Design Of Leveling System For Vehicle Assembly Platform

With the rapid development of vehicle assembly technology and military industrial technology in the world,the research on the assembly platform of military vehicles has important theoretical significance and practical value for the promotion of China's military power.The leveling of the assembly platform is related to the high precision and high efficiency.Therefore,the automatic leveling of the platform is a hot topic in the research of platform motion control in recent years.The research object of this paper is the turret assembly platform for some military vehicles,and design and research the control system of leveling in the assembly work.In this paper,the development status of leveling control system is introduced,including the structure of the platform,the software and hardware of the control system,the control algorithm and so on,and the future development trend is analyzed.Due to the nonlinear,strong coupling and time variation of the platform,so,this paper does a thorough research on platform leveling control technology.The main research contents are as follows:The mathematical model of the platform is established,based on the principle of spatial coordinate transformation,the relationship between the displacement of the support leg and the horizontal inclination angle is obtained.Considering the complexity of the system control,the decentralized control method,which realizes leveling control of the platform through the high precision controlling of the position of each branch,is proposed.On this basis,the position controller of branch is designed,and,the design of hardware and software of the control system is completed.Through the simulation,the fuzzy PID controller is compared with the classical PID controller,it is proved that the fuzzy PID controller can effectively avoid overshoot,and so that the support legs more quickly and smoothly to achieve the desired height.The simulation research on the leveling system shows that,by using the fuzzy PID controller and synchronization control strategy,the platform can be fast,stable,high precision achieve the horizontal state,and achieve a good control effect.