely controlled through a combination of force and hydraulic feedback, allowing the system to adjust the attitude of each column in real time according to different loads and attitude adjustment requirements. When the force difference between the hydraulic columns is large, the system automatically increases the response force of the control feedback to shorten the adjustment time and reduce errors.

[0100] Specifically, during feedback adjustment, the first step is to determine the first hydraulic column group to be adjusted from either the horizontal or vertical hydraulic column group. Then, any two hydraulic columns from this first hydraulic column group are selected as the first target hydraulic columns. The number of these first target hydraulic columns is two. The second hydraulic column to be adjusted and its second hydraulic input value are determined by comparing the real-time parameter values ​​of the two first target hydraulic columns. The second hydraulic column to be adjusted is selected from the two first target hydraulic columns; it can be any one of the first target hydraulic columns or both of them. Finally, the second hydraulic input value of the second hydraulic column is determined based on the target parameter values ​​and real-time parameter values ​​of each first target hydraulic column.

[0101] For example, if there are three sets of transverse hydraulic cylinders and three sets of longitudinal hydraulic cylinders, all six sets of hydraulic cylinders can be used as the first hydraulic cylinders to be adjusted. Alternatively, any one or more sets of hydraulic cylinders can be selected as the first hydraulic cylinders to be adjusted. In this embodiment, only the first set of transverse hydraulic cylinders is used as an example. If the first set of transverse hydraulic cylinders includes hydraulic cylinders 1, 4, and 7, then hydraulic cylinders 1 and 4 are selected as the first target hydraulic cylinders. If the target pressure value of hydraulic cylinder 1 is 10, and the target pressure value of hydraulic cylinder 4 is also 10, and hydraulic cylinders 1 and 4 are currently adjusting their posture according to the first hydraulic input value, but the real-time pressure value of hydraulic cylinder 1 is... The real-time pressure value of hydraulic column 1 is 5, while the real-time pressure value of hydraulic column 4 is 3. It can be seen that the target pressure values ​​of hydraulic columns 1 and 4 are the same, both being 10. In order to ensure the balance of the platform, the real-time pressure values ​​of hydraulic columns 1 and 4 should also be the same. However, the real-time pressure value of hydraulic column 1 should be higher than that of hydraulic column 4. At this time, hydraulic column 4 can be used as the second hydraulic column to be adjusted. Since the difference between the real-time pressure values ​​of hydraulic columns 1 and 4 is 2, the second hydraulic input value corresponding to increasing the pressure value of hydraulic column 4 by 2 is calculated. In order to adjust the posture of hydraulic column 4 according to the second hydraulic input value, so that the real-time pressure value of hydraulic column 4 is the same as that of hydraulic column 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, this application can calculate it based on the ratio of the target parameter values ​​of each first target hydraulic column. For example, if the target parameter value of hydraulic column 1 is 10 and the target parameter value of hydraulic column 4 is also 10, the ratio of the target parameter values ​​is 1:1. The difference between the real-time pressure values ​​of hydraulic columns 1 and 4 is calculated to be 2. This difference can be divided into two parts: by dividing the difference by 2, adjusting the second hydraulic input value of hydraulic column 1 reduces its real-time parameter value by 1, and adjusting the second hydraulic input value of hydraulic column 4 increases its real-time parameter value by 1. This achieves a balance between hydraulic columns 1 and 4. Furthermore, since the target parameter values ​​and real-time parameter values ​​in this embodiment can be not only pressure values ​​but also hydraulic values, this application can control the adjustment process through a dual feedback mechanism of pressure and hydraulic pressure to ensure stable operation of the platform at different angles.

[0103] In summary, this application significantly enhances the system's anti-interference capability through the combined pressure of the hydraulic column's extension and retraction, and the dual feedback mechanism of hydraulic pressure. This enables high-precision control of the platform angle, ensuring stable posture even in complex testing environments. Furthermore, by dividing the hydraulic control platform into longitudinal and lateral configurations, this application allows for flexible and rapid adjustment of the platform's forward / backward and left / right postures, adapting to different testing requirements and greatly improving testing efficiency.

[0104] Based on the above embodiments, in this embodiment, if the attitude adjustment mode is an inter-group adjustment mode, then this application determines at least two target hydraulic columns according to the attitude adjustment mode, and the process of 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 the at least two target hydraulic columns specifically includes:

[0105] The second and third hydraulic column groups are determined from either the transverse hydraulic column group or the longitudinal hydraulic column group;

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

[0107] Determine the real-time parameter values ​​for each second target hydraulic column and each third target hydraulic column;

[0108] Select 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 based on the target parameter values ​​and real-time parameter values ​​of each second target hydraulic column and the third target hydraulic column.

[0110] In this embodiment, if the attitude adjustment mode is an inter-group adjustment mode, the attitude of each hydraulic column needs to be adjusted through real-time parameter value feedback between different groups. Here, "different groups" in this embodiment refers to different transverse hydraulic column groups or different longitudinal hydraulic column groups. Therefore, the second and third hydraulic column groups selected in this embodiment are chosen from either the transverse or longitudinal hydraulic column groups. After determining the second and third hydraulic column groups, at least one hydraulic column needs to be selected from the second hydraulic column group as the second target hydraulic column, and at least one hydraulic column needs to be selected from the third hydraulic column group as the third target hydraulic column. Then, based on the target parameter values ​​and real-time parameter values ​​of the second and third target hydraulic columns, the second hydraulic input value of the second hydraulic column is determined; this second hydraulic column is the hydraulic column to be adjusted among the second and third target hydraulic columns.

[0111] It should be noted that this application achieves the attitude adjustment of each group of hydraulic cylinders through an inter-group adjustment mode. The hydraulic input value of the first group of hydraulic cylinders is used as a reference to determine the hydraulic input values ​​of the other groups. For example, if a certain slope is required on the platform, the required slope needs to be converted into the hydraulic input value of the first group of hydraulic cylinders based on the actual situation, and then the attitude of the first group of hydraulic cylinders is adjusted. At this time, the real-time parameter value of the first group of hydraulic cylinders has changed. After detecting this change, the real-time parameter value is fed back to the second group of hydraulic cylinders. Upon receiving the feedback, the second group of hydraulic cylinders adjusts its hydraulic input according to a preset control strategy to generate a real-time parameter value that matches the real-time parameters of the first group of hydraulic cylinders.

[0112] For example, a horizontal hydraulic column assembly includes a first horizontal hydraulic column assembly, a second horizontal hydraulic column assembly, and a third horizontal hydraulic column assembly. In this case, the first horizontal hydraulic column assembly can be selected as the second hydraulic column assembly, and the second horizontal hydraulic column assembly can be selected as the third hydraulic column assembly. The first horizontal hydraulic column assembly includes hydraulic columns 1, 4, and 7; the second horizontal hydraulic column assembly includes hydraulic columns 2, 5, and 8. All three hydraulic columns in the first horizontal hydraulic column assembly are selected as the second target hydraulic columns, and all three hydraulic columns in the second horizontal hydraulic column assembly are selected as the third target hydraulic columns. If the target parameter values ​​of hydraulic columns 1, 4, and 7 are all 10, while the target parameter values ​​of hydraulic columns 2, 5, and 8 are all 5, and the real-time parameter values ​​of hydraulic columns 1, 4, and 7 are 2, while the target parameter values ​​of hydraulic columns 2, 5, and 8 are all 0, this indicates that the attitude of each hydraulic column in the first group of transverse hydraulic columns has been adjusted first. At this point, the attitude of the second group of transverse hydraulic columns can be adjusted according to the ratio of the target parameter values ​​of the first group of transverse hydraulic columns to those of the second group of transverse hydraulic columns.

[0113] Specifically, since the total target parameter value of the first group of horizontal hydraulic columns is 30, while the total target parameter value of the second group of horizontal hydraulic columns is 15, the ratio is 2:1. Furthermore, the real-time parameter values ​​of hydraulic columns 1, 4, and 7 are 2. Therefore, a second hydraulic input value needs to be set to adjust the real-time parameter values ​​of hydraulic columns 2, 5, and 8 to 1. During the adjustment of the posture of hydraulic columns 1, 4, and 7, the posture of hydraulic columns 2, 5, and 8 can be adjusted in real-time based on the continuous changes in their real-time parameter values. This ensures that the ratio of the real-time parameter values ​​of hydraulic columns 1, 4, and 7 to those of hydraulic columns 2, 5, and 8 remains at 2:1, thereby allowing each hydraulic column to be stably and accurately adjusted to meet the posture adjustment requirements.

[0114] This inter-group adjustment mode allows for automatic adjustment between different groups of hydraulic columns based on pressure and hydraulic feedback, ensuring balance among them and preventing platform imbalance caused by localized adjustments. Furthermore, this mode enables coordinated work between different groups of hydraulic columns, preventing drastic changes in platform posture and ensuring overall platform stability and accuracy of posture adjustments. This coordinated adjustment method significantly improves the response speed and stability of platform posture adjustments. For example, when the first group of hydraulic columns adjusts the platform's forward or backward tilt, the system automatically feeds back the adjustment information to the second group of hydraulic columns, without waiting for the first group to complete its adjustment before adjusting the second group, thus ensuring that the platform does not become unbalanced due to adjustments made by a single system.

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

[0116] I. Initialization Phase:

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

[0118] For example, a hydraulic control platform includes nine hydraulic columns arranged in a 3x3 configuration. The required attitude adjustment is as follows: to tilt the platform forward and backward by 15 degrees, the first group of hydraulic columns (e.g., columns 1, 4, and 7) needs to be raised, the third group (e.g., columns 3, 6, and 9) needs to be lowered, and the second group (e.g., columns 2, 5, and 8) remains unchanged. Assuming the initial height of the hydraulic columns is H0, when the platform needs to be tilted forward and backward by 15 degrees, the first group of hydraulic columns needs to be raised by ΔH1, and the third group needs to be lowered by ΔH2. Different heights correspond to different hydraulic input values, different target pressure values, and different target hydraulic values.

[0119] II. Group Control:

[0120] First, attitude control is performed based on the hydraulic input value of the first set of hydraulic cylinders. While adjusting the first set of hydraulic cylinders, the hydraulic input value of the third set of hydraulic cylinders is determined in real time based on the target parameter value and the real-time parameter value, according to the inter-group adjustment mode. The attitude of the third set of hydraulic cylinders is then adjusted to maintain the stability and accuracy of the platform's attitude. It should be noted that since the height of the second set of hydraulic cylinders does not need to be adjusted, its hydraulic input value does not need to be adjusted. However, if necessary, the hydraulic input value of the second set of hydraulic cylinders can be adjusted as required to achieve more complex attitude adjustments.

[0121] III. Gradual Adjustment:

[0122] The above adjustment process requires not only inter-group adjustment mode but also intra-group adjustment mode. Intra-group adjustment mode allows for gradual increase or decrease of the hydraulic column's lifting or lowering amount based on the target and real-time parameter values ​​of different hydraulic columns within the group, preventing sudden, large changes that could lead to platform instability. For example, if the pressure value generated by a certain hydraulic column differs significantly from that of other hydraulic columns, adjusting the lifting or lowering amount of that hydraulic column can help maintain balance with the others.

[0123] See Figure 6aThis is a schematic diagram of an overall system structure provided by an embodiment of the present invention. Figure 6a As can be seen, the hydraulic control platform in this embodiment includes a simplified nine-hydraulic-column system, 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. The pressure value and hydraulic value of each hydraulic column are obtained through the sensor group of each hydraulic column. The posture of each hydraulic column is adjusted through the real-time feedback of the pressure value and hydraulic value.

[0124] See Figure 6b This is a schematic diagram of a longitudinal hydraulic column assembly posture adjustment structure provided in an embodiment of this application. In this embodiment, the posture adjustment process of the longitudinal hydraulic column assembly composed of system1, system2, and system3 is described as an example. Figure 6b As can be seen, each hydraulic column system measures pressure values ​​using a force sensor and hydraulic pressure values ​​using a hydraulic sensor. The specific meanings of each feedback loop in the diagram are as follows:

[0125] loop1_2P1: Indicates that system1 and system2 use hydraulic value as the control standard for feedback control of system1; loop1_2F1: Indicates that system1 and system2 use pressure value as the control standard for feedback control of system1; loop1_2F2: Indicates that system1 and system2 use pressure value as the control standard for feedback control of system2; loop1_2P2: Indicates that system1 and system2 use hydraulic value as the control standard for feedback control of system2; loop2_3F2: Indicates that system2 and system3 use pressure value as the control standard for feedback control of system2. loop2_3P2: indicates that system2 and system3 use hydraulic values ​​as the control standard for feedback control of system2; loop2_3F3: indicates that system2 and system3 use pressure values ​​as the control standard for feedback control of system3; loop2_3P3: indicates that system2 and system3 use hydraulic values ​​as the control standard for feedback control of system3; loop1_3F3: indicates that system1 and system3 use pressure values ​​as the control standard for feedback control of system3; loop1_3P3: indicates that system1 and system3 use hydraulic values ​​as the control standard for feedback control of 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 based on the difference in pressure / hydraulic value between the two hydraulic column systems. The adjustment input module adjusts the oil supply of the hydraulic column system according to the hydraulic input value. During adjustment, the adjustment is achieved gradually through the corresponding flow sensor or pressure controller to avoid sudden large changes that could cause platform instability.

[0127] For example, if the posture adjustment requirements of the hydraulic control platform determine that System1 and System2 need to be at the same height, then the target pressure values ​​of System1 and System2 should be the same. If the real-time pressure value of System1 is detected to be different from that of System2, then the hydraulic input value of System1 is adjusted through the feedback loop Loop1_2F1 according to the real-time pressure values ​​of System1 and System2, so that the real-time pressure values ​​of System1 and System2 are the same. In this way, the mechanical error 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 supply.

[0128] In summary, this solution utilizes a hydraulic control platform built on Simulink, employing multiple hydraulic cylinders to achieve precise control of the platform's attitude by controlling the extension and retraction of each cylinder. In this solution, the hydraulic cylinders are combined longitudinally and laterally to achieve dual control in both intra-group and inter-group adjustment modes. In different modes, the hydraulic cylinder flow rate can be automatically adjusted not only based on pressure feedback but also through hydraulic feedback, enhancing the system's anti-interference capability and adjustment accuracy, and ensuring the response speed and stability of attitude adjustment.

[0129] See Figure 7 , Figure 7 This application provides a schematic diagram of the attitude adjustment device for a testing platform, which specifically includes:

[0130] The first determining module 11 is used to determine the attitude adjustment requirements of the hydraulic control platform;

[0131] The second determining module 12 is used to determine, according to the attitude adjustment requirements, 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 the parameter value when the hydraulic column is adjusted to meet the attitude adjustment requirements, and the target parameter value includes a target pressure value and / or a target hydraulic value;

[0132] The first adjustment module 13 is used to adjust the posture of the first hydraulic column using the first hydraulic input value;

[0133] The third determining module 14 is used to determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value based on the target parameter value and 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 using the second hydraulic input value until the hydraulic control platform meets the posture adjustment requirements.

[0135] As an optional embodiment, the second determining module is specifically used for:

[0136] Identify the transverse hydraulic column group and the longitudinal hydraulic column group in the hydraulic control platform; based on the attitude adjustment requirements, determine the first hydraulic column group for initial adjustment from the transverse hydraulic column group and the longitudinal hydraulic column group; based on the attitude adjustment requirements, determine the first hydraulic input value corresponding to each first hydraulic column in the first hydraulic column group.

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

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

[0139] The second determining unit is used to determine at least two target hydraulic columns according to the attitude adjustment mode;

[0140] The third determining unit is used to determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value based on 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 used for:

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

[0143] As an optional embodiment, the third determining unit is specifically used for:

[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 based on the target parameter value and real-time parameter value of each first target hydraulic column.

[0145] As an optional embodiment, the second determining unit is specifically used for:

[0146] If the attitude adjustment mode is an inter-group adjustment mode, then 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 the second target hydraulic column, and at least one hydraulic column is selected 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.

[0147] As an optional embodiment, the third determining unit is specifically used for:

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

[0149] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0150] See Figure 8 , Figure 8 This application provides a schematic diagram of an electronic device structure, which specifically includes:

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

[0152] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one hardware form selected from 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, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to handle computational 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 high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 22 is used to store at least the following computer program 221, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps in the attitude adjustment method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 22 may also include an operating system 222 and data 223, and the storage method may be temporary storage or permanent storage. 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 supply 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 this application. In practical applications, the electronic device may include more than [other components]. Figure 8 More or fewer components as shown, or combinations of certain components.

[0156] In another exemplary embodiment, a computer storage medium is also provided, wherein the program instructions, when executed by a processor, implement the steps of the attitude adjustment method described in any of the above method embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

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

[0158] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0159] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily 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 invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for adjusting the attitude of a test platform, characterized in that, The test platform is a hydraulic control platform, and the attitude adjustment method includes: Determine the attitude adjustment requirements of the hydraulic control platform; Based on the attitude adjustment requirements, a first hydraulic input value corresponding to the first hydraulic column and a target parameter value corresponding to each hydraulic column are determined; wherein, the target parameter value is the parameter value when the hydraulic column is adjusted to meet the attitude adjustment requirements, and the target parameter value includes a target pressure value and / or a target hydraulic value; The posture of the first hydraulic column is adjusted 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. 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. Specifically, based on the target parameter value and real-time parameter value of each hydraulic column, the second hydraulic column to be adjusted and the corresponding second hydraulic input value are determined, including: The attitude adjustment mode of the hydraulic control platform is determined; the attitude adjustment mode includes intra-group adjustment mode and inter-group adjustment mode; a group refers to the transverse hydraulic column group and the longitudinal hydraulic column group; At least two target hydraulic cylinders are determined based on the attitude adjustment mode; Based on the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns, determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value.

2. The attitude adjustment method according to claim 1, characterized in that, Based on the posture adjustment requirements, determine the first hydraulic input value corresponding to the first hydraulic column, including: Determine the transverse hydraulic column assembly and the longitudinal hydraulic column assembly in the hydraulic control platform; Based on the posture adjustment requirements, the first hydraulic column group for initial adjustment is determined from the transverse hydraulic column group and the longitudinal hydraulic column group; Using the posture adjustment requirements, determine the first hydraulic input value corresponding to each first hydraulic column in the first hydraulic column group.

3. The attitude adjustment method according to claim 1, characterized in that, The step of determining at least two target hydraulic columns based on the attitude adjustment mode includes: If the attitude adjustment mode is an intra-group adjustment mode, then the first hydraulic column group is determined from the transverse hydraulic column group or the longitudinal hydraulic column group. Select any two hydraulic columns from the first hydraulic column group as the first target hydraulic columns.

4. The attitude adjustment method according to claim 3, characterized in that, Based on the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic cylinders, determine the second hydraulic cylinder to be adjusted and its corresponding second hydraulic input value, including: Determine the real-time parameter values ​​for each first target hydraulic column; Select at least one second hydraulic column to be adjusted from the first target hydraulic column; The second hydraulic input value of the second hydraulic column is determined based on the target parameter value and real-time parameter value of each first target hydraulic column.

5. The attitude adjustment method according to claim 1, characterized in that, The step of determining at least two target hydraulic columns based on the attitude adjustment mode includes: If the attitude adjustment mode is an inter-group adjustment mode, then the second hydraulic column group and the 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 the second target hydraulic column, and at least one hydraulic column is selected 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.

6. The attitude adjustment method according to claim 5, characterized in that, Based on the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic cylinders, determine the second hydraulic cylinder to be adjusted and its corresponding second hydraulic input value, including: Determine the real-time parameter values ​​for each second target hydraulic column and 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; The second hydraulic input value of the second hydraulic column is determined based on the target parameter values ​​and real-time parameter values ​​of each second target hydraulic column and the third target hydraulic column.

7. An attitude adjustment device for a test platform, characterized in that, The test platform is a hydraulic control platform, and the attitude adjustment device includes: The first determining module is used to determine the attitude adjustment requirements of the hydraulic control platform; The second determining module is used to determine, based on the attitude adjustment requirements, 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 the parameter value for adjusting the hydraulic column to meet the attitude adjustment requirements, and the target parameter value includes a target pressure value and / or a target hydraulic value; The first adjustment module is used to adjust the posture of the first hydraulic column using the first hydraulic input value; The third determining module is used to determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value based on the target parameter value and 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 using the second hydraulic input value until the hydraulic control platform meets the posture adjustment requirements. The third determining module includes: The first determining unit is used to determine the attitude adjustment mode of the hydraulic control platform; the attitude adjustment mode includes intra-group adjustment mode and inter-group adjustment mode; a group refers to a transverse hydraulic column group and a longitudinal hydraulic column group; The second determining unit is used to determine at least two target hydraulic columns according to the attitude adjustment mode; The third determining unit is used to determine the second hydraulic column to be adjusted and the corresponding second hydraulic input value based on the target parameter values ​​and real-time parameter values ​​of at least two target hydraulic columns.

8. An electronic device, characterized in that, include: The processor, memory, and computer program stored in the memory and executable on the processor, wherein the processor performs the steps of the attitude adjustment method of the test platform according to any one of claims 1 to 6 through the computer program.

9. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions, which are used to perform the steps of the attitude adjustment method of the test platform according to any one of claims 1 to 6.

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