Automatic leveling control method for a four-leg support working platform
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Solution Overview
Problem
Current automatic leveling control methods for four-leg support working platforms are inefficient, leading to repeated oscillation, time-consuming processes, poor robustness, inadequate leg load control, weak leg issues, and overloading, which result in capsizing accidents in special working vehicles like cranes and rescue vehicles.
Innovation Solution
The method reduces the four-leg support leveling problem to a three-point support control by compensating actuation of the weak leg, using force sensors and inclination angle measurements to adjust leg actuation lengths, ensuring the mass center remains within the main bearing zone, and performing compensating actuations to achieve stable four-leg support.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If repeated measurement and control is used to achieve leveling, then leveling control can be achieved, but the working platform oscillates repeatedly and the process becomes time-consuming
Solution Approach 1:
The patent calculates the target actuation lengths for all four legs in advance based on the measured inclination angles and the mass center position, before actual actuation begins. This preliminary calculation eliminates the need for repeated measurement and control cycles, allowing the system to achieve leveling in a single pass by directly actuating each leg to its pre-calculated target length.
Solution Approach 2:
The patent dynamically identifies the mass center position and determines the optimal actuation sequence based on real-time conditions. By classifying legs into active legs (those that need to extend) and a weak leg (that may need to retract or extend minimally), the system adapts its control strategy to the current state, avoiding rigid repeated cycles and achieving faster stabilization.
2Reliability
If manual control of leg lifting is used, then leveling can be achieved, but the process is laborious and requires repeated operations
Solution Approach 1:
The system automatically measures inclination angles, calculates the mass center position, determines target actuation lengths for all legs, and controls the actuation process without manual intervention. The force sensors on each leg automatically detect load conditions, and the control unit autonomously adjusts leg lengths to achieve leveling, completely eliminating the need for manual operation.
Solution Approach 2:
The patent replaces manual mechanical operation with an automated control system that uses electronic sensors (inclination angle sensors and force sensors) and a control unit to calculate and execute leveling commands. This substitution of mechanical manual control with an automated electromechanical system eliminates laborious repeated operations.
3Reliability
If conventional leveling control is used, then leveling can be achieved, but leg load is not effectively controlled causing weak leg and overloading
Solution Approach 1:
The patent incorporates force sensors on each leg that provide real-time feedback on the load carried by each leg. The control unit uses this feedback information to adjust the actuation commands, ensuring that no leg is overloaded and that the weak leg (which may have insufficient load-bearing capacity) is not assigned excessive load. This closed-loop feedback control effectively manages leg load distribution.
Solution Approach 2:
The patent changes the control parameter from simple inclination angle adjustment to a comprehensive approach that considers both inclination angles and force sensor readings. By calculating target actuation lengths based on both geometric parameters (inclination angles) and load parameters (force sensor feedback), the system optimizes leg load distribution and prevents overloading of any individual leg.
4Adaptability or versatility
If four-point support leveling is treated as a statically indeterminate problem, then multiple solutions exist, but the control becomes uncertain and complex
Solution Approach 1:
The patent resolves the statically indeterminate problem by pre-calculating the target actuation lengths for all four legs based on the measured inclination angles and the determined mass center position. This preliminary calculation provides a unique, deterministic solution that eliminates uncertainty, allowing the control system to simply execute the pre-determined actuation commands without dealing with the complexity of multiple possible solutions.
Data Source
AI summary
The present disclosure discloses an automatic leveling control method for a four-leg support working platform, which comprises the steps: determining the mass center position of the working platform, determining the main bearing quadrant and distinguishing active legs from the driven leg; adjusting the driven leg to weak state, controlling all legs to synchronously actuate for leveling; calculating the limit compensating actuation length of the driven leg, and performing compensating actuation until accomplishing the leveling process. The method is advantageous in: high speed, high robustness, no repeated oscillation. The mass center always stays within the bearing zone of the active legs, thus completely eliminating capsizing risk of the working platform. The compensating actuation of the driven leg ensures there is no weak leg, and hence high attitude and load-bearing stability of the working platform is achieved.