Development Of Intelligent Leveling System For Six-leg Flexible Platform

The accuracy and rapidity of leveling affect the performance of missile launch vehicles,radar scanners and laser weapon launch platforms.For the traditional leveling method which takes time and effort,poor leveling accuracy and the "virtual leg" problem of multi-leg bearing,this paper designs a six-leg hydraulic leveling system based on the horizontality and load coupled leveling method.At the same time as the level accuracy and leveling speed,the load distribution of the legs is optimized,and the problem of virtual legs is well solved.The main work of the dissertation is as follows:(1)A flexible multi-leg platform leveling method based on static transmissibility matrix and supporting stiffness matrix is studied.Compared and analyzed the shortcomings of the traditional leveling method,the fast horizontality leveling method based on the static transmissibility matrix and the horizontality and load coupled leveling method based on the supporting stiffness matrix and the static transmissibility matrix while considering the leg load distribution and platform horizontal degree are studied.Finally,the feasibility and superiority of this method are verified by numerical simulation experiments.(2)Developed a six-leg hydraulic flexible platform leveling system.Through the simulation design,a test platform was set up and according to the working requirements of the leveling system,a hydraulic oil circuit system was established.The electromagnetic valve control circuit was designed and the control system of the leveling platform was set up with the single chip microcomputer as the center.Based on the leveling method studied in this paper,a corresponding leveling algorithm is designed to achieve sensor communication and leveling control of the leveling system.In order to realize the humancomputer interaction,the upper computer software was written,and the upper computersingle chip microcomputer communication protocol for the leveling system was formulated to realize the upper computer control of the leveling system.(3)Leveling test of six-leg hydraulic flexible platform was carried out to verify the superiority of the leveling method.The horizontality leveling test and the horizontality and load coupled leveling test were carried out.The combination of test and leveling theory proved that the levelling system can solve the virtual leg problem effectively.The leveling accuracy of the platform is less than 0.1°,the error between the load distribution of the legs and the ideal value is within 20%,the virtual legs are well solved,and the leveling time is within 30 s by testing.The multi-leg flexible platform quick-leveling method studied in this paper improves the leveling accuracy and speed compared with the traditional method,optimizes the load distribution of the legs,and solves the problem of the virtual leg of the statically indeterminate supporting platform well.This leveling method can be applied to missile launch platforms,laser weapon launch platforms and other equipment.