Study On Leveling Control System With High Precision For Platform Bearing Heavy Loads

This paper is mainly to study auto-leveling system of the platform bearing heavy loads with six legs and analyse platform's required performance and supporting trait. To meet the auto-leveling system's precision and leveling-time request, the platform use mechanical-electronic servo control system and AC servo technique. The paper mainly includes several parts as follows. The first one is to build the platform's statics model and analyse the platform's load trait. On the basis of statics model this paper studies the platform's leveling scheme, then puts forward a new leveling scheme—'fixed point 1' scheme, whose main purpose is to shortening leveling-time and improving leveling-precision, also controlling the platform's height.Secondly this paper analyses the platform's leveling control system, disposes of the layout of legs and sensors, speed-adjusting and motion synchronization, which theoretically solved the question of coupling. On the basis of this disposal,the subsystem model is obtained. Afterward, the mathematics model of servo control system and leg drive system is built, and subsystem is corrected by double-T net correction, also a PID controller based on RZN method is designed. The simulation results of system's mathematics model with MATLAB/Simulink prove that the system with RZN-PID controller can obtain better steady state and dynamic performance than common PID controller. The response curve gets to the steady state value fast, which shortens leveling-time.Thirdly the platform leveling control program is designed. With the odd point disposing program and weighted average filter program, smooth obliquity data can be obtained from collected data. By bilinear switch analog devices of double-T net corrector and PID controller can be converted into difference equation, which can be realized easily through computer programming. In the end the main function of computer control system of the platform is analyzed and the hardware configuration and software architecture of computer control system are designed.