Development Of Electromechanical Transport Platform Controller

As the continuous developm ent of societ y, automatic leveling system plays an increasingly important role both in the m ilitary and industrial manufacture fields. Nowadays, it is applied in vehicle laser m easurement, vehicle artillery transmitting device, automotive radar, overhead working truck vehicle platform s, shipbuilding and so on. How to ensure the automatic leveling system work faster and m ore accurate is the direct ion of our study in the future.Vehicle transform platform studied in this paper is a f our-point supporting platform. Firstly, the static m odel of the four-point supporting electrom echanical vehicle platform is established. The transform ation between horiz ontal coordinates and platform coordinates through the Cartesian coordinate is the theoretic al basis of reflecting the platform ’s right angle collected by acquisiti on card. Secondly, existing le veling method was analyzed theoretically, and it is decided to conduct a comparison test between fixed the center point for leveling and fixed the highest point for leveling.Since the phenom enon of “virtual leg” that the four-point suppor ting faced m ust be solved, this paper also m ade an analysis of the “virtual leg”. By analyzing the m ethods of eliminating the “virtual leg” currently, the m ethod of eliminating “virtual leg” adopted in this system is to elongate each leg gradually.This paper introduced the hardware of tran sform platform in deta il, which inclu de acquisition card, controller, dual-axis angle sensor, two-pha se hybird stepping m otor, motor driver, spiral elevator, limit switch and voltage follower. The programming of data acquisition and step motor control are realized by labview because it is easy to operate as well as to establish the user interface, a nd the interface of whic h is beautiful. This paper has a detail explanation of all programs that has been written.This system has the characteristic of easy to carry because of the acquisition c ard and control system are intergrated. On the basi s of hardwa re configuration and software debugging of transfer platform control system, tests were c onducted to verify that the efficiency of center point le veling method is higher than th e highest point leveling m ethod and the lev eling time and lev eling accuracy of these two m ethods can m eet the design requirements. This article had also do the exp eriment of eliminating “virtual leg”, and the experimental results show that this control system has a good performance of "virtual leg" elimination. I have analysed the whole system of the error.