The present disclosure discloses a leveling control method for a multi-point support platform, which comprises the steps: respectively measuring and obtaining a load-bearing interaction matrix and a deformation interaction matrix of the platform to construct a load-bearing and deformation joint control matrix; calculating the optimal loads of the legs and measuring the current loads of the legs to obtain the load deviation rates of the legs, and determining if the platform warrants leveling in combination with the two-dimensional inclination angles of the platform; constructing a platform geometry and leg load joint control equation according to the two-dimensional inclination angles of the platform, the load deviations of the legs and the load-bearing and deformation joint control matrix, calculating the actuation quantities of the legs and performing synchronous leveling; and determining the load deviation rates of the legs and the two-dimensional inclination angles of the platform cyclically and performing the actuation control until the leveling goal is achieved. The method is capable of synchronously realizing the geometric leveling of the platform and the load control of the legs, and can significantly improve the speed, geometric accuracy, process stability, leg load-bearing stability and control robustness of the leveling control for the multi-point support platform.


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    Title :

    Leveling control method for multi-point support platform


    Contributors:
    ZHANG FAN (author) / YANG WENTAO (author) / GANG XIANYUE (author) / WANG HUIHENG (author) / WU JIXING (author) / LIU AIBING (author) / LV CHUNYI (author)

    Publication date :

    2024-09-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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