Research On Electromechanical Automatical Leveling Controll System With Six-point

With the rapid development of electronic technology and control technology, automatic leveling system has an increasing important role both in military and civilian fields such as automotive radar, vehicle laser measurement, the static pile pressing machine, shipbuilding, etc. For electromechanical vehicle platform automatic leveling system, how to put up with the interference of external, solve the virtual leg problems and improve the leveling time and precision of the system is the key to the future development. A set of automatic leveling system of six-point supporting electromechanical vehicle platform is researched in this paper, which is important for the automatic leveling of the platform which has a large load and span.Firstly, the static model of the six-point supporting electromechanical vehicle platform is established. On this basis, stress distribution of each leg of platform is analyzed in the horizontal state and the non-horizontal state. And leveling method of this system-fixed the peak point for single track leveling is put forward by comparing several commonly used leveling strategies. Aimed at the virtual legs emerging in the six-point supporting platform, a new method of elimination virtual legs is put forward. At the end, the feasibility of this approach was proved by the tests.Secondly, the mathematical model of powertrain system, dual-axis angle sensor and control strategy were established. On this basis, the simulation model of the control system was established in simulink. And the simulation of the automatic leveling system was conducted by combining this model with the platform model established through simmechanics. The result of the simulation proves the feasibility of leveling method in this paper.Thirdly, by studying the hardware structure and operating principle of the automatic leveling system, the selection of hardware system was completed. And then, the interference problem presented in this leveling system was analyzed. The anti-jamming design of hardware is completed by taking some measures.Finally, the programming and debugging of software of the automatic leveling system were completed on the basis of hardware. Then the three tests which involve data collecting, virtual legs eliminating and leveling experiments are conducted. By analyzing the data of these tests, the practicability of anti-jamming design of hardware is proved. Meanwhile, it proves that the strategies of leveling and virtual legs eliminating are feasibility.