Multi-Point Support Platform Leveling With Joint Load Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Traditional leveling control methods for multi-point support platforms are plagued by low precision, low speed, poor robustness, incomplete control of leg loads, and issues with weak legs and overloading, due to the lack of a strict control theory model and reliance on iterative testing and actuation.
Innovation Solution
A joint leveling control method that considers leg deformation and platform geometry, using a load-bearing and deformation interaction matrix to achieve simultaneous platform geometry leveling and leg load distribution, with optimal load calculation and actuation quantities determined through Lagrange Multiplier and Generalized Inverse Methods.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional iterative testing and actuation methods are used for leveling control, then the leveling function can be realized, but the control speed is low and accuracy is poor
Solution Approach 1:
The patent replaces traditional mechanical iterative testing methods with a mathematical model-based control system. By establishing a static indeterminate problem model that incorporates leg deformation and platform geometry, the system calculates optimal actuation quantities directly through matrix operations rather than iterative physical testing, thereby achieving both high speed and high accuracy simultaneously
Solution Approach 2:
The patent performs preliminary action by pre-establishing the load-bearing interaction matrix and deformation coordination matrix before actual leveling operation. These pre-calculated matrices enable the system to determine optimal leg actuation quantities immediately without requiring iterative testing during operation, thus improving both speed and accuracy
2Manufacturing precision
If rigid leveling method is used to determine actuation quantities, then the platform geometry can be leveled, but complete control over leg loads cannot be achieved
Solution Approach 1:
The patent merges two separate control objectives (platform geometry leveling and leg load control) into a unified mathematical model. By combining the load-bearing interaction matrix with the deformation coordination matrix, the system simultaneously determines actuation quantities that satisfy both geometry leveling and optimal load distribution, achieving complete control over both aspects
Solution Approach 2:
The patent changes the control parameters from simple geometric measurements to a comprehensive set including leg loads, leg deformations, and platform geometry. This parameter expansion allows the system to account for elastic deformation and load-bearing interactions, enabling simultaneous optimization of both platform leveling and leg load distribution
3Reliability
If iterative testing and actuation are employed to achieve leveling, then the leveling function is realized, but the system complexity increases and adaptability decreases
Solution Approach 1:
The patent replaces complex iterative mechanical testing and adjustment procedures with a streamlined mathematical calculation system. The pre-established matrices transform the complex iterative process into simple matrix operations, reducing control system complexity while maintaining reliable leveling function
Solution Approach 2:
The system achieves self-service by using the pre-established mathematical models to automatically calculate optimal actuation quantities without requiring external iterative testing or manual adjustment. The matrices themselves serve as the control logic, eliminating the need for complex external control mechanisms
4Device complexity
If traditional leveling methods are used without considering leg deformation and platform geometry, then the control process is simple, but the precision and robustness are poor
Solution Approach 1:
The patent expands the control parameters to include leg deformation and platform geometry characteristics, transforming the simple but imprecise control process into a comprehensive yet systematically organized mathematical model. The deformation coordination matrix captures geometric relationships while the load-bearing interaction matrix models physical interactions, together achieving high precision without excessive complexity
Data Source
AI summary
The present disclosure discloses a leveling control method for a multi-point support platform, which comprises the steps: respectively measuring and obtaining a load-bearing interaction matrix and a deformation interaction matrix of the platform to construct a load-bearing and deformation joint control matrix; calculating the optimal loads of the legs and measuring the current loads of the legs to obtain the load deviation rates of the legs, and determining if the platform warrants leveling in combination with the two-dimensional inclination angles of the platform; constructing a platform geometry and leg load joint control equation according to the two-dimensional inclination angles of the platform, the load deviations of the legs and the load-bearing and deformation joint control matrix, calculating the actuation quantities of the legs and performing synchronous leveling; and determining the load deviation rates of the legs and the two-dimensional inclination angles of the platform cyclically and performing the actuation control until the leveling goal is achieved. The method is capable of synchronously realizing the geometric leveling of the platform and the load control of the legs, and can significantly improve the speed, geometric accuracy, process stability, leg load-bearing stability and control robustness of the leveling control for the multi-point support platform.