Steering control method, system and device for adaptive leveling of multifunctional beam transport car

Abstract

The present application relates to the field of beam transport car control, and particularly relates to a multifunctional beam transport car self-adaptive leveling steering control method, system and device. The present application proposes a control method capable of automatically generating synchronous steering parameters according to the state information of the beam transport car and automatically leveling, through closed-loop feedback and algorithm optimization, solves the problems of serious cross slope eccentric load of traditional beam transport equipment, tire wear and beam body shaking caused by asynchronous steering in the large-span and super-wide steel box girder transportation scene, and realizes safe, efficient and self-adaptive transportation of the super-wide beam body.

Description

Technical Field

[0001] This invention relates to the field of beam transporter control, and in particular to a steering control method, system and equipment for adaptive leveling of a multi-functional beam transporter. Background Technology

[0002] In the transportation of long-span, ultra-wide steel box girders, traditional girder transport equipment suffers from poor width adaptability, severe eccentric loading on cross slopes, asynchronous steering leading to tire wear, and girder swaying. Currently, the only solution to these problems is to use ultra-wide support frames in conjunction with experienced drivers.

[0003] Therefore, there is a need for a steering control method, system, and equipment that can adaptively level multi-functional beam transport vehicles to achieve safe, efficient, and adaptive transportation of ultra-wide beams. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems of severe cross slope eccentric loading, asynchronous steering leading to tire wear, and beam swaying in the prior art, and to provide a steering control method, system and equipment for adaptive leveling of a multi-functional beam transporter.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0006] A steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle includes the following steps:

[0007] S1: Receive steering control commands and acquire the status information of the multi-functional beam transporter; wherein, the status information includes any one or more of the following: actual extended width of the bracket, displacement data, tilt angle data, pressure data, angle data, and vehicle speed data;

[0008] S2: Calculate the steering parameters of the multi-functional beam transporter based on the steering control command and the status information; wherein, the steering parameters include the main vehicle steering center, steering angle, and steering cylinder extension / retraction amount;

[0009] S3: Monitor the bracket tilt angle and wheel load of the multi-functional beam transporter in real time, and dynamically adjust the extension and retraction of the support cylinder of the multi-functional beam transporter through a pre-constructed adaptive leveling formula until the steering control command is completed.

[0010] As a preferred embodiment of the present invention, the steering control command further includes bracket extension information, and the multi-functional beam transport vehicle automatically extends and retracts the bracket to the target width according to the bracket extension information.

[0011] As a preferred embodiment of the present invention, step S1 further includes filtering the tilt angle data and pressure data in the state information.

[0012] As a preferred embodiment of the present invention, the calculation of the main vehicle steering center includes the following steps:

[0013] A coordinate system is established with the midpoint of the second axis of the multi-functional beam transporter as the origin; wherein, the X-axis of the coordinate system is along the longitudinal direction of the multi-functional beam transporter, and the Y-axis of the coordinate system is along the transverse direction of the multi-functional beam transporter.

[0014] Establish the equations for the left and right steering wheel axes of the first axle, and calculate the intersection of the two equations as the steering center of the main vehicle; its expression is:

[0015] Equation of the left steering wheel axis of the first axle:

[0016] ,

[0017] Equation of the right steering wheel axis of the first axle:

[0018] ,

[0019] The expression for the coordinates (X,Y) of the main vehicle's steering center O is:

[0020]

[0021] in, The left steering angle of the first axle of the multi-functional beam transporter. The right turn angle of the first axle of the multi-functional beam transporter; L 12 W represents the longitudinal distance between the first and second axles of the multi-functional beam-carrying artillery vehicle. main The wheelbase of the multi-functional beam transporter.

[0022] As a preferred embodiment of the present invention, the expression for calculating the steering angle includes:

[0023] Extended revolver center coordinates:

[0024] ,

[0025] Extend the center coordinates of the right wheel:

[0026] ,

[0027] Extend the horizontal distance from the left wheel to the steering center O of the main vehicle:

[0028] ,

[0029] Extend the horizontal distance from the right wheel to the steering center O of the main vehicle:

[0030] ,

[0031] Extended left wheel steering angle:

[0032] ,

[0033] Extend the right wheel steering angle:

[0034] ,

[0035] Among them, L ext W is the longitudinal distance from the center of the extended axle to the center of the rear fixed axle of the multi-functional beam transporter. ext,wheel To extend the wheelbase of the wheelset, L ext To extend the wheelbase of the wheelset.

[0036] As a preferred embodiment of the present invention, the calculation expression for the extension and retraction of the steering cylinder includes:

[0037] Extension / retraction range of the first axis steering cylinder:

[0038] ;

[0039] Extension / retraction range of the second-axis steering cylinder:

[0040] ;

[0041] Extended wheel set steering cylinder extension / retraction range:

[0042] ;

[0043] Among them, B i L represents the lateral spacing between the mounting points of the i-th hydraulic cylinder. armi Let be the length of the steering knuckle arm of the i-th cylinder. Left steering angle of the second axle of the main vehicle. k1 is the axle-to-axle ratio coefficient of the multi-functional beam transporter, L 0i Let be the initial extension / retraction amount of the steering cylinder for the i-th cylinder, where i ∈ [1, 3].

[0044] As a preferred embodiment of the present invention, the dynamic adjustment in step S3 using the adaptive leveling formula includes the following steps:

[0045] S31: Real-time monitoring of the bracket tilt angle and wheel load of the multi-functional beam transporter;

[0046] S32: The extension and retraction of the support cylinder of the multi-functional beam-carrying artillery vehicle is controlled by an incremental PID algorithm; the extension and retraction of the support cylinder is calculated based on the inclination angle of the bracket; its expression is:

[0047] ,

[0048] in, To support the extension and retraction of the hydraulic cylinder, Kp K i K d For PID parameters, Let be the tilt angle measured in direction j at time K, where j∈{1,2}, j=1 for lateral and j=2 for longitudinal.

[0049] S33: Determine whether the load of each wheel set exceeds the limit. If the load pressure of a certain wheel set exceeds the preset deviation threshold, compensate and adjust the extension and retraction of the support cylinder of that wheel set until the deviation between the load pressure and the average load is less than the deviation threshold; its expression is:

[0050] ,

[0051] ,

[0052] in, The extension / retraction amount of the support cylinder of wheel set i to be compensated. Let i be the load deviation coefficient of the wheel set to be compensated. The load of wheel set i to be compensated, The maximum stroke of the hydraulic cylinder of wheel set i to be compensated. For safety reasons, This represents the average load.

[0053] As a preferred embodiment of the present invention, the deviation threshold is 5%.

[0054] A steering control system for adaptive leveling of a multi-functional beam transporter artillery vehicle, the system being used to execute the steering control method for adaptive leveling of a multi-functional beam transporter artillery vehicle as described above, including a bracket width adaptive expansion module, a wheel set synchronous steering module, and a dynamic leveling control module;

[0055] The bracket width adaptive expansion module is used to adjust the bracket width of the multi-functional beam transport vehicle according to the ultra-wide beam of the load.

[0056] The wheel set synchronous steering module is used to calculate the steering parameters of the multi-functional beam transporter based on the status information of the multi-functional beam transporter.

[0057] The dynamic leveling control module is used to dynamically adjust the extension and retraction of the support cylinder of the multi-functional beam transporter based on the bracket tilt angle and wheel load of the multi-functional beam transporter.

[0058] A steering control device for adaptive leveling of a multi-functional beam-carrying artillery vehicle includes at least one processor and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to perform the steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle as described above.

[0059] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0060] This invention proposes a control method that can automatically generate synchronous steering parameters and perform automatic leveling based on the status information of the beam transport vehicle. Through closed-loop feedback and algorithm optimization, it solves the problems of severe cross slope eccentric loading, asynchronous steering leading to tire wear, and beam swaying in the transportation of large-span and ultra-wide steel box girders by traditional beam transport equipment, and realizes safe, efficient and adaptive transportation of ultra-wide beams. Attached Figure Description

[0061] Figure 1 This is a flowchart illustrating the adaptive leveling steering control method for a multi-functional beam-carrying artillery vehicle as described in Embodiment 1 of the present invention.

[0062] Figure 2 This is a schematic diagram of the coordinate system construction in the adaptive leveling steering control method for a multi-functional beam-carrying artillery vehicle according to Embodiment 2 of the present invention;

[0063] Figure 3 This is a schematic diagram of the adaptive leveling steering control system for a multi-functional beam-carrying artillery vehicle according to Embodiment 3 of the present invention;

[0064] Figure 4 This is a schematic diagram of the structure of a multi-functional beam-carrying artillery vehicle adaptive leveling steering control device, which utilizes the adaptive leveling steering control method for a multi-functional beam-carrying artillery vehicle described in the foregoing embodiments, as described in Embodiment 4 of the present invention. Detailed Implementation

[0065] The present invention will be further described in detail below with reference to experimental examples and specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0066] Example 1

[0067] like Figure 1 As shown, a steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle includes the following steps:

[0068] S1: Receive steering control commands and acquire the status information of the multi-functional beam transporter; wherein, the status information includes any one or more of the following: actual extended width of the bracket, displacement data, tilt angle data, pressure data, angle data, and vehicle speed data.

[0069] S2: Calculate the steering parameters of the multi-functional beam transporter based on the steering control command and the status information; wherein, the steering parameters include the main vehicle steering center, steering angle, and steering cylinder extension / retraction amount.

[0070] S3: Monitor the bracket tilt angle and wheel load of the multi-functional beam transporter in real time, and dynamically adjust the extension and retraction of the support cylinder of the multi-functional beam transporter through a pre-constructed adaptive leveling formula until the steering control command is completed.

[0071] Example 2

[0072] This embodiment is a specific implementation of the adaptive leveling steering control method for a multi-functional beam-carrying artillery vehicle described in Embodiment 1, including the following steps:

[0073] S1: Receive steering control commands and acquire the status information of the multi-functional beam transporter; wherein, the status information includes any one or more of the following: actual extended width of the bracket, displacement data, tilt angle data, pressure data, angle data, and vehicle speed data.

[0074] Furthermore, the process also includes filtering the tilt angle and pressure data in the state information. In this embodiment, Kalman filtering is used to process signal data such as tilt angle and pressure that are susceptible to vibration interference. The filtering formula is as follows:

[0075] ,

[0076] The symbols are defined as follows:

[0077] This is the optimal estimate at time k, i.e., the estimate of the true state after eliminating vibration disturbances;

[0078] Z k The measurement value at time k is the original measurement data containing vibration interference noise;

[0079] K k The Kalman gain at time k is used to balance the weights of the state prediction and the measurement to achieve the optimal estimate. The larger the gain, the stronger the correction effect of the measurement on the estimation result.

[0080] P k Let be the error covariance at time k, used to characterize the uncertainty of the state estimate at time k;

[0081] uk This is the control input vector at time k, used to correct the state prediction;

[0082] R is the measurement noise covariance, which is used to characterize the statistical properties of sensor measurement noise;

[0083] A is the state transition matrix, which describes the evolution of the system state from time k-1 to time k;

[0084] B is the control input matrix, used to describe the influence of the control quantity on the system state;

[0085] H is the observation matrix, which describes the mapping relationship between the system state vector and the measurement value vector, and transforms the state space into the observation space;

[0086] I is the identity matrix, which is a square matrix with 1s on the main diagonal and 0s on the rest, used for updating the covariance matrix.

[0087] T is the symbol for the transpose matrix.

[0088] S2: Calculate the steering parameters of the multi-functional beam transporter based on the steering control command and the status information.

[0089] Because the main vehicle of the multi-functional beam-carrying artillery vehicle (the first two sets are steering wheel sets, and the last two sets are fixed wheel sets) and the bracket extended wheel sets need to rotate around the same instantaneous steering center O to ensure that all wheel sets "purely roll" (without sliding wear). Therefore, the steering parameters include the main vehicle steering center, steering angle, and steering cylinder extension / retraction. Specifically, the calculation of each steering parameter includes the following steps:

[0090] (1) Main vehicle steering center:

[0091] like Figure 2 As shown, a coordinate system is established with the midpoint of the second axis of the multi-functional beam transporter as the origin; wherein, the X-axis of the coordinate system is along the longitudinal direction of the multi-functional beam transporter, and the Y-axis of the coordinate system is along the transverse direction of the multi-functional beam transporter.

[0092] Establish the equations for the left and right steering wheel axes of the first axle, and calculate the intersection of the two equations as the steering center of the main vehicle; its expression is:

[0093] Equation of the left steering wheel axis of the first axle:

[0094] ,

[0095] Equation of the right steering wheel axis of the first axle:

[0096] ,

[0097] The expression for the coordinates (X,Y) of the main vehicle's steering center O is:

[0098]

[0099] in, The left steering angle of the first axle of the multi-functional beam transporter. The right turn angle of the first axle of the multi-functional beam transporter; L 12 W represents the longitudinal distance between the first and second axles of the multi-functional beam-carrying artillery vehicle. main The wheelbase of the multi-functional beam transporter.

[0100] (2) Steering angle:

[0101] Extended revolver center coordinates:

[0102] ,

[0103] Extend the center coordinates of the right wheel:

[0104] ,

[0105] Extend the horizontal distance from the left wheel to the steering center O of the main vehicle:

[0106] ,

[0107] Extend the horizontal distance from the right wheel to the steering center O of the main vehicle:

[0108] ,

[0109] Extended left wheel steering angle:

[0110] ,

[0111] Extend the right wheel steering angle:

[0112] ,

[0113] Among them, L ext W is the longitudinal distance from the center of the extended axle to the center of the rear fixed axle of the multi-functional beam transporter. ext,wheel To extend the wheelbase of the wheelset, L ext To extend the wheelbase (i.e., the longitudinal distance from the center of the extended axle to the center of the rear fixed axle).

[0114] (3) Extension / retraction of steering cylinder:

[0115] Extension / retraction range of the first axis steering cylinder:

[0116] ;

[0117] When turning left, the left cylinder contracts by ΔL. 1LA negative value indicates the cylinder is extended; a positive value indicates the cylinder is extended.

[0118] Extension / retraction range of the second-axis steering cylinder:

[0119] ,

[0120] Extended wheel set steering cylinder extension / retraction range:

[0121]

[0122] Among them, B i L represents the lateral spacing between the mounting points of the i-th hydraulic cylinder (i.e., the distance between the hinge points of the two cylinders). armi Let be the length of the steering knuckle arm of the i-th cylinder (i.e., the distance from the cylinder hinge point to the wheel axle). Left steering angle of the second axle of the main vehicle. k1 is the axle-to-axle ratio coefficient of the multi-functional beam transporter, L 0i Let be the initial extension / retraction amount of the steering cylinder for the i-th cylinder, where i ∈ [1, 3].

[0123] S3: Monitor the bracket tilt angle and wheel load of the multi-functional beam transporter in real time, and dynamically adjust the extension and retraction of the support cylinder of the multi-functional beam transporter through a pre-constructed adaptive leveling formula until the steering control command is completed.

[0124] The control objectives for this step are: to ensure that the lateral tilt angle θx of the bracket is ≤0.1° and the longitudinal tilt angle θy is ≤0.1°; and to maintain the load deviation of the four wheel sets. ;in, (This refers to the average load).

[0125] Furthermore, the adaptive leveling formula includes angle leveling and load balancing. Angle leveling is prioritized, followed by load balancing. Specifically, this step, which uses the adaptive leveling formula for dynamic adjustment, includes the following steps:

[0126] S31: Real-time monitoring of the bracket tilt angle and wheel load of the multi-functional beam transporter;

[0127] S32: Dynamic leveling is achieved by controlling the extension and retraction of the support cylinders of the multi-functional beam-carrying artillery vehicle using an incremental PID algorithm; the extension and retraction of the support cylinders is calculated based on the inclination angle of the bracket; its expression is:

[0128] ,

[0129] in, To support the extension and retraction of the hydraulic cylinder, K p K i K d For PID parameters, Let be the tilt angle measured in direction j at time K, where j∈{1,2}, j=1 for lateral and j=2 for longitudinal.

[0130] For example, the formula for calculating the lateral leveling control quantity (cylinder extension / retraction increment ΔL):

[0131]

[0132] In the formula, The lateral tilt angle is the measured value at time K.

[0133] Similarly, the longitudinal leveling follows the same logic as the lateral leveling, using independent PID control of the corresponding support cylinders. (Note: This applies to both the front and rear beam transport vehicles.)

[0134] S33: Determine if the load on each wheelset exceeds the limit. If a load pressure F of a certain wheelset is found to be excessive... i With average load If the deviation exceeds a preset threshold, a pressure compensation algorithm is used to compensate and adjust the extension and retraction of the support cylinder of the wheel assembly until the deviation between the load pressure and the average load is less than the deviation threshold; the expression is:

[0135] ,

[0136] ,

[0137] in, The extension / retraction amount of the support cylinder of wheel set i to be compensated. Let i be the load deviation coefficient of the wheel set to be compensated. The load of wheel set i to be compensated, The maximum stroke of the hydraulic cylinder of wheel set i to be compensated. For safety reasons, this embodiment takes... .

[0138] In this embodiment, the deviation threshold is 5%, that is, when Adjust the extension and retraction of the corresponding support cylinder, and re-collect the pressure after adjustment, iterating until the deviation meets the requirements.

[0139] Furthermore, the steering control command also includes bracket extension information, and the multi-functional beam transporter automatically extends and retracts the bracket to the target width according to the bracket extension information.

[0140] Example 3

[0141] A steering control system for adaptive leveling of a multi-functional beam-carrying artillery vehicle, the system being used to execute a steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle as described in any of the above embodiments, such as... Figure 3 As shown, it includes a bracket width adaptive expansion module, a wheel set synchronous steering module, and a dynamic leveling control module;

[0142] The bracket width adaptive expansion module is used to adjust the bracket width of the multi-functional beam transport vehicle according to the ultra-wide beam under load; this module obtains the actual expanded bracket width W by fusing data from the wire displacement sensor. real , and target width W target In comparison, output the scaling control quantity.

[0143] The wheel set synchronous steering module is used to calculate the steering parameters of the multi-functional beam transporter based on the status information of the multi-functional beam transporter; that is, by integrating the vehicle steering angle αmain, vehicle speed v, and bracket extension width Wreal, the target steering angle α of the extended wheel set is calculated.

[0144] The dynamic leveling control module is used to dynamically adjust the extension and retraction of the support cylinders of the multi-functional beam-carrying artillery vehicle based on the bracket tilt angle and wheel load. Specifically, it integrates data from dual-axis tilt angles (lateral tilt angle θx, longitudinal tilt angle θy) and four sets of pressure sensor data (F1, F2, F3, F4) to calculate load deviation and tilt angle deviation.

[0145] Furthermore, the system also includes a data acquisition module, which comprises several sensors for collecting the status information of the multi-functional beam-carrying artillery vehicle. Specifically, in this embodiment, the data acquisition module includes the sensors shown in Table 1 below.

[0146] Table 1. Sensor Selection and Layout for the Data Acquisition Module

[0147] Serial Number Sensor type Model / Parameter Requirements Arrangement location Functions and uses 1 Wire displacement sensor Measuring range 0-2000mm, accuracy 0.1mm Telescopic cylinder body / piston rod Monitoring bracket expansion width (left and right extension range) 2 Dual-axis tilt sensor Measuring range ±10°, accuracy 0.01° Two brackets are symmetrically arranged in the middle of the main beam. Monitoring bracket lateral / longitudinal tilt angle 3 pressure sensor Measuring range 0-100MPa, accuracy 0.5% FS Extended wheel set support cylinder rodless chamber Monitor the load on the wheelset support (1 for each of the 4 wheelsets) 4 Absolute angle sensor Measuring range 0-360°, accuracy 0.05° Extended wheel set steering knuckle Monitor the real-time steering angle of the wheelset 5 Incremental encoder 1000 lines resolution, speed measurement range 0-20km / h Artillery drive wheel axle Collect the speed and mileage of the artillery vehicle 6 CAN bus module Supports J1939 protocol Between the gun vehicle control system and the bracket controller Transmitting commands such as the gun vehicle's turning angle and speed.

[0148] Example 4

[0149] like Figure 4 As shown, a steering control device for adaptive leveling of a multi-functional beam-carrying artillery vehicle includes at least one processor, a memory communicatively connected to the at least one processor, and at least one input / output interface communicatively connected to the at least one processor. The memory stores instructions executable by the at least one processor, which, when executed, enables the at least one processor to perform the steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle described in the foregoing embodiments. The input / output interface may include a display, keyboard, mouse, and USB interface for inputting and outputting data.

[0150] Furthermore, the steering control device for the adaptive leveling of the multi-functional beam transporter can be a desktop computer, mobile phone, tablet computer, wearable multi-functional beam transporter adaptive leveling steering control device, or any other multi-functional beam transporter adaptive leveling steering control device capable of deep information recognition.

[0151] Furthermore, the processor may include one or more processing cores. The processor connects to various parts of the adaptive leveling steering control device of the multi-functional beam-carrying artillery vehicle using various interfaces and lines. It executes various functions and processes data of the adaptive leveling steering control device by running or executing instructions, programs, code sets, or instruction sets stored in memory, and by calling data stored in memory. Optionally, the processor may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor and may be implemented separately through a communication chip.

[0152] The memory may include random access memory (RAM) or read-only memory (ROM). The memory can be used to store instructions, programs, code, code sets, or instruction sets, such as instructions or code sets used to implement the adaptive leveling steering control method for a multi-functional beam-carrying artillery vehicle provided in this application embodiment. The memory may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described above, etc. The data storage area may also store data created during the use of the adaptive leveling steering control device for the multi-functional beam-carrying artillery vehicle (such as a mapping table of modulation sequence and depth, image data, spectrogram data, etc.).

[0153] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0154] When the integrated units of the present invention are implemented as software functional units and sold or used as independent products, they can also be stored in a computer-readable storage medium. The computer-readable storage medium stores program code, which can be called by a processor to execute the methods described in the above method embodiments. Based on this understanding, the technical solution of the embodiments of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program code that executes any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0155] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle, characterized in that, Includes the following steps: S1: Receive steering control commands and acquire the status information of the multi-functional beam transporter; wherein, the status information includes any one or more of the following: actual extended width of the bracket, displacement data, tilt angle data, pressure data, angle data, and vehicle speed data; S2: Calculate the steering parameters of the multi-functional beam transporter based on the steering control command and the status information; wherein, the steering parameters include the main vehicle steering center, steering angle, and steering cylinder extension / retraction amount; S3: Monitor the bracket tilt angle and wheel load of the multi-functional beam transporter in real time, and dynamically adjust the extension and retraction of the support cylinder of the multi-functional beam transporter through a pre-constructed adaptive leveling formula until the steering control command is completed. The steering control command also includes bracket extension information, and the multi-functional beam transporter automatically extends and retracts the bracket to the target width according to the bracket extension information.

2. The steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle according to claim 1, characterized in that, S1 further includes filtering the tilt angle data and pressure data in the state information.

3. The steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle according to claim 1, characterized in that, The calculation of the main vehicle's steering center includes the following steps: A coordinate system is established with the midpoint of the second axis of the multi-functional beam transporter as the origin; wherein, the X-axis of the coordinate system is along the longitudinal direction of the multi-functional beam transporter, and the Y-axis of the coordinate system is along the transverse direction of the multi-functional beam transporter. Establish the equations for the left and right steering wheel axes of the first axle, and calculate the intersection of the two equations as the steering center of the main vehicle; its expression is: Equation of the left steering wheel axis of the first axle: ， Equation of the right steering wheel axis of the first axle: ， The expression for the coordinates (X,Y) of the main vehicle's steering center O is: in, The left steering angle of the first axle of the multi-functional beam transporter. The right turn angle of the first axle of the multi-functional beam transporter; L 12 W represents the longitudinal distance between the first and second axles of the multi-functional beam-carrying artillery vehicle. main The wheelbase of the multi-functional beam transporter.

4. The steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle according to claim 3, characterized in that, The formula for calculating the steering angle includes: Extended revolver center coordinates: ， Extend the center coordinates of the right wheel: ， Extend the horizontal distance from the left wheel to the steering center O of the main vehicle: ， Extend the horizontal distance from the right wheel to the steering center O of the main vehicle: ， Extended left wheel steering angle: ， Extend the right wheel steering angle: ， Among them, L ext W is the longitudinal distance from the center of the extended axle to the center of the rear fixed axle of the multi-functional beam transporter. ext,wheel To extend the wheelbase of the wheelset, L ext To extend the wheelbase of the wheelset.

5. The steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle according to claim 4, characterized in that, The expression for calculating the extension / retraction amount of the steering cylinder includes: Extension / retraction range of the first axis steering cylinder: ； Extension / retraction range of the second-axis steering cylinder: ； Extended wheel set steering cylinder extension / retraction range: ； Among them, B i L represents the lateral spacing between the mounting points of the i-th hydraulic cylinder. armi Let be the length of the steering knuckle arm of the i-th cylinder. Left steering angle of the second axle of the main vehicle. k1 is the axle-to-axle ratio coefficient of the multi-functional beam transporter, L 0i Let be the initial extension / retraction amount of the steering cylinder for the i-th cylinder, where i ∈ [1, 3].

6. The steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle according to claim 1, characterized in that, The dynamic adjustment in S3 using the adaptive balancing formula includes the following steps: S31: Real-time monitoring of the bracket tilt angle and wheel load of the multi-functional beam transporter; S32: The extension and retraction of the support cylinder of the multi-functional beam-carrying artillery vehicle is controlled by an incremental PID algorithm; the extension and retraction of the support cylinder is calculated based on the inclination angle of the bracket; its expression is: ， in, To support the extension and retraction of the hydraulic cylinder, K p K i K d For PID parameters, Let be the tilt angle measured in direction j at time K, where j∈{1,2}, j=1 for lateral and j=2 for longitudinal. S33: Determine whether the load of each wheel set exceeds the limit. If the load pressure of a certain wheel set exceeds the preset deviation threshold, compensate and adjust the extension and retraction of the support cylinder of that wheel set until the deviation between the load pressure and the average load is less than the deviation threshold; its expression is: ， ， in, The extension / retraction amount of the support cylinder of wheel set i to be compensated. Let i be the load deviation coefficient of the wheel set to be compensated. The load of wheel set i to be compensated, The maximum stroke of the hydraulic cylinder of wheel set i to be compensated. For safety reasons, This represents the average load.

7. The steering control method for adaptive leveling of a multi-functional beam-carrying artillery vehicle according to claim 6, characterized in that, The deviation threshold is 5%.

8. A steering control system for adaptive leveling of a multi-functional beam-carrying artillery vehicle, characterized in that, The system is used to execute a steering control method for adaptive leveling of a multi-functional beam transporter truck according to any one of claims 1 to 7, including a bracket width adaptive expansion module, a wheel set synchronous steering module, and a dynamic leveling control module; The bracket width adaptive expansion module is used to adjust the bracket width of the multi-functional beam transport vehicle according to the ultra-wide beam of the load. The wheel set synchronous steering module is used to calculate the steering parameters of the multi-functional beam transporter based on the status information of the multi-functional beam transporter. The dynamic leveling control module is used to dynamically adjust the extension and retraction of the support cylinder of the multi-functional beam transporter based on the bracket tilt angle and wheel load of the multi-functional beam transporter.

9. A steering control device for adaptive leveling of a multi-functional beam-carrying artillery vehicle, characterized in that, It includes at least one processor and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to perform a steering control method for adaptive leveling of a multi-functional beam transporter according to any one of claims 1 to 7.

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