Fast leveling control technology of vehicle platform based on interference compensation

被引：0
|
作者：
Zhou B. [1 ]
Yu C. [1 ]
Tan L. [1 ]
Liu Z. [1 ]
Ke B. [2 ]
机构：
[1] School of Missile Engineering, Rocket Force University of Engineering, Xi'an
[2] Rocket Force Equipment Department, Beijing
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2023年 / 49卷 / 06期
关键词：
co-simulation; electric cylinder; fast leveling; interference compensation; vehicle platform;
D O I：
10.13700/j.bh.1001-5965.2021.0447
中图分类号：
学科分类号：
摘要：
Focusing on the fast leveling requirements of the vehicle-mounted platform under heavy load conditions, the error caused by the deformation of the legs during the leveling process can be accurately calculated by using electric cylinders. To solve the issue of the low leveling accuracy for traditional hydraulic leveling cylinders under heavy load conditions and increase accuracy, this study proposed a rapid leveling control strategy for the vehicle-mounted platform based on interference compensation. Moreover, the load characteristics of the outrigger cylinder under the four-point leveling condition were analyzed, the deformation error model of the electric cylinder was established, and the interference compensation feedback method was used to correct the leveling error. The leveling system was jointly simulated and verified by AMESim and MATLAB/Simulink software, and the experimental prototype was built for experimental verification. The results showed that the four-point leveling control method based on mechanical deformation interference compensation can increase the leveling accuracy by 25%, the leveling time can be shortened by 71.4%. Besides, the vehicle-mounted platform under the condition of large load and large inclination can be leveled quickly and completely in 10 s. © 2023 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.
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页码：1495 / 1503
页数：8
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