Study On Vehicles Transfer Platform And Automatic Leveling Control System

Nowdays,vehicle transport platform and automatic leveling system such as mobile vehiclemounted radar,vehicular missile launcher,the photoelectric theodolite and ship manufacturing are playing animportant role both in the military and civilian.The vehicle transport platform discussed in this paper took the electromotor as power source and the DSPas the control core of automatic leveling sysytem,and combine with the high precision Angle sensor and data acquisition module,a four point electric drive vehicle driving and automatic leveling system was built.The system can not only transfer some high-precision equipment,it can also contributes to the automation and leveling,which improves the efficiency.Firstly,the whole structur of transport platform was introduced including the rack,steering system,braking system and suspension system,etc.and the dynamic quality of vehicle platform was analyzed.According to the univers parameter design requirements of vehicle platform,the performance parameter of electromotor and battery capacity were selected.Secondly,in the design of leveling,the basic theory was analyzed and the statics model of automatic leveling control system was established,which lay the foundation of reserch on automatic leveling system.Then according to the mathematic model and matrix transformation theory,the control strategy was put forward,and on this basis,the relational expression of each leg's movement distance and vehicle platforms' inclination angle was obtained.The working process and hardware structure of this system were introduced,and the simulation mode of automatic leveling control was built,the feasibility of levelling strategy in this paper was verified by analyzing the simulation result.Lastly,software design and programming was introduced in detail,and modularization was used in software design which increased the legibility of program.The major modules of this system includes motor module,keyboard driver module,data acquisition module,filtration module and virtual-eliminating module.Finally,the dynamic quality of vehicle and leveling system of the platform were carried on the experiment.The dynamic quality consists of maximum velocity and accelerating ability testing,and the leveling test consists of signal acquisition experiments,"virtual-leg" eliminating experiment and automatic leveling,it is verified that the system in this paper had met the design requirements by analyzing the experimental data and the simulation result.