Control method and device of amphibious ship carrying platform leveling control system

Abstract

The invention relates to the technical field of amphibious ship carrying, in particular to a control method and device of an amphibious ship carrying platform leveling control system, and the method comprises the steps: obtaining to-be-leveled data, processed by a sensing signal processing assembly, of an amphibious ship carrying platform, calculating based on the road surface attitude control data and the wave attitude calibration control data by using a preset neural network control algorithm in the platform attitude leveling assembly to obtain initial leveling control data of the amphibious ship carrying platform, establishing a Laplacian matrix according to the road surface attitude control data and the wave attitude calibration control data, and adjusting the leveling precision of the amphibious ship carrying platform according to the Laplacian matrix. And correcting the initial leveling control data to obtain target leveling control data of the amphibious ship carrying platform, and performing leveling control on the to-be-leveled data based on the target leveling control data. Therefore, the problems of carrying stability and the like of the amphibious ship carrying platform caused by uneven road surface or wave impact in land and water area transportation are solved.

Description

Technical Field

[0001] The present application relates to the field of amphibious ship transportation, and in particular to a control method and device for a leveling control system of an amphibious ship transportation platform. Background Art

[0002] In amphibious rapid transportation such as shipbuilding, fishing boats, yacht docks and shipyards, adapting to transportation on uneven land surfaces, underwater loading of ships, and rapid landing and maintenance of ships poses severe challenges to the leveling control of amphibious ship carrying platforms under different amphibious working conditions. The platform of the carrying ship must ensure smooth transportation on different road surfaces and adapt to uneven road surfaces during driving. Therefore, it is necessary to solve the technical problem of the leveling control system of the carrying platform to meet the requirements of uniform load-bearing of multi-point outriggers and rapid response to uneven force. At the same time, when the carrying platform is loaded underwater, it is also necessary to solve the technical problem of adapting to the stability of the platform during underwater slopes and wave impacts.

[0003] In related technologies, amphibious transport platforms mostly use lifting-type water loading, which has high requirements for underwater loading surfaces and land transportation surfaces. The frame platform leveling system has poor ability to adapt to uneven roads, underwater slopes and water wave impacts. Especially under extreme conditions such as bumpy roads, heavy rain, and waves, it is difficult to ensure the stability and safety of the amphibious transport platform when driving under load, which urgently needs to be solved. Summary of the Invention

[0004] The present application provides a control method and device for a leveling control system of an amphibious ship carrier platform, so as to solve the problem of transportation stability of the amphibious ship carrier platform caused by uneven road surface or wave impact during transportation on land and water.

[0005] A first embodiment of the present application provides a control method for an amphibious ship carrier platform leveling control system, wherein the amphibious ship carrier platform leveling control system includes a platform attitude leveling component, a distributed integrated hydraulic component, and a sensor signal processing component. The method includes the following steps:

[0006] Acquiring the data to be leveled of the amphibious ship carrying platform after being processed by the sensor signal processing component;

[0007] Utilizing a preset neural network control algorithm in the platform attitude leveling component, calculation is performed based on road attitude control data in a pre-established road attitude control database and wave attitude calibration control data in a pre-established wave attitude calibration control database to obtain initial leveling control data for the amphibious ship carrier platform;

[0008] A Laplace matrix is ​​established based on the road surface attitude control data and the wave attitude calibration control data, and the initial leveling control data is corrected by the Laplace matrix to obtain the target leveling control data of the amphibious ship carrier platform, so as to use the distributed integrated hydraulic component to perform leveling control on the data to be leveled of the amphibious ship carrier platform based on the target leveling control data.

[0009] According to one embodiment of the present application, before obtaining the data to be leveled of the amphibious ship carrying platform processed by the sensor signal processing component, the method further includes:

[0010] Determining whether a road attitude leveling control instruction of the amphibious ship carrier platform and / or a water attitude leveling control instruction of the amphibious ship carrier platform is received;

[0011] If a road surface attitude leveling control instruction and / or a water surface attitude leveling control instruction is received, obtaining road surface displacement data, road surface pressure data, road surface pressure data, water surface displacement data, water surface pressure data, water surface pressure data, and wave attitude data of the amphibious ship carrier platform;

[0012] The sensor signal processing component is used to process the road surface displacement data, the road surface pressure data, the road surface pressure data, the water surface displacement data, the water surface pressure data, the water surface pressure data and the wave attitude data respectively to obtain the data to be leveled of the amphibious ship carrier platform.

[0013] According to one embodiment of the present application, the calculation based on the road surface attitude control data in the pre-built road surface attitude control database and the wave attitude calibration control data in the pre-built wave attitude calibration control database to obtain the initial leveling control data of the amphibious ship carrying platform includes:

[0014] collecting amphibious surface wave information of at least one target water area, and constructing a target water area database based on each amphibious surface wave information;

[0015] Constructing multiple leveling control standard models of the amphibious ship carrier platform and the wave flow field of each target water area, and using the center of the amphibious ship carrier platform as the horizontal reference, constructing the desired attitude reference of the amphibious ship carrier platform corresponding to various leveling control requirements;

[0016] Based on the multiple leveling control standard models, designing the running attitude tracking compensation of the amphibious ship carrying platform with the expected attitude reference of the amphibious ship carrying platform, and performing corresponding fulcrum stability integral processing of the amphibious ship carrying platform;

[0017] If the fulcrum stability integral converges, the amphibious surface wave information of the amphibious ship carrier platform is subjected to running attitude tracking compensation to obtain initial wave attitude calibration control data, and it is judged whether the initial wave attitude calibration control data meets the expected attitude benchmark; if the initial wave attitude calibration control data meets the expected attitude benchmark, the wave attitude calibration control data is output to obtain the wave attitude calibration control database based on the wave attitude calibration control data and the target water area database.

[0018] According to one embodiment of the present application, constructing multiple leveling control standard models of the amphibious ship carrying platform includes:

[0019] Constructing a six-degree-of-freedom dynamic standard model of the amphibious ship carrier platform, and determining a first geometric dimension of the amphibious ship carrier platform and a positional relationship of a first axis of the amphibious ship carrier platform;

[0020] Constructing a two-degree-of-freedom turntable model of the distributed integrated steering hydraulic unit in the distributed integrated hydraulic assembly, and determining the second geometric dimensions of the amphibious ship carrying platform and the positional relationship of the second axis of the amphibious ship carrying platform;

[0021] A two-degree-of-freedom suspension model of the distributed integrated lifting hydraulic unit in the distributed integrated hydraulic assembly is constructed, and the third geometric dimension of the amphibious ship carrying platform and the third axis position relationship of the amphibious ship carrying platform are determined.

[0022] According to one embodiment of the present application, after performing the corresponding fulcrum stability integral processing of the amphibious ship carrying platform, the method further includes:

[0023] If the fulcrum stability integral does not converge, the step of constructing multiple leveling control standard models of the amphibious ship carrier platform is continued until the fulcrum stability integral converges.

[0024] According to one embodiment of the present application, the control method of the amphibious ship carrying platform leveling control system further includes:

[0025] A dual-power drive system for the amphibious ship carrier platform is constructed based on an engine control group and a battery energy storage component;

[0026] According to the electrical energy signal output by the dual-power drive system, electrical energy is provided to the distributed integrated hydraulic components of the amphibious ship carrier platform.

[0027] According to the control method of the amphibious ship carrier platform leveling control system of the embodiment of the present application, the amphibious ship carrier platform's to-be-leveled data, processed by the sensor signal processing component, is obtained. Using the preset neural network control algorithm in the platform attitude leveling component, calculations are performed based on the road attitude control data and the wave attitude calibration control data to obtain initial leveling control data for the amphibious ship carrier platform. A Laplace matrix is ​​then established based on the road attitude control data and the wave attitude calibration control data. The initial leveling control data is then corrected to obtain target leveling control data for the amphibious ship carrier platform. Leveling control is then performed on the to-be-leveled data based on the target leveling control data. This solves the problem of transport stability issues for amphibious ship carrier platforms caused by uneven roads or wave impacts during land and water transportation. By combining distributed hydraulic control, intelligent algorithms, and a dynamic database, the amphibious ship carrier platform can maintain a stable attitude on uneven roads and waters and adapt to multi-axis transport modes, thereby achieving efficient leveling of the amphibious platform.

[0028] A second embodiment of the present application provides a control device for an amphibious ship carrier platform leveling control system, wherein the amphibious ship carrier platform leveling control system includes a platform attitude leveling component, a distributed integrated hydraulic component, and a sensor signal processing component, including:

[0029] an acquisition module, configured to acquire the data to be leveled of the amphibious ship carrying platform processed by the sensor signal processing component;

[0030] a calculation module, configured to utilize a preset neural network control algorithm in the platform attitude leveling component to calculate based on road attitude control data in a pre-established road attitude control database and wave attitude calibration control data in a pre-established wave attitude calibration control database to obtain initial leveling control data for the amphibious ship carrier platform;

[0031] A leveling control module is used to establish a Laplace matrix based on the road surface attitude control data and the wave attitude calibration control data, and to correct the initial leveling control data by using the Laplace matrix to obtain the target leveling control data of the amphibious ship carrier platform, so as to use the distributed integrated hydraulic component to perform leveling control on the data to be leveled of the amphibious ship carrier platform based on the target leveling control data.

[0032] According to one embodiment of the present application, before acquiring the data to be leveled of the amphibious ship carrying platform processed by the sensor signal processing component, the acquisition module further includes:

[0033] a judging unit, configured to judge whether a road posture leveling control instruction of the amphibious ship carrying platform and / or a water surface posture leveling control instruction of the amphibious ship carrying platform is received;

[0034] a first acquiring unit, configured to acquire, upon receiving a road surface attitude leveling control instruction and / or a water surface attitude leveling control instruction, road surface displacement data, road surface pressure data, road surface pressure data, water surface displacement data, water surface pressure data, water surface pressure data, and wave attitude data of the amphibious ship carrying platform;

[0035] A data processing unit is used to use the sensor signal processing component to respectively process the road surface displacement data, the road surface pressure data, the road surface pressure data, the water surface displacement data, the water surface pressure data, the water surface pressure data and the wave attitude data to obtain the data to be leveled of the amphibious ship carrier platform.

[0036] According to one embodiment of the present application, the computing module includes:

[0037] a collection unit, configured to collect amphibious surface wave information of at least one target water area, and construct a target water area database based on each amphibious surface wave information;

[0038] a construction unit, configured to construct multiple leveling control standard models of the amphibious ship carrier platform and the wave flow field of each target water area, and to construct the desired attitude references of the amphibious ship carrier platform corresponding to various leveling control requirements, taking the center of the amphibious ship carrier platform as the horizontal reference;

[0039] a stabilization integration unit, configured to design, based on the multiple leveling control standard models and taking the desired attitude reference of the amphibious ship carrier platform, a running attitude tracking compensation of the amphibious ship carrier platform, and perform stabilization integration processing of corresponding fulcrums of the amphibious ship carrier platform;

[0040] The second acquisition unit is used to perform running attitude tracking compensation on the amphibious surface wave information of the amphibious ship carrier platform if the fulcrum stability integral converges, obtain initial wave attitude calibration control data, and judge whether the initial wave attitude calibration control data meets the expected attitude benchmark; if the initial wave attitude calibration control data meets the expected attitude benchmark, output the wave attitude calibration control data, so as to obtain the wave attitude calibration control database according to the wave attitude calibration control data and the target water area database.

[0041] According to one embodiment of the present application, the construction unit includes:

[0042] a first construction subunit, configured to construct a six-degree-of-freedom dynamic standard model of the amphibious ship carrying platform, and determine a first geometric dimension of the amphibious ship carrying platform and a positional relationship of a first axis of the amphibious ship carrying platform;

[0043] a second construction subunit, configured to construct a two-degree-of-freedom turntable model of a distributed integrated steering hydraulic unit in the distributed integrated hydraulic assembly, and determine a second geometric dimension of the amphibious ship carrying platform and a positional relationship of a second axis of the amphibious ship carrying platform;

[0044] The third construction subunit is used to construct a two-degree-of-freedom suspension model of the distributed integrated lifting hydraulic unit in the distributed integrated hydraulic assembly, and to determine the third geometric dimensions of the amphibious ship carrying platform and the third axis position relationship of the amphibious ship carrying platform.

[0045] According to one embodiment of the present application, after performing the corresponding fulcrum stability integration processing of the amphibious ship carrying platform, the stability integration unit further includes:

[0046] The execution subunit is used to continue to execute the step of constructing multiple leveling control standard models of the amphibious ship carrier platform if the fulcrum stability integral does not converge until the fulcrum stability integral converges.

[0047] According to one embodiment of the present application, the control device of the amphibious ship carrier platform leveling control system further includes:

[0048] A building module for building a dual-power drive system for the amphibious ship carrier platform based on an engine control group and a battery energy storage component;

[0049] The output module is used to output an electric energy signal according to the dual-power drive system to provide electric energy for the distributed integrated hydraulic components of the amphibious ship carrier platform.

[0050] According to the control device of the amphibious ship carrier platform leveling control system of the embodiment of the present application, the amphibious ship carrier platform's to-be-leveled data, processed by the sensor signal processing component, is obtained. Using the preset neural network control algorithm in the platform attitude leveling component, calculations are performed based on the road attitude control data and the wave attitude calibration control data to obtain initial leveling control data for the amphibious ship carrier platform. A Laplace matrix is ​​then established based on the road attitude control data and the wave attitude calibration control data. The initial leveling control data is then corrected to obtain target leveling control data for the amphibious ship carrier platform. Leveling control is then performed on the to-be-leveled data based on the target leveling control data. This solves the problem of transport stability issues for amphibious ship carrier platforms caused by uneven roads or wave impacts during land and water transportation. By combining distributed hydraulic control, intelligent algorithms, and a dynamic database, the amphibious ship carrier platform can maintain a stable attitude on uneven roads and waters and adapt to multi-axis transport modes, thereby achieving efficient leveling of the amphibious platform.

[0051] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method of the amphibious ship carrier platform leveling control system as described in the above embodiment.

[0052] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the control method of the amphibious ship carrier platform leveling control system as described in the above embodiment.

[0053] The fifth aspect of the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the control method of the amphibious ship carrier platform leveling control system as described in the above embodiment.

[0054] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0056] Figure 1 A control method for a leveling control system of an amphibious ship carrier platform provided according to an embodiment of the present application;

[0057] Figure 2This is a schematic diagram of the connection components of an amphibious ship carrying platform leveling control system according to one embodiment of the present application;

[0058] Figure 3 This is a block diagram of attitude leveling control for an amphibious ship carrying platform according to one embodiment of the present application;

[0059] Figure 4 A flow chart is provided for establishing a wave attitude calibration control database according to one embodiment of the present application;

[0060] Figure 5 This is a block diagram of an example of a control device for an amphibious ship carrying platform leveling control system according to an embodiment of the present application;

[0061] Figure 6 Schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0062] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0063] The following describes a control method and device for an amphibious ship carrier platform leveling control system according to an embodiment of the present application with reference to the accompanying drawings. In response to the attitude control and stability and reliability issues of the carrier platform faced by ships during transportation under different land conditions and loading in different waters mentioned in the above background technology, the present application provides a control method for an amphibious ship carrier platform leveling control system. In this method, the data to be leveled of the amphibious ship carrier platform processed by the sensor signal processing component is obtained, and the preset neural network control algorithm in the platform attitude leveling component is used to calculate based on the road attitude control data and the wave attitude calibration control data to obtain the initial leveling control data of the amphibious ship carrier platform, and a Laplace matrix is ​​established based on the road attitude control data and the wave attitude calibration control data, and the initial leveling control data is corrected to obtain the target leveling control data of the amphibious ship carrier platform, and leveling control is performed on the data to be leveled based on the target leveling control data. As a result, problems such as the transportation stability of amphibious ship carrier platforms caused by uneven roads or wave impact during land and water transportation are solved. Through the combination of distributed hydraulic control, intelligent algorithms and dynamic databases, the amphibious ship carrier platforms can maintain a stable posture on uneven roads and waters and adapt to multi-axis transportation modes, thereby achieving efficient leveling of the amphibious platform.

[0064] Specifically, Figure 1A flow chart of a control method for an amphibious ship carrier platform leveling control system provided in an embodiment of the present application.

[0065] like Figure 1 As shown, the amphibious ship carrying platform leveling control system includes a platform attitude leveling component, a distributed integrated hydraulic component and a sensor signal processing component, and the method includes the following steps:

[0066] In step S101, the data to be leveled of the amphibious ship carrying platform processed by the sensor signal processing component is obtained.

[0067] According to one embodiment of the present application, before obtaining the data to be leveled of the amphibious ship carrier platform processed by the sensor signal processing component, it also includes: judging whether the road surface attitude leveling control instruction of the amphibious ship carrier platform and / or the water surface attitude leveling control instruction of the amphibious ship carrier platform is received; if the road surface attitude leveling control instruction and / or the water surface attitude leveling control instruction is received, then obtaining the road surface displacement data, road surface pressure data, road surface pressure data, water surface displacement data, water surface pressure data, water surface pressure data and wave attitude data of the amphibious ship carrier platform; using the sensor signal processing component to process the road surface displacement data, road surface pressure data, road surface pressure data, water surface displacement data, water surface pressure data, water surface pressure data and wave attitude data respectively to obtain the data to be leveled of the amphibious ship carrier platform.

[0068] According to one embodiment of the present application, the control method of the above-mentioned amphibious ship carrier platform leveling control system also includes: constructing a dual-power drive system of the amphibious ship carrier platform based on the engine control group and the battery energy storage component; outputting the electric energy signal according to the dual-power drive system to provide electric energy for the distributed integrated hydraulic components of the amphibious ship carrier platform.

[0069] Specifically, in order to solve the problems that the existing amphibious ship carrying platforms have poor ability to adapt to uneven roads, underwater slopes and water wave impacts, especially under extreme conditions such as bumpy roads, heavy rain, and waves, it is difficult to ensure the stability and safety of the amphibious ship carrying platforms when driving under load. The embodiment of the present application combines distributed hydraulic control, intelligent algorithms and dynamic databases to enable the amphibious ship carrying platforms to maintain a stable posture on uneven roads and waters and adapt to multi-axis transportation modes, thereby achieving efficient leveling of the amphibious platform.

[0070] Specifically, if Figure 2As shown, the amphibious ship carrier platform leveling control system of the embodiment of the present application mainly includes a platform attitude leveling component, a distributed integrated hydraulic component (including a distributed integrated lifting hydraulic unit and a distributed integrated steering hydraulic unit), a sensor signal processing component and a dual-power drive system, wherein the dual-power drive system includes an engine component and a control unit, a battery accumulator component and a conversion control unit, and a waterproof and rust-proof sealing protection device; the engine component is controlled by the control unit to output an electric energy signal to provide electric energy to the distributed integrated lifting hydraulic unit for lifting, the distributed integrated steering hydraulic unit for steering, and the battery accumulator group; the battery accumulator component stores and releases energy in both directions, and has the function of independently providing electric energy to the distributed integrated lifting hydraulic unit for lifting and the distributed integrated steering hydraulic unit for steering, and recovering the electric energy released by the engine; the engine group and the control unit, the battery accumulator group and the conversion control unit are embedded in the waterproof and rust-proof sealing protection device.

[0071] The distributed integrated lifting hydraulic unit includes an explosion-proof special-shaped integrated oil tank valve group, a vertical suspension cylinder with embedded displacement sensor and pressure sensor, a safety valve, a hydraulic pressure sensor, a servo motor pump group, and a control valve; the dual-power drive system and the distributed integrated lifting hydraulic unit are connected by 2 power cables and 2 control signal lines, among which one power cable is connected to the power supply of the engine group, and the other is connected to the power supply of the battery energy storage group. The power cable connected to the engine group is distributed in the longitudinal beam steel structure on both sides of the platform, and the other power cable connected to the battery energy storage group is distributed in the middle longitudinal beam steel structure of the platform; the two control signal lines are connected, one is the main control line, and the other is the backup emergency control line. The control line connecting the engine group is distributed in the longitudinal beam steel structure on both sides of the platform and is separated from the power cable shielding partition. The other control line connected to the battery energy storage group is distributed in the middle longitudinal beam steel structure of the platform and is separated from the power cable shielding partition.

[0072] The distributed integrated steering hydraulic unit includes an explosion-proof special-shaped integrated oil tank valve group, an embedded oil tank pressure balancing accumulator, a steering suspension cylinder with an embedded displacement sensor and pressure sensor in the oil tank, a safety valve, a hydraulic pressure sensor, a servo motor pump group, and a control valve; the dual-power drive system and the distributed integrated steering hydraulic unit are connected by two power cables and two control signal lines. One power cable is connected to the power supply of the engine group, and the other is connected to the power supply of the battery energy storage group. The power cable connected to the engine group is distributed in the longitudinal beam steel structure on both sides of the platform, and the other power cable connected to the battery energy storage group is distributed in the middle longitudinal beam steel structure of the platform. One of the two control signal lines is the main control line, and the other is the backup emergency control line. The control line connecting the engine group is distributed in the longitudinal beam steel structure on both sides of the platform and is separated from the power cable shielding partition. The other control line connected to the battery energy storage group is distributed in the middle longitudinal beam steel structure of the platform; and is separated from the power cable shielding partition.

[0073] The sensor signal processing component includes a signal receiving module, a signal modulation processing module, a data acquisition module and an integrated data storage analysis and processing unit, wherein the signal receiving module receives the displacement signal, pressure signal and pressure signal of the distributed integrated lifting hydraulic unit, receives the displacement signal, pressure signal and pressure signal of the distributed integrated steering hydraulic unit, receives the horizontal sensing signal of the front center of the amphibious ship carrier platform, receives the horizontal sensing signal of the rear center of the amphibious ship carrier platform, and receives the wave sensing signal. The displacement signal, pressure signal, pressure signal and wave sensing signal are collected by the displacement sensor, the tension and pressure sensor, the wave sensor and the hydraulic strength sensor respectively. The displacement sensor is installed in an embedded manner according to the multi-point support cylinder, the tension and pressure sensor is installed in an embedded manner according to the end of the multi-point support cylinder, the wave sensor is arranged on the front and rear end platforms, and the hydraulic strength sensor collects both the pressure signal of each fulcrum cylinder and the power pump port pressure of each integrated hydraulic unit. Specifically, according to the working conditions of the embodiment, the application index parameters of the sensor are selected as follows:

[0074] The index parameter selection of the wave sensor is shown in Table 1:

[0075] Table 1

[0076] Wave height 0m~15m ±(0.1+5%*measured value) 0.01m Wave cycle 0s~25s ±0.5s 0.01s Wave direction 0°～360° ±10° 1°

[0077] The index parameters of the tension and pressure sensor are shown in Table 2:

[0078] Table 2

[0079] Range 0～200t Output sensitivity 2.0±10%mV / V Zero output ±2% FS Nonlinear ±0.05% FS Hysteresis ±0.05% FS Repeatability ±0.05% FS Temperature sensitivity drift ±0.05%FS / 10℃ Zero temperature drift ±0.05%FS / 10℃

[0080] The index parameters of the displacement sensor are shown in Table 3:

[0081] Table 3

[0082] Stroke length 1500mm Resolution 0.5um Output Analog Install Embedded

[0083] The index parameters of the hydraulic pressure sensor are shown in Table 4:

[0084] Table 4

[0085] Range 400bar Sensitivity ±0.05% FS Nonlinear ±0.015% FS Hysteresis ±0.015% FS Repeatability ±0.025% FS temperature (-40℃～150℃)

[0086] Then, the signal modulation and processing module amplifies, filters, and linearizes the various signals received above; the data acquisition module converts the modulated analog signal into a digital signal and transmits it to the integrated data storage and analysis processing unit. The integrated data storage and analysis processing unit collects operating data and performs fault reliability analysis of the hydraulic system operating parameters, and outputs a fault warning signal to the amphibious ship carrier platform leveling control system.

[0087] like Figure 3 As shown, the platform attitude leveling component includes a control algorithm module, a central control unit, a wave attitude calibration control database, and a road attitude control module library. The control algorithm module calculates and outputs the control variable signals of the actuators and drive systems required for leveling the amphibious ship carrier platform based on the sensor data processed by the sensor signal processing component, the wave attitude calibration control database and the road attitude control module library, and the neural network control algorithm, and then continuously adjusts the attitude of the amphibious ship carrier platform according to the control variable signals to achieve the leveling standard state; the central control unit coordinates the work of the sensor signal processing component and the control algorithm module, receives and processes the signals, and outputs the control variable signals of the actuators and drive systems required for leveling the amphibious ship carrier platform. The data after the calculation is obtained, and the control algorithm is called for calculation. The calculated leveling control instructions are sent to the actuator (distributed integrated lifting hydraulic unit, distributed integrated steering hydraulic unit) and the drive system. At the same time, the operating status data of the leveling system of the entire amphibious ship carrier platform are monitored and managed; based on the wave attitude test data, the wave attitude calibration control database uses the calculation method to form a standard control database by combining the water standard attitude data of the amphibious ship carrier platform with the wave continuous data and interval frequency data; the road attitude control module library is divided into a fast flat ground straight-line model, a flat ground rotation model, a flat ground inclined model, a concave and convex road surface model, and a slope road surface model.

[0088] The following is a description based on specific implementation steps:

[0089] Specifically, first, if the road attitude leveling control instruction of the amphibious ship carrier platform and / or the water attitude leveling control instruction of the amphibious ship carrier platform are received, the signal receiving module in the sensor signal processing component obtains the displacement signal, pressure signal, pressure intensity signal of the distributed integrated lifting hydraulic unit of the amphibious ship carrier platform and the displacement signal, pressure signal, pressure intensity signal of the distributed integrated steering hydraulic unit, mainly including the road displacement data, road pressure data, road pressure intensity data, water surface displacement data, water surface pressure data, water surface pressure data, wave attitude data, the horizontal sensor signal of the front center of the amphibious ship carrier platform and the horizontal sensor signal of the rear center of the amphibious ship carrier platform.

[0090] Secondly, the signal modulation processing module in the sensor signal processing component is used to amplify, filter and linearize the various data signals obtained above to obtain the leveling data of the amphibious ship carrier platform. The leveling data is the leveling data actually required by the amphibious ship carrier platform. Then, the data acquisition module in the sensor signal processing component converts the analog signal of the modulated leveling data into a digital signal and transmits it to the integrated data storage and analysis processing unit.

[0091] Finally, the integrated data storage and analysis processing unit stores the modulated digital signal and performs reliability analysis on the operating parameters of the data hydraulic system, thereby outputting a fault warning signal and sending it to the platform attitude leveling component.

[0092] In step S102, the preset neural network control algorithm in the platform attitude leveling component is used to calculate based on the road attitude control data in the pre-built road attitude control database and the wave attitude calibration control data in the pre-built wave attitude calibration control database to obtain the initial leveling control data of the amphibious ship carrier platform.

[0093] According to one embodiment of the present application, calculations are performed based on road surface attitude control data in a pre-constructed road surface attitude control database and wave attitude calibration control data in a pre-constructed wave attitude calibration control database to obtain initial leveling control data for an amphibious ship carrier platform, including: collecting amphibious surface wave information of at least one target water area, and constructing a target water area database based on each amphibious surface wave information; constructing multiple leveling control standard models of the amphibious ship carrier platform and wave flow fields of each target water area, and taking the center of the amphibious ship carrier platform as the horizontal reference, constructing desired attitude references for the amphibious ship carrier platform corresponding to multiple leveling control requirements; based on Multiple leveling control standard models are used to design the running attitude tracking compensation of the amphibious ship carrier platform based on the expected attitude benchmark of the amphibious ship carrier platform, and perform corresponding fulcrum stability integral processing of the amphibious ship carrier platform; if the fulcrum stability integral converges, the running attitude tracking compensation is performed on the amphibious water surface wave information of the amphibious ship carrier platform to obtain initial wave attitude calibration control data, and it is judged whether the initial wave attitude calibration control data meets the expected attitude benchmark; if the initial wave attitude calibration control data meets the expected attitude benchmark, the wave attitude calibration control data is output to obtain a wave attitude calibration control database based on the wave attitude calibration control data and the target water area database.

[0094] According to one embodiment of the present application, multiple leveling control standard models of amphibious ship carrying platforms are constructed, including: constructing a six-degree-of-freedom dynamic standard model of the amphibious ship carrying platform, and determining the first geometric dimensions of the amphibious ship carrying platform and the position relationship of the first axis of the amphibious ship carrying platform; constructing a two-degree-of-freedom turntable model of the distributed integrated steering hydraulic unit in the distributed integrated hydraulic assembly, and determining the second geometric dimensions of the amphibious ship carrying platform and the position relationship of the second axis of the amphibious ship carrying platform; constructing a two-degree-of-freedom suspension model of the distributed integrated lifting hydraulic unit in the distributed integrated hydraulic assembly, and determining the third geometric dimensions of the amphibious ship carrying platform and the position relationship of the third axis of the amphibious ship carrying platform.

[0095] Among them, the preset neural network control algorithm can be selected by those skilled in the art according to actual testing requirements and is not specifically limited here.

[0096] Specifically, in order to provide a benchmark leveling data for the data to be leveled, the embodiment of the present application also needs to perform calculations based on the road surface attitude control data in a pre-constructed road surface attitude control database and the wave attitude calibration control data in a pre-constructed wave attitude calibration control database to obtain the initial leveling control data of the amphibious ship carrier platform. The initial leveling control data is the benchmark leveling data of the amphibious ship carrier platform.

[0097] Specifically, a road surface attitude control database and a wave attitude calibration control database are constructed. In the process of constructing the wave attitude calibration control database, Figure 4 As shown, first, amphibious surface wave information of at least one target water area is collected, mainly including wave height, wave period, and wave method parameters, and a target water area database is constructed based on each amphibious surface wave information.

[0098] Secondly, multiple leveling control standard models of amphibious ship carrying platforms and wave flow fields of each target water area are constructed, among which the leveling control standard model mainly includes constructing a six-degree-of-freedom dynamic standard model of a four-axis amphibious ship carrying platform, among which the four axes are equidistantly distributed in opposite directions along the length of the amphibious ship carrying platform (when loading an amphibious ship, the center of gravity of the amphibious ship is close to the center of gravity of the amphibious ship carrying platform), and determining the first geometric dimension of the amphibious ship carrying platform and the position relationship of the first axis of the amphibious ship carrying platform, constructing a two-degree-of-freedom turntable model of the distributed integrated steering hydraulic unit in the distributed integrated hydraulic assembly, and determining the second geometric dimension of the amphibious ship carrying platform and the position relationship of the second axis of the amphibious ship carrying platform, constructing a two-degree-of-freedom suspension model of the distributed integrated lifting hydraulic unit in the distributed integrated hydraulic assembly, and determining the third geometric dimension of the amphibious ship carrying platform and the position relationship of the third axis of the amphibious ship carrying platform.

[0099] Thirdly, taking the center of the amphibious ship carrier platform as the horizontal reference, the expected posture reference of the amphibious ship carrier platform corresponding to various leveling control requirements is constructed. For example, the horizontal reference of the carrier platform with different control requirements of 3 points, 4 points, and 6 points is constructed as the expected posture standard, and then based on the wave flow field analysis of each target water area, the impact frequency and fulcrum balance force of the carrier platform with different control requirements of 3 points, 4 points, and 6 points are output.

[0100] Then, based on the multiple leveling control standard models constructed above, the discrete PI controller (Proportional-Integral Controller, proportional-integral controller) performs running attitude tracking and compensation of the amphibious ship carrier platform. The running attitude tracking and compensation of the amphibious ship carrier platform is based on the difference in multi-point average relative displacement, quickly compensates for the position difference, and performs corresponding support stability integral processing on the support balance force of the wave analysis and the force of the corresponding multi-point leg suspension. If the support stability integral converges, the control response frequency will be executed according to the impact frequency of the amphibious ship carrier platform, and the amphibious surface wave information of the amphibious ship carrier platform will be tracked and compensated to obtain initial wave attitude calibration control data. Then, multi-cycle training is performed to determine whether the initial wave attitude calibration control data meets the expected attitude benchmark, that is, whether the initial wave attitude calibration control data is within the error range. If the initial wave attitude calibration control data meets the expected attitude benchmark, the motion geometric relationship, control change and wave attitude calibration control data of the amphibious ship carrier platform are output to obtain a wave attitude calibration control database based on the wave attitude calibration control data and the target water area database.

[0101] It should be noted that the embodiments of the present application may involve amphibious surface wave information in multiple water areas. Therefore, it is necessary to perform the above-mentioned wave attitude calibration control database construction process for each water area, so as to establish a wave attitude calibration control database corresponding to the expected standard state for each target water area.

[0102] Furthermore, the road posture control database of the embodiment of the present application may include a fast flat straight-line model, a flat rotation model, a flat inclined model, a bumpy road model, and a sloped road model. Among them, the fast flat straight-line model adopts a constant-pressure suspension leveling control method and an auxiliary displacement and pressure compensation control method, the flat rotation model adopts a 4-point suspension group leveling control method and a steering coordinated control method, the flat inclined model adopts a 6-point suspension group coordinated leveling control method and a steering coordinated control method, the bumpy road model adopts a 3-point suspension group coordinated leveling control method and a steering coordinated control method, and the sloped road model adopts a 6-point suspension group coordinated leveling control method and combines the call of the wave posture calibration control database to assist in correcting the leveling center of gravity offset control.

[0103] According to one embodiment of the present application, after performing the corresponding fulcrum stability integral processing of the amphibious ship carrier platform, it also includes: if the fulcrum stability integral does not converge, continuing to execute the steps of constructing multiple leveling control standard models of the amphibious ship carrier platform until the fulcrum stability integral converges.

[0104] Specifically, in the process of performing corresponding fulcrum stability integral processing on the fulcrum balance force of the wave analysis and the force of the corresponding multi-point leg suspension, if the fulcrum stability integral does not converge, then continue to execute the above-mentioned steps of constructing the two-degree-of-freedom suspension model of the distributed integrated lifting hydraulic unit in the distributed integrated hydraulic component, and determine the third geometric dimension of the amphibious ship carrier platform and the third axis position relationship of the amphibious ship carrier platform, construct the wave flow field of each target water area, construct the expected posture reference of the amphibious ship carrier platform corresponding to various leveling control requirements, and design a discrete PI controller to track and compensate the running posture of the amphibious ship carrier platform with the expected posture reference of the amphibious ship carrier platform as the target, until the fulcrum stability integral converges, perform advance compensation, and output the corresponding wave posture calibration control data.

[0105] Thus, calculation is performed based on the road surface attitude control data in the road surface attitude control database and the wave attitude calibration control data in the wave attitude calibration control database to obtain the initial leveling control data of the amphibious ship carrying platform.

[0106] In step S103, a Laplace matrix is ​​established based on the road surface attitude control data and the wave attitude calibration control data, and the initial leveling control data is corrected by the Laplace matrix to obtain the target leveling control data of the amphibious ship carrier platform, so as to use the distributed integrated hydraulic component to perform leveling control on the data to be leveled of the amphibious ship carrier platform based on the target leveling control data.

[0107] Specifically, since the initial leveling control data calculated under various operating conditions under different road conditions or different water conditions may deviate, resulting in a decrease in the accuracy of the initial leveling control data, the embodiment of the present application can correct the initial leveling control data by constructing a Laplace matrix. That is, a Laplace matrix is ​​established based on the road posture control data in the road posture control database and the wave posture calibration control data in the wave posture calibration control database. The Laplace matrix then adaptively corrects the calculated initial leveling control data based on a GNN (Graph Neural Network) to obtain target leveling control data for the amphibious ship carrier platform, and the corrected target leveling control data is sent to an actuator (such as a distributed integrated steering hydraulic unit and a distributed integrated lifting hydraulic unit) so as to utilize the distributed integrated steering hydraulic unit and the distributed integrated lifting hydraulic unit to perform collaborative leveling control on the data to be leveled of the amphibious ship carrier platform based on the target leveling control data, for example, through fuzzy neural adaptive PID (Proportional-Integral-Derivative) control and multi-point displacement mean coupling control.

[0108] It should be noted that before constructing the Laplace matrix, it is also necessary to perform a reliability analysis on the initial leveling control data based on the data to be leveled, predict potential faults in advance, and implement active health management, thereby ensuring the reliability and safety of the leveling control of the amphibious transport platform. That is, the reliability of the initial leveling control data is evaluated by the degradation model of the inverse Gaussian process and the Weibull degradation model, so as to give a fault warning judgment. When there is no fault warning in the initial leveling control data, the Laplace matrix is ​​established based on the road surface attitude control data in the road surface attitude control database and the wave attitude calibration control data in the wave attitude calibration control database.

[0109] Preferably, the embodiment of the present application is designed based on the water conditions of level 3 light wave seawater environment, a load capacity of 50,000 kg, a land transport speed of 5 km / h, an empty climbing gradient of 7°, a heavy-load climbing gradient of 5°, a wading depth of 2 m, and the realization of right-angle turns, in-place turns, and oblique transportation, and the design of an amphibious ship transport platform to adapt to standard design standards such as a concave and convex land surface of ±350 mm.

[0110] In summary, the embodiments of the present application can solve the problem of multi-mode transportation carried out by ships under different road conditions, and the transportation process adapts to the unevenness of the road surface and performs adaptive posture leveling control; when the ship is carried under wave conditions in different waters, the posture leveling state can be kept stable during the loading process of the ship; compared with the existing ship carrying and transportation methods, it can adapt to amphibious transshipment and transportation operations, improve transshipment efficiency and transportation costs, and is more conducive to actual engineering implementation.

[0111] At the same time, the attitude leveling control of the ship carrying platform proposed in the embodiment of the present application is based on a group coordination control method of fuzzy neural adaptive PID control and multi-point displacement mean coupling control, combined with the creation of a carrying platform model and a wave flow field model, to perform displacement phase advance compensation, multi-cycle training, and wave attitude calibration control database, and establish a Laplace matrix with the data of the road attitude control module library, and combine the attitude feedback signal to perform neural network-based correction of the characteristic parameters, ultimately realizing the amphibious leveling control of the ship carrying platform.

[0112] According to the control method of the amphibious ship carrier platform leveling control system of the embodiment of the present application, the amphibious ship carrier platform's to-be-leveled data, processed by the sensor signal processing component, is obtained. Using the preset neural network control algorithm in the platform attitude leveling component, calculations are performed based on the road attitude control data and the wave attitude calibration control data to obtain initial leveling control data for the amphibious ship carrier platform. A Laplace matrix is ​​then established based on the road attitude control data and the wave attitude calibration control data. The initial leveling control data is then corrected to obtain target leveling control data for the amphibious ship carrier platform. Leveling control is then performed on the to-be-leveled data based on the target leveling control data. This solves the problem of transport stability issues for amphibious ship carrier platforms caused by uneven roads or wave impacts during land and water transportation. By combining distributed hydraulic control, intelligent algorithms, and a dynamic database, the amphibious ship carrier platform can maintain a stable attitude on uneven roads and waters and adapt to multi-axis transport modes, thereby achieving efficient leveling of the amphibious platform.

[0113] Next, the control device of the amphibious ship carrier platform leveling control system proposed in accordance with the embodiment of the present application will be described with reference to the accompanying drawings.

[0114] Figure 5 It is a block diagram of the control device of the amphibious ship carrier platform leveling control system of an embodiment of the present application. The amphibious ship carrier platform leveling control system includes a platform attitude leveling component, a distributed integrated hydraulic component and a sensor signal processing component.

[0115] like Figure 5 As shown, the control device 10 based on the amphibious ship carrier platform leveling control system includes: an acquisition module 100, a calculation module 200 and a leveling control module 300.

[0116] The acquisition module 100 is used to acquire the data to be leveled of the amphibious ship carrying platform after being processed by the sensor signal processing component;

[0117] The calculation module 200 is configured to utilize a preset neural network control algorithm in the platform attitude leveling component to calculate and obtain initial leveling control data for the amphibious ship carrier platform based on road attitude control data in a pre-established road attitude control database and wave attitude calibration control data in a pre-established wave attitude calibration control database;

[0118] The leveling control module 300 is used to establish a Laplace matrix based on the road attitude control data and the wave attitude calibration control data, and to correct the initial leveling control data using the Laplace matrix to obtain the target leveling control data of the amphibious ship carrier platform, so as to use the distributed integrated hydraulic component to perform leveling control on the data to be leveled of the amphibious ship carrier platform based on the target leveling control data.

[0119] According to one embodiment of the present application, before obtaining the data to be leveled of the amphibious ship carrying platform processed by the sensor signal processing component, the acquisition module 100 further includes:

[0120] a judgment unit, configured to judge whether a road attitude leveling control instruction of the amphibious ship carrier platform and / or a water attitude leveling control instruction of the amphibious ship carrier platform is received;

[0121] a first acquiring unit, configured to acquire, upon receiving a road attitude leveling control instruction and / or a water attitude leveling control instruction, road displacement data, road pressure data, road pressure intensity data, water surface displacement data, water surface pressure data, water surface pressure data, and wave attitude data of the amphibious ship carrying platform;

[0122] The data processing unit is used to use the sensor signal processing component to process the road surface displacement data, road surface pressure data, road surface pressure data, water surface displacement data, water surface pressure data, water surface pressure data and wave attitude data respectively to obtain the data to be leveled of the amphibious ship carrier platform.

[0123] According to one embodiment of the present application, the computing module 200 includes:

[0124] a collection unit, configured to collect amphibious surface wave information of at least one target water area, and construct a target water area database based on each amphibious surface wave information;

[0125] A construction unit is used to construct multiple leveling control standard models of the amphibious ship carrier platform and the wave flow field of each target water area, and to construct the expected attitude reference of the amphibious ship carrier platform corresponding to various leveling control requirements with the center of the amphibious ship carrier platform as the horizontal reference;

[0126] A stable integration unit is used to design the running attitude tracking compensation of the amphibious ship carrier platform based on multiple leveling control standard models and the desired attitude benchmark of the amphibious ship carrier platform, and to perform stable integral processing of the corresponding fulcrum of the amphibious ship carrier platform;

[0127] The second acquisition unit is used to perform running attitude tracking compensation on the amphibious surface wave information of the amphibious ship carrier platform if the fulcrum stability integral converges, obtain initial wave attitude calibration control data, and judge whether the initial wave attitude calibration control data meets the expected attitude benchmark; if the initial wave attitude calibration control data meets the expected attitude benchmark, output the wave attitude calibration control data to obtain a wave attitude calibration control database based on the wave attitude calibration control data and the target water area database.

[0128] According to one embodiment of the present application, a construction unit includes:

[0129] The first construction subunit is used to construct a six-degree-of-freedom dynamic standard model of the amphibious ship carrier platform and determine the first geometric dimensions of the amphibious ship carrier platform and the position relationship of the first axis of the amphibious ship carrier platform;

[0130] The second construction subunit is used to construct a two-degree-of-freedom turntable model of the distributed integrated steering hydraulic unit in the distributed integrated hydraulic assembly, and determine the second geometric dimensions of the amphibious ship carrying platform and the position relationship of the second axis of the amphibious ship carrying platform;

[0131] The third construction subunit is used to construct a two-degree-of-freedom suspension model of the distributed integrated lifting hydraulic unit in the distributed integrated hydraulic assembly, and to determine the third geometric dimensions of the amphibious ship carrying platform and the third axis position relationship of the amphibious ship carrying platform.

[0132] According to one embodiment of the present application, after performing the corresponding fulcrum stability integration processing of the amphibious ship carrier platform, the stability integration unit further includes:

[0133] The execution subunit is used to continue executing the steps of constructing multiple leveling control standard models of the amphibious ship carrier platform if the fulcrum stability integral does not converge until the fulcrum stability integral converges.

[0134] According to one embodiment of the present application, the control device 10 of the amphibious ship carrying platform leveling control system further includes:

[0135] Building blocks for constructing a dual-power drive system for amphibious ship carrier platforms based on an engine control unit and battery energy storage components;

[0136] The output module is used to output electrical energy signals according to the dual-power drive system to provide electrical energy for the distributed integrated hydraulic components of the amphibious ship carrier platform.

[0137] According to the control device of the amphibious ship carrier platform leveling control system of the embodiment of the present application, the amphibious ship carrier platform's to-be-leveled data, processed by the sensor signal processing component, is obtained. Using the preset neural network control algorithm in the platform attitude leveling component, calculations are performed based on the road attitude control data and the wave attitude calibration control data to obtain initial leveling control data for the amphibious ship carrier platform. A Laplace matrix is ​​then established based on the road attitude control data and the wave attitude calibration control data. The initial leveling control data is then corrected to obtain target leveling control data for the amphibious ship carrier platform. Leveling control is then performed on the to-be-leveled data based on the target leveling control data. This solves the problem of transport stability issues for amphibious ship carrier platforms caused by uneven roads or wave impacts during land and water transportation. By combining distributed hydraulic control, intelligent algorithms, and a dynamic database, the amphibious ship carrier platform can maintain a stable attitude on uneven roads and waters and adapt to multi-axis transport modes, thereby achieving efficient leveling of the amphibious platform.

[0138] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0139] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0140] When the processor 602 executes the program, the control method of the amphibious ship carrier platform leveling control system provided in the above embodiment is implemented.

[0141] Furthermore, the electronic device further includes:

[0142] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0143] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0144] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0145] If the memory 601, processor 602, and communication interface 603 are implemented independently, the communication interface 603, memory 601, and processor 602 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0146] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0147] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0148] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the amphibious ship carrier platform leveling control system as described above.

[0149] An embodiment of the present application also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the control method of the amphibious ship carrier platform leveling control system as described in the above embodiment.

[0150] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0151] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0152] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A control method for an amphibious ship carrying platform leveling control system, characterized in that: The amphibious ship carrying platform leveling control system includes a platform attitude leveling component, a distributed integrated hydraulic component, and a sensor signal processing component. The method includes the following steps: Acquiring the data to be leveled of the amphibious ship carrying platform after being processed by the sensor signal processing component; Utilizing a preset neural network control algorithm in the platform attitude leveling component, calculation is performed based on road attitude control data in a pre-established road attitude control database and wave attitude calibration control data in a pre-established wave attitude calibration control database to obtain initial leveling control data for the amphibious ship carrier platform; A Laplace matrix is ​​established based on the road surface attitude control data and the wave attitude calibration control data, and the initial leveling control data is corrected by the Laplace matrix to obtain the target leveling control data of the amphibious ship carrier platform, so as to use the distributed integrated hydraulic component to perform leveling control on the data to be leveled of the amphibious ship carrier platform based on the target leveling control data.

2. The method according to claim 1, characterized in that Before obtaining the data to be leveled of the amphibious ship carrying platform processed by the sensor signal processing component, the method further includes: Determining whether a road attitude leveling control instruction of the amphibious ship carrier platform and / or a water attitude leveling control instruction of the amphibious ship carrier platform is received; If a road surface attitude leveling control instruction and / or a water surface attitude leveling control instruction is received, obtaining road surface displacement data, road surface pressure data, road surface pressure data, water surface displacement data, water surface pressure data, water surface pressure data, and wave attitude data of the amphibious ship carrier platform; The sensor signal processing component is used to process the road surface displacement data, the road surface pressure data, the road surface pressure data, the water surface displacement data, the water surface pressure data, the water surface pressure data and the wave attitude data respectively to obtain the data to be leveled of the amphibious ship carrier platform.

3. The method according to claim 1, characterized in that The calculation based on the road surface attitude control data in the pre-built road surface attitude control database and the wave attitude calibration control data in the pre-built wave attitude calibration control database to obtain the initial leveling control data of the amphibious ship carrying platform includes: collecting amphibious surface wave information of at least one target water area, and constructing a target water area database based on each amphibious surface wave information; Constructing multiple leveling control standard models of the amphibious ship carrier platform and the wave flow field of each target water area, and using the center of the amphibious ship carrier platform as the horizontal reference, constructing the desired attitude reference of the amphibious ship carrier platform corresponding to various leveling control requirements; Based on the multiple leveling control standard models, designing the running attitude tracking compensation of the amphibious ship carrying platform with the expected attitude reference of the amphibious ship carrying platform, and performing corresponding fulcrum stability integral processing of the amphibious ship carrying platform; If the fulcrum stability integral converges, the amphibious surface wave information of the amphibious ship carrier platform is subjected to running attitude tracking compensation to obtain initial wave attitude calibration control data, and it is judged whether the initial wave attitude calibration control data meets the expected attitude benchmark; if the initial wave attitude calibration control data meets the expected attitude benchmark, the wave attitude calibration control data is output to obtain the wave attitude calibration control database based on the wave attitude calibration control data and the target water area database.

4. The method according to claim 3, characterized in that Constructing multiple leveling control standard models of the amphibious ship carrying platform, including: Constructing a six-degree-of-freedom dynamic standard model of the amphibious ship carrier platform, and determining a first geometric dimension of the amphibious ship carrier platform and a positional relationship of a first axis of the amphibious ship carrier platform; Constructing a two-degree-of-freedom turntable model of the distributed integrated steering hydraulic unit in the distributed integrated hydraulic assembly, and determining the second geometric dimensions of the amphibious ship carrying platform and the positional relationship of the second axis of the amphibious ship carrying platform; A two-degree-of-freedom suspension model of the distributed integrated lifting hydraulic unit in the distributed integrated hydraulic assembly is constructed, and the third geometric dimension of the amphibious ship carrying platform and the third axis position relationship of the amphibious ship carrying platform are determined.

5. The method according to claim 3, characterized in that After performing the corresponding fulcrum stability integral processing of the amphibious ship carrying platform, the method further includes: If the fulcrum stability integral does not converge, the step of constructing multiple leveling control standard models of the amphibious ship carrier platform is continued until the fulcrum stability integral converges.

6. The method according to claim 1, characterized in that Also includes: A dual-power drive system for the amphibious ship carrier platform is constructed based on an engine control group and a battery energy storage component; According to the electrical energy signal output by the dual-power drive system, electrical energy is provided to the distributed integrated hydraulic components of the amphibious ship carrier platform.

7. A control device for an amphibious ship carrying platform leveling control system, characterized in that: The amphibious ship carrier platform leveling control system includes a platform attitude leveling component, a distributed integrated hydraulic component and a sensor signal processing component, including: an acquisition module, configured to acquire the data to be leveled of the amphibious ship carrying platform processed by the sensor signal processing component; a calculation module, configured to utilize a preset neural network control algorithm in the platform attitude leveling component to calculate based on road attitude control data in a pre-established road attitude control database and wave attitude calibration control data in a pre-established wave attitude calibration control database to obtain initial leveling control data for the amphibious ship carrier platform; A leveling control module is used to establish a Laplace matrix based on the road surface attitude control data and the wave attitude calibration control data, and to correct the initial leveling control data by using the Laplace matrix to obtain the target leveling control data of the amphibious ship carrier platform, so as to use the distributed integrated hydraulic component to perform leveling control on the data to be leveled of the amphibious ship carrier platform based on the target leveling control data.

8. The device according to claim 7, characterized in that Before acquiring the data to be leveled of the amphibious ship carrying platform processed by the sensor signal processing component, the acquisition module further includes: a judging unit, configured to judge whether a road posture leveling control instruction of the amphibious ship carrying platform and / or a water surface posture leveling control instruction of the amphibious ship carrying platform is received; a first acquiring unit, configured to acquire, upon receiving a road surface attitude leveling control instruction and / or a water surface attitude leveling control instruction, road surface displacement data, road surface pressure data, road surface pressure data, water surface displacement data, water surface pressure data, water surface pressure data, and wave attitude data of the amphibious ship carrying platform; A data processing unit is used to use the sensor signal processing component to respectively process the road surface displacement data, the road surface pressure data, the road surface pressure data, the water surface displacement data, the water surface pressure data, the water surface pressure data and the wave attitude data to obtain the data to be leveled of the amphibious ship carrier platform.

9. The device according to claim 7, characterized in that The computing module includes: a collection unit, configured to collect amphibious surface wave information of at least one target water area, and construct a target water area database based on each amphibious surface wave information; a construction unit, configured to construct multiple leveling control standard models of the amphibious ship carrier platform and the wave flow field of each target water area, and to construct the desired attitude references of the amphibious ship carrier platform corresponding to various leveling control requirements, taking the center of the amphibious ship carrier platform as the horizontal reference; a stabilization integration unit, configured to design, based on the multiple leveling control standard models and taking the desired attitude reference of the amphibious ship carrier platform, a running attitude tracking compensation of the amphibious ship carrier platform, and perform stabilization integration processing of corresponding fulcrums of the amphibious ship carrier platform; The second acquisition unit is used to perform running attitude tracking compensation on the amphibious surface wave information of the amphibious ship carrier platform if the fulcrum stability integral converges, obtain initial wave attitude calibration control data, and judge whether the initial wave attitude calibration control data meets the expected attitude benchmark; if the initial wave attitude calibration control data meets the expected attitude benchmark, output the wave attitude calibration control data, so as to obtain the wave attitude calibration control database according to the wave attitude calibration control data and the target water area database.

10. The device according to claim 9, characterized in that The building block comprises: a first construction subunit, configured to construct a six-degree-of-freedom dynamic standard model of the amphibious ship carrying platform, and determine a first geometric dimension of the amphibious ship carrying platform and a positional relationship of a first axis of the amphibious ship carrying platform; a second construction subunit, configured to construct a two-degree-of-freedom turntable model of a distributed integrated steering hydraulic unit in the distributed integrated hydraulic assembly, and determine a second geometric dimension of the amphibious ship carrying platform and a positional relationship of a second axis of the amphibious ship carrying platform; The third construction subunit is used to construct a two-degree-of-freedom suspension model of the distributed integrated lifting hydraulic unit in the distributed integrated hydraulic assembly, and to determine the third geometric dimensions of the amphibious ship carrying platform and the third axis position relationship of the amphibious ship carrying platform.

11. The device according to claim 9, characterized in that After performing the corresponding fulcrum stability integration processing of the amphibious ship carrying platform, the stability integration unit further includes: The execution subunit is used to continue to execute the step of constructing multiple leveling control standard models of the amphibious ship carrier platform if the fulcrum stability integral does not converge until the fulcrum stability integral converges.

12. The device according to claim 7, characterized in that Also includes: A building module for building a dual-power drive system for the amphibious ship carrier platform based on an engine control group and a battery energy storage component; The output module is used to output an electric energy signal according to the dual-power drive system to provide electric energy for the distributed integrated hydraulic components of the amphibious ship carrier platform.

13. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method of the amphibious ship carrier platform leveling control system as described in any one of claims 1 to 6.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the control method of the amphibious ship carrier platform leveling control system as described in any one of claims 1 to 6.

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