Leveling control method and system for fire engine

Abstract

The invention discloses a leveling control method and system for a fire engine. According to the method and the system, a force leveling control strategy is introduced after angle leveling when supporting pieces of the fire engine are automatically unfolded, angle leveling is adopted as rough leveling means, and force leveling is adopted as fine leveling means, so that the angle leveling of the whole fire engine is sensuously implemented, supporting force is more balanced to prevent a certain support leg from leaving from the ground or leaves from the ground by a height exceeding the limit (the standard forbids excess of 20mm) in an unfolding process of a cantilever crane, the safe working range of an elevating fire engine is maximally widened, and the working safety and stability of the elevating fire engine are improved.

Description

technical field [0001] The invention relates to the field of fire truck control, in particular to a fire truck leveling control method and system. Background technique [0002] At present, the fire truck leveling methods mainly include turntable leveling and outrigger leveling. Among them, the method of leveling with outriggers mostly uses inclination sensors or angle meters to detect the inclination status of the front, rear, left and right of the vehicle, so as to achieve leveling within a certain range of angular accuracy. Advantages, it is widely used in the outrigger automatic leveling system of fire trucks. [0003] But for high-lift fire trucks, simply relying on angle leveling cannot really meet the needs of actual working conditions. As shown in Table 1, when the angle is leveled to within the accuracy range of 0.3°, under the condition of 5 test points, the stress of each leg is not balanced, and some are even very different. It can be seen that the angle leveli...

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Problems solved by technology

[0003] But for high-lift fire trucks, simply relying on angle leveling cannot really meet the needs of actual working conditions

As shown in Table 1, when the angle is leveled to within the accuracy range of 0.3°, under the condition of 5 test points, the stress of each leg is not balanced, and some are even far apart

It can be seen that the angle leveling of the fire truck can only achieve sensory leveling, and the force on the outriggers is not balanced

For the elevating fire truck, when the boom (ladder frame) is deployed in different directions of the car body, it may occur that a certain leg is off the ground or the height of the ground exceeds the limit due to the unbalanced force of the legs (standard requirements No more than 20mm) problem, if the height of the legs from the ground is limited, the range of motion of the boom (ladder frame) must be limited. Therefore, the range of motion or working range of the boom (ladder frame) is affected by the force state of the legs. limits

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