Integrated intelligent leveling system and control method of hydraulic platform

Abstract

The application discloses an integrated intelligent leveling system and control method of a hydraulic platform, and the leveling system comprises a control module, an execution module and a feedback module, the execution module is controlled by the control module in combination with the feedback module, and the intelligent leveling is finally realized through the following steps in sequence, namely, system configuration and initialization, parameter self-adaptive calibration, main support leg coarse leveling, dynamic calculation of an alpha compensation coefficient, main support leg fine leveling, auxiliary support leg ground contact and compaction, virtual leg detection and elimination and dynamic monitoring and continuous compensation. Through the above manner, the dynamic alpha compensation model is constructed by integrating multi-source data such as strain, inclination and displacement, real-time offset of deformation error is realized, leveling precision, long-term stability and adaptability to complex working conditions are significantly improved, maintenance cost is reduced, the leveling system has high universality and can meet the strict requirements of high-end equipment on the leveling system.

Description

Technical Field

[0001] This invention relates to the field of hydraulic leveling technology, and in particular to an integrated intelligent leveling system and control method for a hydraulic platform. Background Technology

[0002] As a core support unit for radar, missiles, and special operations equipment, the hydraulic system of a vehicle-mounted platform directly determines the equipment's combat effectiveness and operational reliability through its leveling accuracy, long-term stability, and adaptability to complex working conditions. With the continuous upgrading of equipment loads, the diversification of operating environments, and the increasing demand for long-term continuous operation, higher requirements are being placed on the dynamic adaptability, deformation resistance, and autonomous optimization capabilities of the leveling system.

[0003] In existing technologies, vehicle-mounted hydraulic leveling technology has achieved basic functions such as distributed control and automatic leveling with multi-point support. However, it still has inherent defects in dealing with problems such as platform deformation and dynamic working condition changes, making it difficult to meet the practical application requirements of modern equipment for high precision and high robustness.

[0004] Based on the analysis of existing technologies, the main defects and shortcomings are as follows.

[0005] First, there is a lack of platform deformation response: Under heavy loads, long-term operation, or complex environmental stresses (such as temperature changes and foundation settlement), the platform and its supporting structure are prone to elastic or even plastic deformation. However, existing leveling technologies lack adequate support.

[0006] For example, the "A method for rapid automatic leveling control of a multi-point support heavy-duty platform" with application number 202110334315.X (publication number CN113126656A) only uses a dual-axis horizontal angle sensor to feed back the angle between the X and Y axes and adjusts the lifting of the support legs to achieve leveling. It mainly focuses on the contact sequence of the main and auxiliary support legs and the control of the leveling dead zone. It does not address the elastic / plastic deformation problem of the platform under heavy load and long-term operation, nor does it set any deformation detection sensor or deformation compensation logic, and cannot cope with the drift in adjustment accuracy caused by deformation.

[0007] The application with application number 202510162129.0 (publication number CN120100792A) entitled "A Distributed Hydraulic Leg Control Device and Control Method" mainly discloses the retraction-landing-lifting action control of the distributed hydraulic leg. It relies on the extension / retraction switch, weight sensor, and position sensor to achieve precise action. However, it does not consider the influence of platform deformation caused by load or stress on the accuracy of the leg stroke, and does not establish a correlation model between deformation and servo proportional valve opening and leg extension. Therefore, the progress deviation caused by deformation cannot be offset.

[0008] The application "A method for rapid leveling control of vehicle platform based on mechanical deformation interference compensation" with application number 202110706164.6 (publication number CN113485459B) mentions mechanical deformation interference compensation, but its compensation model is only based on the deformation error model of continuously variable electric cylinder to construct interference compensation, which does not cover the overall elastic / plastic deformation of the platform (such as the stress deformation of platform beams and support points). Moreover, the compensation model has preset fixed parameters and cannot be dynamically adjusted according to real-time deformation data. In essence, it still does not solve the problem of dynamic correlation between deformation and leveling parameters, and there is still a risk of accuracy drift.

[0009] Second, multi-source data fusion is insufficient: existing technologies mostly rely on single-type sensors and do not integrate deformation-related data such as strain and stress.

[0010] As mentioned above, the "A method for rapid automatic leveling control of a multi-point support heavy-duty platform" with application number 202110334315.X (publication number CN113126656A) only uses two types of sensors: a dual-axis horizontal angle sensor and a leg zero-position / ground contact / stroke detection proximity switch. It can only acquire angle and leg stroke data, but does not integrate data directly related to platform deformation, such as strain and stress. It cannot accurately capture the state changes of the platform caused by deformation, and the leveling decision is based solely on angle deviation, which is one-sided.

[0011] The application number 202010448451.7 (publication number CN111474850B) entitled "Control Method for PID Hydraulic Leveling System Based on Improved Sine and Cosine Algorithm" obtains the platform angle signal through dual-axis sensors and optimizes the PID parameters with the ITAE index. It relies on angle data and algorithm optimization, but does not introduce the fusion of multi-source data such as strain, weight, and displacement. In particular, it does not integrate deformation-related data, and cannot distinguish whether the angle deviation is caused by terrain or platform deformation, thus limiting the accuracy of leveling decisions.

[0012] The "hydraulic leveling system and control method" in application number 202510356970.3 (publication number CN120172321A) uses displacement, weight and level sensors to collect data, which only covers the outrigger stroke, load and platform angle. It does not integrate platform deformation data detected by strain sensors, and cannot verify the true state of the platform through cross-validation of multi-source data. It is easy to cause leveling deviation due to single sensor error or deformation interference.

[0013] The "Adaptive, Unrestricted, High-Precision, Fast, Automatic Leveling System and Method" in application number 202410575901.7 (publication number CN118519460A) relies solely on a dual-axis tilt sensor, displacement sensor, and limiter. Although it achieves the elimination of false legs and adaptive calibration, it does not integrate strain and stress data, cannot sense platform deformation, and the multi-source data fusion is limited to angle and displacement, without extending to the deformation-related dimension.

[0014] Third, the compensation mechanism lacks adaptability: existing patent compensation mostly involves adjusting fixed parameters, and there is no dynamic compensation coefficient model based on real-time data.

[0015] As described in the aforementioned application No. 202110334315.X (Publication No. CN113126656A) entitled "A Rapid Automatic Leveling Control Method for a Multi-Point Support Heavy-Duty Platform", during the leveling process, the main support leg extends separately for a "set time (time corresponding to 20cm)" and the auxiliary support leg extends simultaneously for a "set distance (1cm)". The compensation parameters (time and distance) are fixed values ​​and cannot be dynamically adjusted according to real-time terrain and load deformation. The leveling dead zone is a preset fixed value with no dynamic optimization mechanism, which limits its adaptability.

[0016] The application No. 202510356970.3 (Publication No. CN120172321A) entitled "A hydraulic leveling system and control method" calculates the pump station flow rate by preset synchronous leg lifting parameters and fixed proportional coefficient K=1.2. The compensation parameters (K value, leg lifting height H) are manually preset fixed values. The compensation coefficient is not dynamically updated according to real-time deformation and component attenuation data, and cannot adapt to dynamic deformation scenarios.

[0017] The application number 202010448451.7 (publication number CN111474850B) entitled "Control method for PID hydraulic leveling system based on improved sine and cosine algorithm" optimizes PID parameters (Kp, Ki, Kd) by improving the sine and cosine algorithm (ISCA). However, after the parameters are optimized, they are fixedly assigned to the PID controller, and there is no dynamic adjustment based on real-time angle deviation and deformation data in the subsequent leveling process.

[0018] The application with application number 202511637387.6 (publication number CN121251660A), entitled "An Automatic Control Leveling Method and System for Multi-Legs of a Hydraulic Platform," calculates the target valve opening based on a PID model. The ground contact threshold (20MPa) and the preset angle range ([-0.5°, 0.5°]) are all fixed values. The compensation threshold or PID parameters are not dynamically adjusted according to real-time load and deformation data, and the compensation lacks adaptability.

[0019] Fourth, insufficient functional synergy: Existing patents demonstrate that multi-point support, false leg elimination, and deformation compensation operate independently, failing to form an integrated control process.

[0020] The process described in the aforementioned application No. 202110334315.X (Publication No. CN113126656A), titled "A Rapid Automatic Leveling Control Method for a Multi-Point Support Heavy-Duty Platform," involves the main and auxiliary support legs touching the ground → the main support leg bearing the load → the main support leg leveling → the auxiliary support leg touching the ground and compacting. This method only executes the multi-point support and leveling sequentially and does not incorporate deformation compensation functionality. It lacks the collaborative logic for eliminating false legs and compensating for deformation. If false legs are generated due to deformation after leveling, they cannot be corrected a second time, resulting in insufficient robustness.

[0021] As mentioned in the aforementioned application No. 202510162129.0 (Publication No. CN120100792A), "A Distributed Hydraulic Support Leg Control Device and Control Method" discloses the independent action control (retraction, landing, lifting) of the distributed support leg. The completion status of the action is determined by sensors. The core functions are distributed control and safety protection, but it does not coordinate with multi-point support leveling, false leg elimination, and deformation compensation. Each functional module operates independently, without an integrated control process.

[0022] As mentioned in the aforementioned application No. 202410575901.7 (Publication No. CN118519460A), "An Adaptive Unrestricted High-Precision Fast Automatic Leveling System and Method" implements the process of parameter calibration → horizontal adjustment → false leg elimination. However, the false leg elimination only adjusts the extension of the support leg by the binary search method, without coordination with deformation compensation (e.g., when the false leg is caused by deformation, the deformation is not compensated before the false leg is eliminated). Deformation compensation is not included in the overall process, and there is a lack of linkage between functions. After leveling, it is easy to cause secondary imbalance due to deformation.

[0023] As mentioned in the aforementioned application No. 202110706164.6 (Publication No. CN113485459B), "A Fast Leveling Control Method for Vehicle Platform Based on Mechanical Deformation Interference Compensation", a four-support leveling model and a deformation interference model are constructed. However, the deformation interference compensation exists only as an independent module and is not integrated with multi-point support (such as the coordination of main and auxiliary support legs) and virtual leg elimination functions. In the leveling process, deformation compensation is executed independently with other functions, without a collaborative optimization mechanism, and the robustness of leveling cannot be guaranteed.

[0024] In summary, existing vehicle-mounted platform hydraulic leveling technology has significant shortcomings in handling platform deformation, fusing multi-dimensional data, achieving adaptive compensation, and functional collaborative control, making it difficult to meet the application requirements of high precision and high robustness. Therefore, there is an urgent need to develop an intelligent leveling control system that can effectively cope with platform deformation, deeply fuse multi-source data, possess dynamic adaptive compensation capabilities, and exhibit highly collaborative functions. Summary of the Invention

[0025] The main technical problem solved by this invention is to provide an integrated intelligent leveling system and control method for hydraulic platforms. Addressing the core deficiencies of existing technologies, such as their inability to handle platform deformation and rigid compensation strategies, this invention proposes an integrated leveling control scheme with α compensation. By integrating multi-source data such as strain, tilt angle, and displacement to construct a dynamic α compensation model, real-time compensation of deformation errors is achieved. Combined with distributed control and virtual leg elimination functions, a closed-loop control system of deformation perception, dynamic compensation, precise leveling, and state verification is formed. This significantly improves leveling accuracy, long-term stability, and adaptability to complex working conditions, reduces maintenance costs, adapts to different sizes, loads, and drive methods, and has strong versatility, meeting the stringent requirements of high-end equipment for leveling systems.

[0026] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: providing an integrated intelligent leveling control method for a hydraulic platform, applied to a leveling system, the leveling system including a control module, an execution module and a feedback module, the execution module including a main support leg and an auxiliary support leg, the feedback module including a dual-axis tilt sensor, a displacement sensor, a pressure sensor and a strain sensor, and the control module including a main controller and distributed sub-controllers arranged close to each support leg;

[0027] The control module, in conjunction with the feedback module, controls the execution module to achieve intelligent balancing. The steps are as follows:

[0028] Step S1, System Configuration and Initialization:

[0029] The control module controls all the support legs to retract to their respective initial positions, performs zero-point initialization on each sensor in the feedback module, and initializes the state of the control module.

[0030] Step S2, adaptive parameter calibration:

[0031] The control module controls each support leg to rise sequentially, calibrates the system control parameters based on the data collected by the dual-axis tilt sensor and displacement sensor, and calibrates the compensation model parameters based on the data collected by the strain sensor.

[0032] Step S3, adjust the main support leg to be thick and level:

[0033] The control module controls all main support legs to stop after they touch the ground. The main support legs then bear the platform load. Based on the tilt angle deviation fed back by the dual-axis tilt angle sensor, the main support legs are adjusted to bring the platform tilt angle to a preset first accuracy range, thus completing the initial leveling.

[0034] Step S4, Dynamic calculation of α compensation coefficient:

[0035] Based on the current strain value collected by the strain sensor, the current stroke deviation value of each support leg collected by the displacement sensor, and the current angle deviation value collected by the tilt sensor, a dynamic compensation coefficient α is generated.

[0036] Step S5, fine-tune the main support leg to level:

[0037] The extension and retraction of each main support leg are corrected according to the dynamic compensation coefficient, so that the platform tilt angle converges to a preset second accuracy range, which is higher than the first accuracy range.

[0038] Step S6, assisting the supporting leg to touch the ground and compact it:

[0039] Control all auxiliary support legs to contact and compact the ground, and monitor the load-bearing status of each auxiliary support leg through the pressure sensor;

[0040] Step S7, Detection and elimination of false leg:

[0041] Check all main and auxiliary support legs for any loose legs, and adjust the extension of the support legs with loose legs until the loose legs are eliminated;

[0042] Step S8, Dynamic Monitoring and Continuous Compensation:

[0043] The platform status is continuously monitored, and the dynamic compensation coefficient is updated in real time based on the monitoring results. The main support legs are then dynamically adjusted accordingly to maintain the leveling accuracy.

[0044] In a preferred embodiment of the present invention, step S1 includes:

[0045] The main support leg and auxiliary support leg are installed in the preset position of the platform, the strain sensor is placed in the stress concentration area where the platform crossbeam and support point are located, and the dual-axis tilt sensor is placed on the platform reference plane.

[0046] The control module controls all main and auxiliary support legs to retract to their respective negative limit switches. After all support legs are in the retracted state, the displacement sensor and pressure sensor are initialized, and the state initialization of the control module is completed.

[0047] In a preferred embodiment of the present invention, step S2 includes:

[0048] The main controller controls the corresponding support legs to rise sequentially through each distributed sub-controller. The dual-axis tilt sensor and displacement sensor record the changes in the X and Y axes of the platform and the travel of the support legs during the raising process. The initial height H of the platform and the leveling parameters for the influence of the raising and lowering of each support leg on the positive and negative tilt angles of the X and Y axes are calibrated.

[0049] Simultaneously, by acquiring the strain value of the platform under no-load conditions using the strain sensor, the reference strain value ε0 is calibrated and used as the initialization reference for the α compensation coefficient.

[0050] Based on the strain data, angle change data, and stroke change data recorded during the lifting process, the adaptive calibration coefficients k1, k2, and k3 in the α compensation coefficient calculation formula are calibrated.

[0051] In a preferred embodiment of the present invention, step S3 includes:

[0052] Control all main and auxiliary support legs to extend until they touch the ground and then stop. Then control the main support legs to extend individually for a preset first duration so that each main support leg can fully bear the platform load.

[0053] Obtain the angle deviation values ​​in the X and Y axes fed back by the dual-axis tilt sensor;

[0054] Based on the angular deviation values ​​in the X and Y axes, control the lifting and lowering movement of the two main support legs located diagonally until the absolute values ​​of the angular deviation values ​​in the X and Y axes are both less than or equal to the preset first precision value, thus completing the initial leveling.

[0055] In a preferred embodiment of the present invention, step S4 includes:

[0056] The dynamic compensation coefficient α is calculated by the α compensation calculation unit according to the following formula:

[0057] ,

[0058] Where ε is the current strain value collected by the strain sensor, ε0 is the reference strain value, Δθ is the current angle deviation value collected by the dual-axis tilt sensor, Δs is the current stroke deviation value of each support leg collected by the displacement sensor, and k1, k2, and k3 are adaptive calibration coefficients, which are determined by calibration in step S2.

[0059] In a preferred embodiment of the present invention, step S5 includes:

[0060] The current angle deviation value e(t) is obtained by the PID control unit in combination with the α dynamic compensation coefficient;

[0061] Calculate the control output value u(t) according to the following formula;

[0062] ,

[0063] Where Kp, Ki, and Kd are the preset proportional coefficient, integral coefficient, and differential coefficient, respectively, and α is the dynamic compensation coefficient;

[0064] The target proportional valve opening is controlled according to the corrected control output value u(t) to dynamically correct the extension and retraction of each main support leg;

[0065] Repeat the above process until the platform tilt angle converges to the second accuracy range, thus offsetting platform deformation and errors and achieving high-precision leveling.

[0066] In a preferred embodiment of the present invention, step S6 includes:

[0067] Control each auxiliary support leg to extend sequentially until it touches the ground and then stops;

[0068] Then control all auxiliary legs to extend synchronously at a preset first speed and a preset first distance, so that each auxiliary leg presses firmly into the ground;

[0069] During the compaction process, the load-bearing status of each auxiliary support leg is monitored in real time using pressure sensors.

[0070] In a preferred embodiment of the present invention, step S7 includes:

[0071] The binary search method is used to control the retraction height of each support leg;

[0072] During the retraction process, the angular changes of the platform in the X and Y axes are detected by a dual-axis tilt sensor, and the current supporting leg is determined as a false leg based on the angular changes.

[0073] If the angle change is greater than the preset angle change threshold, the support leg is determined to be a non-virtual leg; if the angle change is less than or equal to the preset angle change threshold, the support leg is determined to be a virtual leg.

[0074] For a support leg that is determined to be a false leg, control the support leg to extend gradually, pause after each preset second distance, and re-detect the angle change until the angle change of the platform after the support leg extends is greater than the preset angle change threshold, then the false leg is determined to be eliminated.

[0075] Repeat the above detection and elimination process until all supporting legs are determined to be non-false legs, thus completing the leveling.

[0076] In a preferred embodiment of the present invention, step S8 includes:

[0077] After leveling is completed, data from strain sensors, dual-axis tilt sensors, and displacement sensors are continuously collected.

[0078] Based on the real-time collected data, the dynamic compensation coefficient α is updated in real time according to step S4.

[0079] Based on the updated dynamic compensation coefficient, the extension and retraction of each main support leg are dynamically corrected according to the method in step S5 to maintain the leveling accuracy.

[0080] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is: to provide an integrated intelligent leveling system for a hydraulic platform, comprising:

[0081] The execution module includes the main support legs located near the platform's center of gravity and the auxiliary support legs symmetrically distributed on both sides of the platform;

[0082] The feedback module includes a dual-axis tilt sensor for detecting the horizontal angle of the platform in the X and Y axes, a leg positive and negative limiter for detecting the positive and negative limits of each leg, a displacement sensor for detecting the extension stroke of each leg, a pressure sensor for detecting the load-bearing state of each leg, and a strain sensor for detecting platform deformation data. The strain sensor is attached to the stress concentration area where the platform crossbeam and support points are located.

[0083] The control module includes a main controller and distributed sub-controllers arranged close to each support leg. The control module also integrates: an α compensation calculation unit for calculating the dynamic compensation coefficient α, a PID control unit for dynamically correcting the extension and retraction of each main support leg according to the dynamic compensation coefficient α, a false leg detection and elimination unit for identifying and eliminating false legs, and a parameter adaptive calibration unit.

[0084] The communication module enables bidirectional data interaction between the main controller and each distributed sub-controller, as well as between the main controller and the host computer, through a communication bus.

[0085] The power supply module provides power to all the above modules.

[0086] The beneficial effects of this invention are:

[0087] Precise deformation compensation: By integrating multi-source data of strain, tilt angle and displacement, the dynamic compensation coefficient α is calculated in real time and superimposed on the PID control to offset the platform deformation error in real time, and the leveling accuracy is improved by more than 30% compared with the traditional solution.

[0088] The compensation strategy is adaptive: the α compensation coefficient is calculated dynamically in real time based on multi-source data, without the need for manual intervention or recalibration. It can adapt to complex working conditions such as heavy load and long cycle operation, and the adaptability of working conditions is significantly enhanced.

[0089] Integrated and coordinated functions: It integrates distributed control, false leg elimination, alpha compensation, multi-point support, etc., to form a closed-loop control, avoid secondary imbalance caused by deformation and false legs, and improve leveling stability by more than 50%.

[0090] Reduced maintenance costs: It can autonomously complete deformation compensation and parameter optimization without the need for regular manual calibration, which greatly reduces the frequency and cost of maintenance.

[0091] Wide range of compatibility: Through parameter adaptive calibration, it can be adapted to hydraulic or electric driven leveling platforms of different sizes and loads, making it highly versatile. Attached Figure Description

[0092] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0093] Figure 1 This is a structural block diagram of the integrated intelligent leveling system of the hydraulic platform of the present invention;

[0094] Figure 2 This is a control flowchart of the integrated intelligent leveling system of the hydraulic platform of the present invention;

[0095] Figure 3 This is a structural schematic diagram showing the arrangement of each sensor in the feedback module of the present invention.

[0096] Figure 4 This is the control flowchart for the α compensation calculation of the present invention;

[0097] Figure 5 This is the control flowchart of the PID control dynamic compensation fine-tuning of the present invention;

[0098] Figure 6 This is a control flowchart for the detection and elimination of false legs in this invention. Detailed Implementation

[0099] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0100] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0101] This invention provides an integrated intelligent leveling system and method for a hydraulic platform, which integrates multi-source data such as strain, tilt angle, and displacement to achieve high-precision platform leveling control with dynamic α compensation.

[0102] Please see Figure 1 The leveling system in this embodiment includes an execution module, a feedback module, a control module, a communication module, and a power supply module.

[0103] In detail, the first component is the execution module, which consists of four main support legs and n auxiliary support legs, where n is an even number. The four main support legs are positioned close to the platform's center of gravity, while the n auxiliary support legs are symmetrically distributed on both sides of the platform to enhance stability. Both the main and auxiliary support legs are hydraulically driven, and each support leg is equipped with a servo proportional valve assembly for precise extension and retraction control.

[0104] Optionally, the execution module can use a servo electric cylinder to replace the hydraulic drive, and only the valve group control module can be replaced with a motor speed control module to adapt to different driving scenarios.

[0105] Secondly, there is the feedback module, which includes the following sensors:

[0106] A dual-axis tilt sensor, mounted on the platform's reference plane, is used to detect the platform's horizontal angle in the X and Y axes, providing attitude data for leveling.

[0107] Displacement sensors are installed on each support leg to detect the extension and retraction stroke of each support leg;

[0108] Pressure sensors are installed on each support leg to detect the load-bearing status of each support leg;

[0109] Strain sensors are attached to the stress concentration areas of the platform beams and support points to detect the platform's deformation data.

[0110] Positive and negative limit switches are installed at the extreme positions of each support leg to detect whether each support leg has reached its positive or negative limit.

[0111] Optionally, a laser rangefinder can be used to detect changes in the spacing between key points on the platform surface, replacing strain sensors to obtain deformation data, in order to adapt to special environments such as high temperature and high vibration.

[0112] Furthermore, there is the control module, which includes a main controller and distributed sub-controllers. The distributed sub-controllers are arranged close to each support leg, and each sub-controller controls one support leg, which shortens the control response time and improves the control accuracy in multi-point support scenarios.

[0113] The control module also integrates an α compensation calculation unit, a PID control unit, a false leg detection and elimination unit, and a parameter adaptive calibration unit, providing multi-source data support for α dynamic compensation and correction leveling.

[0114] Secondly, there is the communication module, which uses a CAN communication bus to enable bidirectional data interaction between the main controller and each distributed sub-controller, as well as between the main controller and the host computer, ensuring the real-time performance of the system.

[0115] Finally, there is the power supply module, which provides stable power to all the above modules and includes an anti-interference filtering unit to ensure the system's operational stability in harsh environments.

[0116] Please see Figure 2-6 Based on the above-mentioned leveling system, the present invention also provides an integrated intelligent leveling control method for a hydraulic platform, which mainly includes the following control steps.

[0117] Step S1, System Configuration and Initialization:

[0118] First, configure the system: install the main support leg and auxiliary support leg in the preset position on the platform, attach the strain sensor to the stress concentration area where the platform beam and support point are located, and set the dual-axis tilt sensor on the platform reference plane;

[0119] Then the control module performs the initialization operation: it controls all main and auxiliary support legs to retract to their respective negative limit switches, and waits until all support legs are in the retracted state; in this state, it completes the initialization of the displacement sensor and pressure sensor, and at the same time completes the state initialization of the control module.

[0120] Step S2, Parameter Adaptive Calibration: The purpose of this step is to calibrate the system control parameters and compensation model parameters.

[0121] The main controller controls each support leg to rise sequentially. During the rising process, dual-axis tilt sensors collect and record the platform's angular changes along the X and Y axes, while displacement sensors collect and record the stroke data of each support leg. Based on the received angular and stroke data, the main controller establishes a correspondence between the lifting of each support leg and the platform's tilt angle changes, thereby calibrating:

[0122] The initial height H of the platform, and the leveling parameters for the influence of the lifting of each support leg on the tilt angle of the platform in the positive X-axis direction, negative X-axis direction, positive Y-axis direction, and negative Y-axis direction;

[0123] Meanwhile, the strain value of the platform under no-load condition is collected by the strain sensor, and the reference strain value ε0 is calibrated as the initialization reference for the α compensation coefficient.

[0124] Based on the strain data, angle change data, and stroke change data recorded during the lifting process, the adaptive calibration coefficients k1, k2, and k3 in the calculation of the α compensation coefficient are determined by a preset fitting algorithm.

[0125] Simultaneously calibrate the proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd of the PID control unit.

[0126] In one specific implementation, the strain sensor has a detection accuracy of ±1με, which can quickly capture minute deformations of the platform.

[0127] Step S3, Main support leg coarse leveling: The purpose of this step is to adjust the platform tilt angle to the first accuracy range.

[0128] The control module controls all main and auxiliary support legs to extend until they touch the ground and then stop. Then, it controls the main support legs to extend individually for a preset first duration (e.g., 10 seconds) to ensure that each main support leg fully bears the platform load. During the extension process, the extension and retraction speed of the support legs is controlled by a servo proportional valve to reach ≤0.1mm / s to ensure the smoothness of the coarse leveling process.

[0129] The angle deviation values ​​in the X-axis and Y-axis directions fed back by the dual-axis tilt sensors are obtained. Based on the angle deviation values ​​in these two directions, the lifting and lowering movements of the two main support legs located diagonally are controlled until the absolute values ​​of the angle deviation values ​​in the X-axis and Y-axis directions are both less than or equal to the preset first accuracy value, thus completing the initial leveling.

[0130] In one specific implementation, the first accuracy value is set to 0.5°, thus forming a dead zone range of ±0.5°. When the platform tilt angle falls within this range, the system determines that coarse leveling is complete and stops adjusting. It should be noted that this first accuracy value is not fixed and can be preset and adjusted according to the platform size, load characteristics, and leveling accuracy requirements.

[0131] Step S4, Dynamic Calculation of α Compensation Coefficient: This step mainly involves calculating the dynamic compensation coefficient α in real time based on multi-source sensor data.

[0132] The following data are acquired in real time by the α compensation calculation unit: the current strain value ε collected by the strain sensor, the current stroke deviation value Δs of each support leg collected by the displacement sensor, and the current angle deviation value Δθ collected by the tilt sensor.

[0133] The formula for calculating the compensation coefficient α is: Where k1, k2, and k3 are adaptive calibration coefficients, determined through calibration in step S2, and ε0 is the reference strain value calibrated in step S2;

[0134] This formula quantifies and integrates platform deformation (ε-ε0), angular deviation Δθ, and leg stroke deviation Δs, achieving a precise correlation between deformation and error, and providing a compensation basis for subsequent fine-tuning.

[0135] In practical applications, the value of α is dynamically adjusted according to the degree of platform deformation, and its range is 0.001 to 0.1. When the platform deformation is small, α approaches 0.001, and the compensation effect is weak; when the platform deformation is large, α approaches 0.1, and the compensation effect is enhanced.

[0136] Optionally, the α-compensation model can be a nonlinear fusion model. This further improves the compensation accuracy in complex deformation scenarios.

[0137] Step S5, fine-tuning of the main support leg: The purpose of this step is to correct the PID control law according to the dynamic compensation coefficient α to achieve high-precision leveling.

[0138] The current angle deviation value e(t) is obtained by the PID control unit, and the control output value u(t) is calculated according to the following formula;

[0139] Correction formula: ,

[0140] Where Kp, Ki, and Kd are the preset proportional coefficient, integral coefficient, and differential coefficient, respectively, and α is the dynamic compensation coefficient output in step S4.

[0141] The target proportional valve opening is controlled based on the corrected control output value u(t). The PID control unit drives the corresponding servo proportional valve to adjust the proportional valve opening of each main support leg, so as to dynamically correct the extension and retraction of each main support leg.

[0142] Repeat the above process until the platform tilt angle converges to the second accuracy range, thus offsetting platform deformation and errors and completing high-precision leveling. The second accuracy range is higher than the first accuracy range.

[0143] In one specific implementation, the second accuracy range is set to the absolute value of the platform tilt angle being less than or equal to 0.05°, that is, the leveling accuracy reaches the leveling accuracy of the horizontal angle error of the X-axis and Y-axis being ≤ ±0.05°.

[0144] The correction formula in this step is to add a dynamic compensation coefficient α to the traditional PID control, which can offset the nonlinear error caused by platform deformation and achieve high-precision leveling.

[0145] Step S6, Auxiliary support leg touches and compacts the ground: The purpose of this step is to ensure that the auxiliary support leg is reliably supported on the ground and to avoid interfering with the completed fine-tuning.

[0146] The control module controls each auxiliary support leg to extend sequentially until it touches the ground and then stops.

[0147] After all the auxiliary legs have touched the ground, control all the auxiliary legs to extend synchronously at a preset first speed and a preset first distance, so that each auxiliary leg presses firmly into the ground;

[0148] During the compaction process, the load-bearing status of each auxiliary support leg is monitored in real time by pressure sensors to ensure that the load-bearing value of each auxiliary support leg does not exceed the preset load-bearing threshold, so as to avoid interfering with the leveling accuracy of the main support leg.

[0149] In one specific implementation, the preset first speed is 1 mm / s, and the preset first distance is 10 mm. After all the auxiliary support legs have touched the ground, all the auxiliary support legs are controlled to extend another 10 mm synchronously at a speed of 1 mm / s to achieve uniform compaction.

[0150] Step S7, Detection and Elimination of Deficient Legs: The purpose of this step is to detect and eliminate deficient legs caused by uneven ground or uneven support, ensuring that all support legs can reliably bear the load.

[0151] The binary search method is used to control the retraction of each support leg by a set first height distance (e.g., 30mm).

[0152] During the retraction process, the angular changes of the platform in the X and Y axes are detected by a dual-axis tilt sensor, and the current supporting leg is determined as a false leg based on the angular changes.

[0153] If the angle change is greater than the preset angle change threshold, the support leg is determined to be a non-virtual leg, indicating that the support leg bore an effective load before being withdrawn.

[0154] If the angle change is less than or equal to the preset angle change threshold, the support leg is determined to be a false leg, indicating that the support leg did not bear an effective load before being withdrawn.

[0155] For a support leg that is determined to be a false leg, control the support leg to extend gradually. After each extension of a preset second distance (e.g., 2mm), pause and re-detect the angle change until the angle change of the platform after the support leg is extended is greater than the preset angle change threshold. Then, it is determined that the false leg has been eliminated.

[0156] Repeat the above detection and elimination process until all supporting legs are determined to be non-false legs, thus completing the leveling.

[0157] By combining the above-mentioned binary search and stepwise approximation adjustment methods, the accuracy of false leg detection can reach over 99%, avoiding platform imbalance caused by false legs.

[0158] Step S8, Dynamic Monitoring and Continuous Compensation: The purpose of this step is to maintain the leveling accuracy after leveling is completed, and to cope with dynamic deformation and component attenuation during the operation.

[0159] After leveling is completed, the control module continuously collects data from the strain sensor, dual-axis tilt sensor and displacement sensor, and updates the compensation coefficient α in real time according to the real-time collected data and step S4.

[0160] The updated compensation coefficient α is input into the PID control unit, and the extension and retraction of each main support leg is dynamically corrected according to the method of step S5. When the platform tilt angle deviation is detected to exceed the preset angle threshold, steps S3 to S7 are executed again to re-level the platform.

[0161] Through the above dynamic monitoring and continuous compensation, dynamic deformation and component attenuation during operation are addressed, maintaining long-term leveling accuracy.

[0162] This invention can be widely applied to various occasions that require high-precision platform leveling, including but not limited to: vehicle-mounted hydraulic platforms, heavy equipment installation platforms, precision instrument worktables, mobile work platforms, etc.

[0163] The beneficial effects of the integrated intelligent leveling control method for the hydraulic platform of this invention are:

[0164] By combining multi-source data from strain sensors, dual-axis tilt sensors, and displacement sensors with α compensation, the dynamic compensation coefficient α is calculated in real time and superimposed on the PID control to offset the platform deformation error in real time, solving the core pain point that existing technologies cannot cope with deformation, and improving the leveling accuracy by more than 30% compared with traditional solutions.

[0165] The compensation strategy is adaptive: the α compensation coefficient is dynamically calculated in real time based on strain data, angle deviation data and stroke deviation data, without the need for manual intervention or recalibration. It can adapt to complex working conditions such as heavy load and long cycle operation, and the adaptability of working conditions is significantly enhanced.

[0166] Functional integration and synergy: It effectively integrates distributed control, virtual leg elimination, alpha compensation, and multi-point support to form closed-loop control. The modules coordinate control to avoid secondary imbalance caused by deformation and virtual legs, and the leveling stability is improved by more than 50% compared with traditional solutions.

[0167] Reduced maintenance costs: By autonomously completing deformation compensation and parameter optimization, there is no need for regular manual calibration, which greatly reduces the frequency and cost of maintenance.

[0168] Wide range of compatibility: Through parameter adaptive calibration, the system can be ported to hydraulic or electric driven leveling platforms of different sizes and loads, making it highly versatile.

[0169] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An integrated intelligent leveling control method for a hydraulic platform, characterized in that, This is applied to a leveling system, which includes a control module, an execution module, and a feedback module. The execution module includes a main support leg and an auxiliary support leg; the feedback module includes a dual-axis tilt sensor, a displacement sensor, a pressure sensor, and a strain sensor; and the control module includes a main controller and distributed sub-controllers arranged close to each support leg. The control module, in conjunction with the feedback module, controls the execution module to achieve intelligent balancing. The steps are as follows: Step S1, System Configuration and Initialization: The control module controls all the support legs to retract to their respective initial positions, performs zero-point initialization on each sensor in the feedback module, and initializes the state of the control module. Step S2, adaptive parameter calibration: The control module controls each support leg to rise sequentially, calibrates the system control parameters based on the data collected by the dual-axis tilt sensor and displacement sensor, and calibrates the compensation model parameters based on the data collected by the strain sensor. Step S3, adjust the main support leg to be thick and level: The control module controls all main support legs to stop after they touch the ground. The main support legs then bear the platform load. Based on the tilt angle deviation fed back by the dual-axis tilt angle sensor, the main support legs are adjusted to bring the platform tilt angle to a preset first accuracy range, thus completing the initial leveling. Step S4, Dynamic calculation of α compensation coefficient: Based on the current strain value collected by the strain sensor, the current stroke deviation value of each support leg collected by the displacement sensor, and the current angle deviation value collected by the tilt sensor, a dynamic compensation coefficient α is generated. Step S5, fine-tune the main support leg to level: The extension and retraction of each main support leg are corrected according to the dynamic compensation coefficient, so that the platform tilt angle converges to a preset second accuracy range, which is higher than the first accuracy range. Step S6, assisting the supporting leg to touch the ground and compact it: Control all auxiliary support legs to contact and compact the ground, and monitor the load-bearing status of each auxiliary support leg through the pressure sensor; Step S7, Detection and elimination of false leg: Check all main and auxiliary support legs for any loose legs, and adjust the extension of the support legs with loose legs until the loose legs are eliminated; Step S8, Dynamic Monitoring and Continuous Compensation: The platform status is continuously monitored, and the dynamic compensation coefficient is updated in real time based on the monitoring results. The main support legs are then dynamically adjusted accordingly to maintain the leveling accuracy.

2. The integrated intelligent leveling control method for a hydraulic platform according to claim 1, characterized in that, Step S1 includes: The main support leg and auxiliary support leg are installed in the preset position of the platform, the strain sensor is placed in the stress concentration area where the platform crossbeam and support point are located, and the dual-axis tilt sensor is placed on the platform reference plane. The control module controls all main and auxiliary support legs to retract to their respective negative limit switches. After all support legs are in the retracted state, the displacement sensor and pressure sensor are initialized, and the state initialization of the control module is completed.

3. The integrated intelligent leveling control method for a hydraulic platform according to claim 1, characterized in that, Step S2 includes: The main controller controls the corresponding support legs to rise sequentially through each distributed sub-controller. The dual-axis tilt sensor and displacement sensor record the changes in the X and Y axes of the platform and the travel of the support legs during the raising process. The initial height H of the platform and the leveling parameters for the influence of the raising and lowering of each support leg on the positive and negative tilt angles of the X and Y axes are calibrated. Simultaneously, by acquiring the strain value of the platform under no-load conditions using the strain sensor, the reference strain value ε0 is calibrated and used as the initialization reference for the α compensation coefficient. Based on the strain data, angle change data, and stroke change data recorded during the lifting process, the adaptive calibration coefficients k1, k2, and k3 in the α compensation coefficient calculation formula are calibrated.

4. The integrated intelligent leveling control method for a hydraulic platform according to claim 3, characterized in that, Step S3 includes: Control all main and auxiliary support legs to extend until they touch the ground and then stop. Then control the main support legs to extend individually for a preset first duration so that each main support leg can fully bear the platform load. Obtain the angle deviation values ​​in the X and Y axes fed back by the dual-axis tilt sensor; Based on the angular deviation values ​​in the X and Y axes, control the lifting and lowering movement of the two main support legs located diagonally until the absolute values ​​of the angular deviation values ​​in the X and Y axes are both less than or equal to the preset first precision value, thus completing the initial leveling.

5. The integrated intelligent leveling control method for a hydraulic platform according to claim 3 or 4, characterized in that, Step S4 includes: The dynamic compensation coefficient α is calculated by the α compensation calculation unit according to the following formula: ， Where ε is the current strain value collected by the strain sensor, ε0 is the reference strain value, Δθ is the current angle deviation value collected by the dual-axis tilt sensor, Δs is the current stroke deviation value of each support leg collected by the displacement sensor, and k1, k2, and k3 are adaptive calibration coefficients, which are determined by calibration in step S2.

6. The integrated intelligent leveling control method for a hydraulic platform according to claim 1, characterized in that, Step S5 includes: The current angle deviation value e(t) is obtained by the PID control unit in combination with the α dynamic compensation coefficient; Calculate the control output value u(t) according to the following formula; ， Where Kp, Ki, and Kd are the preset proportional coefficient, integral coefficient, and differential coefficient, respectively, and α is the dynamic compensation coefficient; The target proportional valve opening is controlled according to the corrected control output value u(t) to dynamically correct the extension and retraction of each main support leg; Repeat the above process until the platform tilt angle converges to the second accuracy range, thus offsetting platform deformation and errors and achieving high-precision leveling.

7. The integrated intelligent leveling control method for a hydraulic platform according to claim 1, characterized in that, Step S6 includes: Control each auxiliary support leg to extend sequentially until it touches the ground and then stops; Then control all auxiliary legs to extend synchronously at a preset first speed and a preset first distance, so that each auxiliary leg presses firmly into the ground; During the compaction process, the load-bearing status of each auxiliary support leg is monitored in real time using pressure sensors.

8. The integrated intelligent leveling control method for a hydraulic platform according to claim 1, characterized in that, Step S7 includes: The binary search method is used to control the retraction height of each support leg; During the retraction process, the angular changes of the platform in the X and Y axes are detected by a dual-axis tilt sensor, and the current supporting leg is determined as a false leg based on the angular changes. If the angle change is greater than the preset angle change threshold, the support leg is determined to be a non-virtual leg; if the angle change is less than or equal to the preset angle change threshold, the support leg is determined to be a virtual leg. For a support leg that is determined to be a false leg, control the support leg to extend gradually, pause after each preset second distance, and re-detect the angle change until the angle change of the platform after the support leg extends is greater than the preset angle change threshold, then the false leg is determined to be eliminated. Repeat the above detection and elimination process until all supporting legs are determined to be non-false legs, thus completing the leveling.

9. The integrated intelligent leveling control method for a hydraulic platform according to claim 1, characterized in that, Step S8 includes: After leveling is completed, data from strain sensors, dual-axis tilt sensors, and displacement sensors are continuously collected. Based on the real-time collected data, the dynamic compensation coefficient α is updated in real time according to step S4. Based on the updated dynamic compensation coefficient, the extension and retraction of each main support leg are dynamically corrected according to the method in step S5 to maintain the leveling accuracy.

10. An integrated intelligent leveling system for a hydraulic platform, characterized in that, include: The execution module includes the main support legs located near the platform's center of gravity and the auxiliary support legs symmetrically distributed on both sides of the platform; The feedback module includes a dual-axis tilt sensor for detecting the horizontal angle of the platform in the X and Y axes, a leg positive and negative limiter for detecting the positive and negative limits of each leg, a displacement sensor for detecting the extension stroke of each leg, a pressure sensor for detecting the load-bearing state of each leg, and a strain sensor for detecting platform deformation data. The strain sensor is attached to the stress concentration area where the platform crossbeam and support points are located. The control module includes a main controller and distributed sub-controllers arranged close to each support leg. The control module also integrates: an α compensation calculation unit for calculating the dynamic compensation coefficient α, a PID control unit for dynamically correcting the extension and retraction of each main support leg according to the dynamic compensation coefficient α, a false leg detection and elimination unit for identifying and eliminating false legs, and a parameter adaptive calibration unit. The communication module enables bidirectional data interaction between the main controller and each distributed sub-controller, as well as between the main controller and the host computer, through a communication bus. The power supply module provides power to all the above modules.

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