Carrying vehicle leveling method and device based on two-dimensional dichotomy strategy

A leveling device and dichotomy technology, applied in vehicle cleaning equipment, etc., can solve problems such as increased maintenance costs, increased costs, increased system complexity, and environmental adaptability to improve reliability, increase stability, and facilitate control Effects of switching modes and leveling strategies

Inactive Publication Date: 2020-01-10
西安长峰机电研究所
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Problems solved by technology

This increases the complexity of the system and the problem of environmental adaptability
In order to

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  • Carrying vehicle leveling method and device based on two-dimensional dichotomy strategy
  • Carrying vehicle leveling method and device based on two-dimensional dichotomy strategy

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.

[0023] Contents of the present invention include:

[0024] A vehicle leveling method based on a two-dimensional dichotomy strategy. Vehicles with different structures have different leveling methods, and vehicles with the same structure can also adopt different leveling strategy modes. The leveling control software is programmed based on different control strategies.

[0025] This leveling strategy method is based on the mathematical model "dichotomy", and in the angle error method leveling system, the leveling process is extended to the two-dimensional leveling application field. Taking the left and right inclination angle α and front and rear inclination angle β of the horizontal inclination sensor as the adjustment object, the method of making the α and β values ​​grad...

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Abstract

The invention provides a carrying vehicle leveling method and device based on a two-dimensional dichotomy strategy. A left-and-right inclination angle alpha and a front-and-back inclination angle betaof a carrying vehicle are compared; a direction with the large inclination angle is selected to carry out binary leveling, and the height of each supporting leg is adjusted until an inclination angleto be adjusted is reduced by one half; and then the values alpha and beta are compared again, the direction with the large inclination angle is selected for binary leveling, and repeated cycling is conducted until the leveling is completed. A leveling system is simpler, the leveling process is more reliable, and the operation is more convenient. The carrying vehicle leveling device can be appliedto different types of hydraulic and electric leveling systems, the configuration is simple, and the adaptation range is wide.

Description

technical field [0001] The invention belongs to the technical field of shelter electric control. Background technique [0002] At present, there are many kinds of products developed based on ground equipment. As far as the leveling of cabin vehicles, launch vehicles, and radar vehicles is concerned, there are many and diverse applications of vehicle automatic leveling technologies at home and abroad. According to the origin of production, there are leveling systems based on imported controllers, and there are also leveling systems based on domestic self-developed controllers. Imported controllers and additional integrated leveling systems are based on hydraulic or electric servo systems, with high reliability, high precision, and relatively high cost. The domestic professionally developed leveling controller and leveling system are self-owned brand controllers based on general programmable logic controller (PLC), programmable computer controller (PCC), FPGA, ARM and other ...

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Application Information

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IPC IPC(8): B60S9/205
CPCB60S9/205
Inventor 何治斌王军秦亚利王燕李林萍
Owner 西安长峰机电研究所
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