The invention discloses a vehicle control automatic leveling method. The method comprises steps that a symmetrical balance leveling algorithm is adopted, and a levelness index of a system is reached through simultaneous approaching convergence of double-shaft inclination to the horizontal position; a full-closed-loop mode is adopted for adjustment, in the process that the inclination of the single/double shafts approaches an allowable deviation value, the telescopic movement speed of supporting legs is a continuous changing process till the levelness of a platform is adjusted to reach the standard finally, and leveling is completed; after horizontal leveling is completed, erecting control is conducted till the erecting angle is reached; after erecting control is completed, leveling controlis conducted, the vehicle returns to a horizontal leveling state, and automatic leveling of vehicle control is completed. The method is advantaged in that automatic leveling of vehicle control can berealized.

    本发明公开了一种车控自动调平方法,包括如下步骤:采用对称式平衡调平的算法,通过双轴倾斜度同时向水平位置趋近收敛,达到系统的水平度指标;采用全闭环的方式调节,在单/双轴的倾斜度趋近于许用偏差值的过程中,支撑腿的伸缩运动速度为一个连续变化的过程,直至最终平台水平度调整至达标状态,完成调平;水平调平完成后,进行起竖控制,直至达到起竖角度;起竖控制完成后,进行回平控制,回到水平调平状态,完成车控自动调平。通过本发明,可以实现车控自动调平。


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    Title :

    Vehicle control automatic leveling method


    Additional title:

    一种车控自动调平方法


    Contributors:
    DONG GANG (author) / TONG FEI (author) / LIU QIANG (author)

    Publication date :

    2020-06-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen



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