A Horizontality And Load Coupled Leveling System For Multi-leg Flexible Platforms

Rapid and precise leveling is key technical index for large multi-leg hydraulic platforms,such as truck-mounted fire-control radar system,large ground-based radar system,truck-mounted maneuvering missile launch equipments and civil heavy lifting machine system.The traditional leveling method does not consider the elastic deformation of the flexible platform with large size and heavy load,and the influence of the mutual coupling between the supporting legs during the leveling process.which lead to the poor leveling accuracy,low convergence speed,time consuming,affect the battlefield survival ability of military equipment seriously.Aiming at the defects in the traditional leveling system,this paper presents a new leveling method of high precision and rapid speed,based on the shortcomings of the traditional methods,the virtual leg problem is solved.The main research work completed is as follows:(1)Comparative analysis of traditional leveling method.The traditional point chase leveling method and leveling angle error control method is analyzed,the traditional leveling method does not consider elastic deformation of the upper platform and The virtual leg phenomenon caused by the mutual coupling between the legs,which is difficult to fundamentally solve the problem of virtual legs,leveling accuracy and leveling speed is affected seriously.(2)Research on the coupling method of geometry and load for flexible platform.A new method based on static transfer rate matrix and support stiffness matrix is used to solve the virtual leg problem,and the optimal load distribution of each leg is evenly distributed on the basis of geometric leveling,and compared with the traditional method through simulation model,which fully demonstrate the feasibility,accuracy and rapidity of the new method.(3)Development and theory experimental verification of mechanical and electrical leveling platform.Taking the platform geometry and load leveling at the same time as the goal,step motor as the executive component of leg extension,tilt sensor as the feedback unit of the local level of the flexible platform,Using VB to set up the upper monitor to realize the real time feedback of dynamic data.Through the experimental study on the geometric leveling and the coupling leveling of the geometry and the load of the electromechanical flexible platform,the principle of the new method is verified.The experimental results researched to the desired results,which fully validated the feasibility and rationality of the new method.(4)Development and experiment of hydraulic leveling system for a large special vehicle.In order to realize the application of the new method,carried out technical cooperation with Tai’an aerospace special vehicle Co.,Ltd,established an automatic leveling system for a special vehicle,which geometric leveling,geometric and load leveling is applied using the new leveling method,and using the knowledge of mathematical statistics and mechanics to improve the relevant link of leveling error,optimizing the control procedures,making sure the leveling effect of the platform achieved the desired leveling effect.In this paper,the method of accurate and rapid leveling of multi support legs flexible platform solves the problem of virtual legs,the reliability of the platform support is improved greatly,and an new leveling scheme is proved to large precision leveling equipment,and applied to a missile launching platform successfully.