The invention discloses a control system and method for leveling a lower vehicle support of an operation vehicle, and the method comprises the steps: obtaining the ground inclination degrees theta x0 and theta y0 and lower vehicle set height data hs, and pre-judging the set extension length Lsx of a landing leg after leveling is completed; four vertical supporting legs extend out, the extension length Lx of each vertical supporting leg is calculated in real time according to distance measuring sensor data h, chassis inclination angle data theta x and theta y and the span of the supporting legs, the remaining three supporting legs continue to extend out, and closed-loop adjustment is conducted on a loaded control signal Ux according to the difference value between the extension length Lx and the set extension length Lsx; when the inclination angle of the chassis is close to 0 degree, all the supporting leg stretching actions are stopped, and lower vehicle supporting leveling is completed. According to the ground inclination degree and chassis inclination information, the measurement data of the distance measuring sensor are corrected, and the accuracy of the data of the distance measuring sensor is improved.

    本发明公开了一种用于作业车辆下车支撑调平的控制系统及控制方法,通过获取地面倾斜程度θx0、θy0和下车设定高度数据hs,预判出调平完成后的支腿设定伸出长度Lsx;伸出四个垂直支腿,根据测距传感器数据h、底盘倾角数据θx、θy和支腿跨距,实时计算各垂直支腿伸出长度Lx,剩余的三个支腿继续伸出,其加载的控制信号Ux根据伸出长度Lx和设定伸出长度Lsx之间的差值进行闭环调节;当底盘倾角接近于0°时,停止所有支腿伸出动作,完成下车支撑调平,本发明根据地面倾斜程度、底盘倾斜信息对测距传感器测量数据进行修正,提高了测距传感器数据的准确性。


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    Title :

    Control system and control method for leveling lower vehicle support of working vehicle


    Additional title:

    一种用于作业车辆下车支撑调平的控制系统及控制方法


    Contributors:
    YE JIALIANG (author) / XU LEI (author) / ZHANG YONG (author) / QIN HAO (author) / JIAO ZIXUE (author)

    Publication date :

    2023-10-27


    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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