| Rapid and precise leveling is the key technical index for multi-leg platforms,which influences the working accuracy and efficiency in large type drill,large photovoltaic system,truck-mounted fire-contral radar system and truck-mounted maneuvering missile launch equipments.In recent years,with the sustainable and rapid development of electronic information technology and sensor technology,leveling technology has improved notably,and is widely used in those areas such as national defense,mechanical engineering and aerospace.However,the deformation of p latform and leg is not taken into consideration in conventional leveling method,which causes repeat trial and extend the time of leveling.Moreover,valid solution has not been proposed for the virtual leg problem.Aiming at problems mentioned above and based on the theory of elastic mechanics and linear algebra,a new leveling method is proposed,which is fast and high precision in solving leveling problems.Besides,the experimental system is developed and corresponding experimental research is conducted.The main research work completed is as follows:(1)A new optimal load leveling method is researched and established for multi-leg platforms.Based on the analysis method of rigid body kinematics and elastic mechanics,the legs’ extension quick calculation method for rigid platform is put forward under the condition of knowing the two-dimensional angle.An optimal balancing legs’(OBLL)model is firstly established for multi-leg supporting platforms.Besides,two methods realizing legs’ extension calculation is given: individual extension method(IEM)and coupling extension method(CEM).Finally,based on the main ideas of coupling extension method,the legs’ extension calculation methods are proposed,which use the supporting stiffness matrix and static transmissibility matrix to achieve geometric leveling and optimal load balancing distribution simultaneously.With it,the virtual leg problem is also fundamental solved.(2)The numerical simulation test and verification are proceeded for the new leveling method of multi-leg platforms.From the two aspects of load leveling precision and speed,through a numerical simulation example,the leveling method contrast of IEM and C EM is carried out with the utilization of Ansys and Matlab.In order to verify the effectiveness of proposed united leveling mathematical model,leveling and leg extension calcula tion method,the united leveling simulation of geometry and loading level is also conducted.(3)Single-chip based automatic leveling system is developed to equip in the hydraulic supporting platforms.Firstly,in order to realize the object of geometry leveling and load leveling of flexible platforms,the hardware match and software debugging is proceeded for the whole leveling control system,which based on the system function and control requirements of the leveling system.And then the hydraulic leveling test system single-chip based for multi-leg leveling system,the dynamic display system with VB upper computer and test platform are developed sequentially.Then,the leveling strategy that the diaplacement is controlled by displacement sensor and the displacement is feed by using the step-by-step actuation method for each leg is proposed.(4)The geometry leveling and coupling leveling of geometry and load test are carried out gradually,which acts as theory verification for the leveling model,leveling arithmetic and specific implement method.O n this basis,the compensation and revision approach of leveling error caused by some factors are studied,which not only can optimize the control procedure but enhance the leveling precision and speed of platform.The optimal load balancing leveling method proposed has the the feature of high accuracy and high efficiency and enhance the supporting reliability of platform effectively,which provides new solving ideas for the high-accuracy and rapid leveling problem of large heavy equipments. |
PDF Full Text Request