A Design Of Hydraulic Automatic Leveling Control System Based On The Adaptive Sliding Mode Control

In the field of military and industrial field, some of the equipment need to reach or close to the horizontal position to ensure that the equipment itself before the formal work,only in this way can the equipment to work normally. So the hydraulic leveling control system appeared. With the continuous development of sensor technology, computer technology and others, the equipment had more and more high request in accuracy, speed, etc.So how to design a fast response speed and high precision automatic leveling control system is particularly important.The research object of this thesis set for load platform, through analysis and research the status of the related areas at home and abroad, and then through the certain research and experiment, finally design a set of real-time responsiveness is stronger, better control performance of control algorithm, the concrete content is as follows:First of all, through analysing of the of the whole control system, I determine the leveling strategies and leg control mode, etc in this article the control strategy is compared and identified in this article to use leveling strategy and control method of hydraulic cylinder, at the same time the control system is decomposed into a mathematical model of the leg and establish the mathematical model. Secondly, after analysis control algorithm this article decide to adopt the adaptive sliding mode control algorithm, the algorithm can be applied to the nonlinear and time-varying control system, has strong robustness and be not sensitive to the outside world. Then, according to the mathematical model of controlled object adaptive sliding mode control law was designed, and simulation model is established in the Matlab/Simulink software, through the simulation analysis to determine the control algorithm is available. Finally, through the OPC technology to connect the Matlab and PLC, andimplement the data passing each other,design control algorithm in Matlab,the component of corresponding action performed by the PLC control.finally the results of the simulation determined the leveling system can meet the performance requirements with high precision and fast response speed.