Based On Three Degree Of Freedom Parallel Support Mechanism Of Automatic Leveling System Research

Automatic leveling system, regardless of civilian equipment or in the military and national defense projects have an important and widely used in presently decades, the auto-leveling technology research has always been attention has been paid.By using screw theory and the theory of the anti-spiral, parallel mechanism with2R1T3-DoF (Degree-of-Freedom) is proposed in this paper. Configuration out of a series of asymmetric with2R1T three degrees of freedom parallel mechanism with spherical joint S symmetry2R1T three degrees of freedom parallel mechanism, and the three zero terminal constraint2R1T three degrees of freedom parallel configuration, parallel organizations2R1T configuration are analyzed and design, analysis and design, presented the characteristics and requirements of the automatic leveling system support structure, parallel mechanism.By using the use of Solidworks software and Adams software joint modeling of kinematics and dynamics simulation study to establish a precise mathematical model of automatic leveling system’s controling.The hydraulic servo control in the automatic leveling system, a relatively complete study design, selection and design of the main components of the hydraulic servo, the establishment of the mathematical model of the hydraulic servo system, the hydraulic servo control system transfer function and using Matlab software, the open-loop frequency response curve simulation, the system open-loop frequency response characteristics of the hydraulic servo control system is analyzed.By using fuzzy PID and Smith predictive control strategy, control system for automatic leveling system is design, and simulation results are derived by using Matlab Software. Simulation results shown that the fuzzy PID and Smith predictor control has a good leveling control effect.