Design Of Automatic Leveling System Of Heavy-load And Electromechanical Vehicle Based On CANopen

Aiming at the current situation of hydraulic leveling system and the need for rapid leveling of vehicle equipment,based on fieldbus,it has the advantages of fast transmission speed,good anti-interference and master-slave communication,and this paper designs a large-load vehicle automatic based on CANopen.The leveling system completed the structural design of the electric cylinder legs and the stress analysis,leveling strategy research and software and hardware system design,and realized the bus type multi-axis control.(1)Combining the research status at home and abroad,the overall design scheme of the electromechanical leveling system based on CANopen is proposed through comparison.The finite element static simulation analysis of the electric cylinder legs was carried out by SolidWorks Simulation,and the results met the system requirements.(2)Modeling and analyzing the platform in horizontal and non-horizontal state,respectively deducing the relationship between the internal force of the electric cylinder leg and the deformation of the deformation of the platform;and in each of the equalization methods,the legs are not The distance moved by the height of the moving point is theoretically deduced;a scheme for the leg-filling of the "virtual leg" phenomenon in the leveling process is proposed.Combined with the actual control strategy,the corresponding circuit design was completed.(3)The upper computer adopts the touch screen.The main interface displays the platform attitude information and the running status and limit alarm of each leg.The manual interface can manually control and manually zero the individual electric cylinder legs,and also displays the platform attitude information.And the operation status and limit alarm of each leg;in the lower computer software design,the initialization,one-button leveling,one-key retraction,double-axis inclination sensor data acquisition and motor running state judgment are designed.(4)On-site debugging of the system and related tests,the large-load electromechanical on-board automatic leveling system studied in this paper can complete the automatic leveling of the platform within 3 minutes,and the leveling accuracy is within 0.05°.