Research On Leveling Control System Of Vehicle Platform Based On Complex Environment

Leveling control system is widely used in military equipment and industrial equipment.With the development of modern science and technology and the need of war,there are high requirements for three important indexes of leveling system:leveling time,leveling precision and stability.However,the current leveling system performance index can not fully meet the requirements.Therefore,it is of great significance to study the leveling control system.In this paper,the leveling control system of vehicle platform under complex environment is studied.It includes support system and control system.The structure of supporting leg is designed,and the platform adopts four-point support mode.The statics model of the non-horizontal downregulated flat platform is constructed.Aiming at the problems such as long leveling time,instability and"virtual leg" in the leveling process of the current leveling system,this paper puts forward the pursuit leveling method based on "ideal plane",which has the advantages of short leveling time,high precision and good stability in the leveling process.The problem of virtual leg is solved by detecting the current generated when the support leg hits the ground.The hardware and software modules of the platform leveling control system are designed and implemented.Aiming at the influence of high and low temperature environment on the sensor,the temperature drift compensation model is constructed.A temperature drift compensation method based on least square polynomial piecewise function nonlinear curve fitting is proposed and verified by experiments.The conclusions are as follows:1)Because of the high maneuverability and fast reaction performance,the whole control system is programmed by using the electromechanical control system and Codesys software as the development tool,and two kinds of operation modes are designed:remote operation mode and local operation mode;Aiming at the proposed leveling strategy,the stability of the platform is analyzed and verified by ADAMS dynamic simulation software.2)With hydraulic cylinder as load and pressure sensor as load reading,the calibration of load and current of supporting system is studied experimentally.The data obtained is processed by coarse error,and the data is simulated and analyzed by MATLAB.The current range of each stage load is obtained and written into the program as the research of eliminating the "virtual leg".The experiment shows that this method can effectively eliminate the "virtual leg".3)Using the temperature control box to carry on the high and low temperature experiment on the sensor,through the proposed compensation method,the data collected by the host computer is fitted by the MATLAB simulation curve,in order to compensate the temperature drift of the biaxial inclination sensor.The experimental results show that the precision of measurement error is 0.001° within the temperature range of-36 ?and 55 ?.This method can effectively improve the measurement accuracy of the inclination sensor and obtain a good compensation effect.4)The accuracy of absolute encoder is tested by the experiment of supporting system.It is proved that the accuracy of upper limit and lower limit is micro-bit,and it is reliable to use.The hardware of the whole system is debugged and installed,and each module is tested by software.The experimental results show that the leveling accuracy of the leveling system reaches 0.008°,and the leveling time is less than 3 minutes.