| Radar vehicle is playing a more and more important role in modern information warfare.Its automatic leveling control technology is the key to the installation of radar vehicle,and leveling time,leveling accuracy and leveling quality are the main performance indexes of automatic leveling.In this paper,a four-point support hydraulic radar vehicle is taken as the research object,and the mathematical modeling,simulation analysis and experimental verification of the automatic leveling control system are carried out,and the corresponding control strategy and algorithm are designed to meet the requirements of high precision,rapidity and stability of automatic leveling control.The main research contents are as follows:(1)The research status of automatic leveling technology at home and abroad is summarized,and the key problems that need to further improve the leveling accuracy,rapidity and stability are put forward.According to the technical requirements of radar vehicle control system,the overall design scheme of automatic leveling system is given.(2)The kinematic analysis of vehicle body platform attitude was carried out by using space coordinate rotation transformation theory,and the relationship between platform inclination Angle and position coordinate of support leg was obtained,and the feasibility of using inclination sensor in leveling was verified theoretically.Aiming at the virtual leg problem that may appear in the leveling process,the static analysis of the vehicle body platform in horizontal and non-horizontal state was carried out to obtain the relationship between the platform tilt Angle and the force of the supporting leg,and then a virtual leg detection method combining the platform tilt Angle and pressure change was proposed.(3)Based on the movement characteristics of hydraulic support leg,proportional valve control hydraulic motor drive is established the mathematical model of the helical screw,then in AMESim software to build the hydraulic simulation model of single support legs and the leveling hydraulic system simulation model,the motor speed step response and support legs displacement track simulation,to verify the rationality of the model.(4)In order to meet the requirements of rapidity,high precision and stability in the leveling process,the advantages and disadvantages of position error control leveling method,Angle error control leveling method and inverse system decoupling leveling method are compared and analyzed,and a phase leveling control strategy combining inverse system attitude solution and fixed highest point is proposed.Aiming at the characteristics of the radar vehicle hydraulic leveling control system,such as time variation and nonlinear,a fuzzy neural network PID control algorithm is proposed to adjust the traditional PID controller parameters adaptively,so as to improve the control performance of the automatic leveling system.The AMESim hydraulic model and Multibody mechanical model of the automatic leveling system are co-simulated and analyzed in Simulink.The simulation results show that the fuzzy neural network PID control algorithm has significant effect on improving the rapidity,leveling accuracy and anti-interference performance of the automatic leveling control system.(5)For a certain type of four-point support hydraulic automatic leveling control system,the hardware circuit design and software design,and completed the "one-click" automatic leveling experiment and comparison of different slope experiment,the experimental results show that this design of leveling control strategy and control algorithm can meet the required leveling system rapidity,high precision requirements,and does not appear in the process of leveling legs. |
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