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The Development of Controller on Electromechanical Vehicle Stable Platform

Author: ZhangZhenWei
Tutor: ChenLi
School: West China University
Course: Vehicle Engineering
Keywords: Automatic leveling system DSP virtual leg modular
CLC: U463.6
Type: Master's thesis
Year: 2013
Downloads: 5
Quote: 0
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Abstract


In the modern society, automatic leveling system plays an increasingly important rolewhether in the military aspect or in the civilian aspect, such as automotive radar, vehicleartillery transmitting device, vehicle laser measurement, static pile driver, shipbuilding and soon. As a highly nonlinear complex system which consists of machinery, electric and hydraulic,automatic leveling system is researched how to overcome external interference and theuncertainty of the object, so how to system quickly and accurately meets the requirementswill be the important future trends. In this paper, a four-point supporting electromechanicalvehicle platform automatic leveling system which makes TMS320F2812chip as thecontroller core and adopts high-precision level sensor, high-resolution sampling module isdesigned.Firstly, the static model of the four-point supporting electromechanical vehicle platformis established, and stress distribution of each leg of platform is analyzed in the horizontal stateand the inclined state. On this basis, several commonly used leveling strategies are compared,and the leveling method of this system—fixed the center point for leveling is put forward.Secondly, according to redundant constraints of four-point supporting platform makesthe phenomenon of "virtual leg” appearing, the various methods of elimination "virtual legs”at present are firstly introduced in this paper, and combined with the characteristics of thissystem, a new method of elimination "virtual legs” is put forward. At the end, the test showsthat this method is quick, effective.Thirdly, taking into account the features of big outside interference of the automaticleveling system, in this paper, a the horizontal angle sampling system is designed from thepoint of view of the anti-jamming, and all kinds of interference presented in the system areanalyzed, and a lot of sampling experiments are made. Experimental result shows that thehorizontal angle sampling system meets the design requirements.Finally, the composition and working principle of the automatic leveling system areanalyzed, and the hardware configuration of the system is completed. On this basis, modulardesign of the system is finished, so the system has good portability. The experiments ofelimination "virtual legs” and leveling are made by using the controller, and the result showsthat the system has not only good performance on elimination "virtual legs” and leveling timeshorted but also high leveling accuracy and high reliability. So it has a better prospect.

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