CN113485459B - Vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation - Google Patents
Vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation Download PDFInfo
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Abstract
The invention discloses a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation, which comprises the following steps that S1, a four-fulcrum leveling model is built according to a four-fulcrum leveling basic principle on the basis of taking a stepless speed regulation electric cylinder as a vehicle-mounted platform leveling executing mechanism; s2, after a four-fulcrum leveling scheme is determined, a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is constructed according to leveling theoretical error calculation; s3, a rapid leveling control system is established according to the four-fulcrum leveling model and the vehicle-mounted platform leveling interference model to control the vehicle-mounted platform to perform rapid leveling; the method takes the stepless speed regulation electric cylinder as an actuating mechanism, constructs an electric cylinder deformation error model, corrects the leveling error by adopting an interference compensation feedback method, can effectively improve the leveling precision and speed of the vehicle-mounted platform, and has the characteristics of high control precision and high leveling speed.
Description
Technical Field
The invention relates to the technical field of quick leveling of a vehicle-mounted platform, in particular to a quick leveling control method of the vehicle-mounted platform based on mechanical deformation interference compensation.
Background
When the vehicle-mounted equipment works, a certain inclination angle or a certain vertical state is required to be erected from a horizontal state, and factors influencing success or failure and precision of operation in the process mainly comprise the following aspects: firstly, the inclination of the vehicle body can cause measurement errors of pitching angles, so that the working accuracy of vehicle-mounted equipment is affected; secondly, the loading and erecting process of the vehicle is a process that the load is continuously changed, the system is easy to generate instability, and the system is unstable, so that the load structure and internal instrument equipment are subjected to larger impact; third, the greater the load on the vertical weight, the greater the impact the system is subjected to. Therefore, before the vehicle-mounted equipment works, the leveling of the whole vehicle is required to be realized;
the traditional vehicle-mounted equipment is leveled by a hydraulic cylinder, the problems of running, overflowing, dripping, leaking and the like of a hydraulic-driven leveling system under the heavy load condition are relatively serious, meanwhile, the traditional hydraulic leveling time is relatively long, about 35s, the leveling precision is relatively poor, and about 4'; in order to solve the problem, an electric cylinder is adopted for leveling, electric energy is directly converted into mechanical energy through a servo motor, so that the transmission efficiency is improved, meanwhile, the precision transmission of a motor-ball (roller) -screw and the like is realized through constructing a position, speed or moment control closed loop, and the control precision can be improved;
in the leveling control algorithm, the traditional hydraulic cylinder is mostly subjected to leveling control by adopting a fuzzy PID control algorithm, and the fuzzy PID control algorithm has the advantages of simple structure, obvious effect and convenient adjustment, but has the problems of low precision and the like due to the characteristics of nonlinearity, time-varying parameters, load difference of each executive component and the like of a hydraulic system; meanwhile, in a specific leveling mode, as the load needs to be erected when the vehicle-mounted equipment works, the leveling error of a pitch angle can be made up according to the erection angle, so that in actual work, the front pitch angle and the rear pitch angle of a vehicle body do not need to be strictly regulated to 0 degrees, the left and right roll angles need to be regulated to 0 degrees, the traditional vehicle-mounted platform leveling system mostly adopts the general scheme of left and right leveling of rear supporting legs, and the vehicle-mounted platform leveling is completed according to the sequence of lifting (landing of four legs), leveling (left and right rear supporting legs) and stretching front legs, the whole vehicle-mounted leveling process is in a serial mode, the control procedure is complicated, links are multiple, the time is consumed, and the requirement of quick leveling is difficult to meet;
therefore, it is necessary to design a control method capable of leveling the vehicle-mounted platform quickly and with high precision.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation comprises the following steps of
S1, on the basis of taking a stepless speed regulation electric cylinder as a vehicle-mounted platform leveling executing mechanism, a four-fulcrum leveling model is built according to a four-fulcrum leveling basic principle;
s2, after a four-fulcrum leveling scheme is determined, a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is constructed according to leveling theoretical error calculation
S201, calculating the supporting leg bearing capacity of the vehicle-mounted platform in the initial leveling state;
s202, establishing an electric cylinder deformation error model;
s203, constructing a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation by utilizing an adaptive fuzzy PID control algorithm based on interference compensation according to the electric cylinder deformation error model;
s3, a rapid leveling control system is established according to the four-fulcrum leveling model and the vehicle-mounted platform leveling interference model, so that the vehicle-mounted platform is controlled to perform rapid leveling.
Preferably, the construction process of the four-pivot leveling model in the step S1 comprises
S101, setting a supporting leg i of a vehicle-mounted platform in a horizontal coordinate system OX 0 Y 0 Z 0 The coordinates of (a) are 0 P i ＝( 0 P iX , 0 P iY , 0 P iZ ) T In the platform coordinate system OX 1 Y 1 Z 1 The coordinates of (a) are 1 P i ＝( 1 P iX , 1 P iY , 1 P iZ ) T The method comprises the steps of carrying out a first treatment on the surface of the Alpha, beta is the horizontal coordinate system OX 0 Y 0 Z 0 And a platform coordinate system OX 1 Y 1 Z 1 And alpha and beta are not 0, and according to the kinematic conclusion of the space attitude transformation, the transformation matrix between the horizontal coordinate system and the platform coordinate system is as follows:
s102, setting in a platform coordinate system OX 1 Y 1 Z 1 The coordinates of each supporting leg are as follows: 1 P i ＝( 1 X i , 1 Y i , 1 Z i ) T thenThe coordinates of each fulcrum Z are then:
0 Z i ＝(-α,β,1)( 1 X i , 1 Y i , 1 Z i ) T (2)；
S103.pre-supporting the platform before leveling, setting the initial angle of the platform as alpha 0 And beta 0 Firstly, judging the highest point of the vehicle-mounted platform, taking the highest point as the origin of coordinates, and the initial positions of the supporting legs are as follows:
0 Z i ＝-α 0 1 X i +β 0 1 Y i + 1 Z i (3)
it is obvious that the process is not limited to, 1 Z i =0, and thus, the above formula (3) can be expressed as:
0 Z i ＝-α 0 1 X i +β 0 1 Y i (4)
s104. let i=h be the highest point: 0 Z h ≥ 0 Z i at any time, the difference between each fulcrum and the highest point is:
e i ＝ 0 Z h - 0 Z i ＝-α 0 ( 1 X h - 1 X i )+β 0 ( 1 Y h - 1 Y i ) (5)
the legs are symmetrically distributed along the front and back of the frame, and the distance between the long sides of the legs is L a The distance between short sides is L b The coordinates of each supporting leg in the platform dynamic coordinate system are as follows:
according to the above formula (6), the extension amount of each supporting leg can be calculated;
s105, the positive and negative inclination angles of the initial angle of the platform obey the right-hand rule, namely, the anticlockwise rotation is positive when seen from the coordinate vector end, and the corresponding support leg with the highest coordinate is different according to different combinations of the positive and negative inclination angles of the X axis and the Y axis, so that the following can be obtained:
(1) When alpha is 0 ＜0，β 0 At > 0, leg 1 is highest, at which point e 1 ＝0，e 2 ＝-α 0 L a ，e 3 ＝-α 0 L a +β 0 L b ，e 4 ＝β 0 L b ；
(2) When alpha is 0 ＞0，β 0 At > 0, leg 2 is highest, at which point e 1 ＝α 0 L a ，e 2 ＝0，e 3 ＝β 0 L b ，e 4 ＝α 0 L a +β 0 L b ；
(3) When alpha is 0 ＜0，β 0 At > 0, leg 3 is highest, at which point e 1 ＝α 0 L a -β 0 L b ，e 2 ＝-β 0 L b ，e 3 ＝0，e 4 ＝α 0 L a ；
(4) When alpha is 0 ＜0，β 0 At > 0, leg 4 is highest, at which point e 1 ＝-β 0 L b ，e 2 ＝-α 0 L a -β 0 L b ，e 3 ＝-α 0 L a ，e 4 ＝0；
From the four cases described above, it can be derived: at each time of the leveling time, the leveling machine, the adjustment amount of each supporting leg is 0, alpha 0 L a ||，||β 0 L b ||，||α 0 L a ||+||β 0 L b One of the four numerical values is distributed according to different high points, and the leveling process can be iterated circularly until the levelness reaches the requirement.
Preferably, when leveling is performed by using the four-fulcrum leveling model, leveling is performed by using a three-point height-by-height method.
Preferably, the calculation process of the leg bearing capacity in step S201 includes
S2011, when the vehicle-mounted platform is arranged to level, the axial force and the radial force of the two front support legs to the frame are respectively f 1y 、f 1x 、f 1z The method comprises the steps of carrying out a first treatment on the surface of the The axial force and the radial force of the two rear supporting legs to the frame are respectively f 2y 、f 2x 、f 2z The method comprises the steps of carrying out a first treatment on the surface of the The pitch angle of the vehicle body is alpha, and the roll angle of the vehicle body is beta;
s2022, tracking balance between the gravity of the frame and the axial force of the supporting leg when the state of the vehicle body changes by taking the plane of the frame as a reference, wherein the resultant force of the supporting leg in the axial direction is equal to the projection of the gravity of the frame and the load in the axial direction of the supporting leg, and when the vehicle body has a pitch angle and a roll angle, the stress balance equation is as follows:
f 1y +f 2y ＝mg cosαcosβ (11)
f 1x +f 2x ＝mg sinα (12)
f 1z +f 2z ＝mg sinβ (13)
s2023, carrying out moment balance analysis by taking a connecting line of the two front supporting legs as a rotating shaft, wherein a moment balance equation is as follows:
[m 1 g(l-l 1 )+m 2 g(l-l 2 )]cosαcosβ＝f 2y l (14)
and (3) taking the connecting line of the two rear supporting legs as a rotating shaft, performing moment balance analysis, wherein a moment balance equation is as follows:
[m 1 gl 1 +m 2 gl 2 ]cosαcosβ＝f 1y l (15)
calculated according to formulas (11) - (15): f (f) 1y And f 2y And according to the average stress calculation of the two legs, the front support leg single-leg bearing and the rear support leg single-leg bearing can be obtained.
Preferably, the process for establishing the deformation error model of the electric cylinder in step S202 includes:
s2021, when the electric cylinder is used as a leveling executing mechanism of the vehicle-mounted platform, the curvature sum is as follows:
∑ρ＝ρ 11 +ρ 12 +ρ 21 +ρ 22 (7)
in formula (7):
s2022, the principal curvature function is as follows:
s2023, the total deformation of the supporting legs is as follows:
wherein R is the radius of an arc at the contact point of the roller and the center screw; r is R 1 The radius of the thread raceway of the center screw rod; d, d 1 Radius from the contact point to the center lead screw; d, d 2 Radius from the contact point to the roller axis; θ is the contact angle of the screw rod with the roller, the nut with the roller; lambda is the lead angle of the roller; e (E) 1 And E is connected with 2 The elastic modulus of the roller and the screw rod; mu (mu) 1 And mu 2 The Poisson ratio of the roller to the screw rod; f (F) 0 The axial force is given, and n is the number of rollers;can be obtained according to the lookup table of the value of F (ρ).
Preferably, the process of constructing the vehicle platform leveling interference model based on mechanical deformation interference compensation by using the adaptive fuzzy PID control algorithm based on interference compensation in step S203 includes
S2031, calculating an initial error of the deformation of the support leg according to a formula (9), and compensating an input error e of the fuzzy controller;
s2032, deriving the error e, and calculating the error change rate e c Calculating the output DeltaK of the fuzzy controller p 、ΔK I And delta K D ；
The delta K p 、ΔK I And delta K D The change amounts of the proportion, the differentiation and the integration of the error change are respectively shown;
s2033, updating e and e by the fuzzy controller in operation c Then at e and e c After updating, ΔK is adjusted according to Table 1 p 、ΔK I And delta K D On-line self-tuning of PID parameters is realized to obtain the leveling interference of the vehicle-mounted platform based on mechanical deformation interference compensationA model;
wherein, the input and output language variables e, e of the fuzzy controller c 、ΔK p 、ΔK I 、ΔK D The fuzzy domains of (a) are [ -6,6]The fuzzy subset is [ NB, NM, NS, ZO, PS, PM, PB ]]Each fuzzy subset adopts a Gaussian membership function, and the inverse blurring of the output quantity adopts a gravity center method.
Preferably, the establishing process of the rapid leveling control system in step S3 includes
S301, building a system block diagram in a simulink according to a four-pivot leveling model and a vehicle-mounted platform leveling interference model, finishing editing of a FIS file according to a fuzzy controller control rule and a fuzzy solving method, and determining initial parameters of a fuzzy PID controller by adopting a trial-and-error method, wherein the initial parameters are K p 、K I And K D Building a simulation model of the self-adaptive fuzzy PID controller;
s302, under an AMESim environment, selecting a corresponding model from a model library for connection, and establishing a joint simulation model under a MATLAB/Simulink environment.
The beneficial effects of the invention are as follows: the invention discloses a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation, which is improved compared with the prior art in that:
(1) The invention provides a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation, which adopts a stepless speed regulating electric cylinder as a leveling scheme of an actuating mechanism, combines with the actual determination of a leveling scheme taking a roll angle as a main pitch angle as an auxiliary pitch angle, and adopts a three-point height-by-height leveling method to level the model of the vehicle-mounted platform;
(2) Meanwhile, the control method provides a leveling control strategy based on interference compensation, an initial error is input through theoretical calculation, and leveling is rapidly performed through a fuzzy PID control algorithm; the quick leveling experiment of the vehicle-mounted platform is completed, and experimental results show that the vehicle-mounted platform can finish leveling within 10 seconds under the condition of large inclination angle and large load, and the relative hydraulic leveling time is shortened by 71.4 percent; the leveling precision is higher, the pitch angle leveling precision reaches 3', the roll angle leveling precision reaches 0.06', the leveling precision is improved by 25%, and experiments prove that the control method can effectively improve the leveling precision and speed of the vehicle-mounted platform and has the advantages of high control precision and high leveling speed.
Drawings
Fig. 1 is a control schematic diagram of a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation.
Fig. 2 is a coordinate relationship diagram of a frame platform according to embodiment 1 of the present invention.
Fig. 3 is a schematic diagram of a three-point height-by-height leveling method according to embodiment 1 of the present invention.
Fig. 4 is a diagram illustrating a fuzzy PID control algorithm based on interference compensation according to embodiment 1 of the present invention.
Figure 5 is a schematic diagram of the initial state of leveling longitudinal stress according to example 1 of the present invention.
Fig. 6 is a schematic view of the horizontal stress in the initial state of the leveling in example 1 of the present invention.
Fig. 7 is a diagram of the process of constructing a simulation model of the leveling controller according to embodiment 1 of the present invention.
FIG. 8 is a diagram of a joint simulation model in an AMESim environment according to embodiment 1 of the present invention.
Fig. 9 is a diagram of a joint simulation model in a MATLAB/Simulink environment according to embodiment 1 of the present invention.
Fig. 10 is a graph of the displacement of the leveling leg in accordance with example 1 of the present invention.
FIG. 11 is a diagram of a sample experimental set-up in example 2 of the present invention.
Fig. 12 is a schematic structural view of a leveling electric cylinder according to embodiment 2 of the present invention.
Fig. 13 is a diagram of an automatic operation mode control interface according to embodiment 2 of the present invention.
Fig. 14 is a graph showing the angle change during leveling of the experimental prototype of example 2 of the present invention.
FIG. 15 is a graph showing the displacement variation during leveling of the experimental prototype of example 2 of the present invention.
FIG. 16 is a graph of simulated and experimental leveling deviation for example 2 of the present invention.
Detailed Description
In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1: 1-10, a vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation comprises the following steps of
S1, on the basis of taking a stepless speed regulation electric cylinder as a vehicle-mounted platform leveling executing mechanism, a four-fulcrum leveling model is built according to a four-fulcrum leveling basic principle:
in the leveling process, deformation of the frame, elastic deformation of the supporting legs and the like are disturbance of leveling control, each supporting leg is leveled according to a theoretical value, a large leveling error exists, and the leveling requirement cannot be met at one time, so that four-pivot leveling modeling is required to be carried out on the vehicle-mounted platform;
in the four-fulcrum leveling modeling process, the leveling of any system can be simplified into the leveling of a certain platform plane, and the essence of the platform leveling is to level two intersecting straight lines on the platform according to the principle that a plane is determined by three points or two intersecting straight lines; according to theoretical analysis, when two straight lines on the platform are vertical to each other, they are not coupled in respective leveling, and the levelness of the platform is minimum, therefore, a dual-axis inclination sensor is required to be installed in two mutually vertical directions of X, Y of the platform to measure the horizontal inclination angles in the two directions, the coordinate relationship is shown in fig. 2, and the specific construction process of the four-pivot leveling model comprises the following steps:
s101, setting a supporting leg i of a vehicle-mounted platform in a horizontal coordinate system (a normal three-dimensional ground horizontal coordinate system) OX 0 Y 0 Z 0 The coordinates of (a) are 0 P i ＝( 0 P iX , 0 P iY , 0 P iZ ) T In a platform coordinate system (coordinate system established on the vehicle platform) OX 1 Y 1 Z 1 The coordinates of (a) are 1 P i ＝( 1 P iX , 1 P iY , 1 P iZ ) T The method comprises the steps of carrying out a first treatment on the surface of the Alpha, beta is the horizontal coordinate system OX 0 Y 0 Z 0 And a platform coordinate system OX 1 Y 1 Z 1 And alpha and beta are not 0,the inclination angles of the support leg i and the frame platform are small inclination angles, the conditions that alpha and beta are small angles are met, and according to the kinematic conclusion of space attitude transformation, a transformation matrix between a horizontal coordinate system and a platform coordinate system is as follows:
s102, assume that the system is in a platform coordinate system OX 1 Y 1 Z 1 The coordinates of each supporting leg of the vehicle-mounted platform are as follows: 1 P i ＝( 1 X i , 1 Y i , 1 Z i ) T thenThe coordinates of each fulcrum Z are then:
0 Z i ＝(-α,β,1)( 1 X i , 1 Y i , 1 Z i ) T (2)；
s103, pre-supporting the platform before leveling (the vehicle-mounted platform simulates a normal vehicle, is pre-supported by objects such as tires, and the like, and needs to extend out supporting legs to level during working), wherein the initial angle of the platform is alpha 0 And beta 0 Firstly, judging the highest point of the vehicle-mounted platform, taking the highest point as the origin of coordinates, and then, the initial positions of the supporting legs are as follows:
0 Z i ＝-α 0 1 X i +β 0 1 Y i + 1 Z i (3)
it is obvious that the process is not limited to, 1 Z i =0, and thus, the above formula (3) can be expressed as:
0 Z i ＝-α 0 1 X i +β 0 1 Y i (4)
s104. let i=h (i=h means the height of the leg is h) be the highest point: 0 Z h ≥ 0 Z i at any time, the difference between each fulcrum and the highest point is:
e i ＝ 0 Z h - 0 Z i ＝-α 0 ( 1 X h - 1 X i )+β 0 ( 1 Y h - 1 Y i ) (5)
the legs are symmetrically distributed along the front and back of the frame, and the distance between the long sides of the legs is L a The distance between short sides is L b Then the coordinates of each leg in the dynamic coordinate system are:
according to the above formula (6), the extension amount of each supporting leg can be calculated;
s105, the positive and negative inclination angles of the initial angle of the platform obey the right-hand rule, namely, the anticlockwise rotation is positive when seen from the coordinate vector end, and the corresponding support leg with the highest coordinate is different according to different combinations of the positive and negative inclination angles of the X axis and the Y axis, so that the following can be obtained:
(1) When alpha is 0 ＜0，β 0 At > 0, leg 1 is highest, at which point e 1 ＝0，e 2 ＝-α 0 L a ，e 3 ＝-α 0 L a +β 0 L b ，e 4 ＝β 0 L b ；
(2) When alpha is 0 ＞0，β 0 At > 0, leg 2 is highest, at which point e 1 ＝α 0 L a ，e 2 ＝0，e 3 ＝β 0 L b ，e 4 ＝α 0 L a +β 0 L b ；
(3) When alpha is 0 ＜0，β 0 At > 0, leg 3 is highest, at which point e 1 ＝α 0 L a -β 0 L b ，e 2 ＝-β 0 L b ，e 3 ＝0，e 4 ＝α 0 L a ；
(4) When alpha is 0 ＜0，β 0 At > 0, leg 4 is highest, at which point e 1 ＝-β 0 L b ，e 2 ＝-α 0 L a -β 0 L b ，e 3 ＝-α 0 L a ，e 4 ＝0；
From the four cases described above, it can be derived: at each time of the leveling time, the leveling machine, the adjustment amount of each supporting leg is 0, alpha 0 L a ||，||β 0 L b ||，||α 0 L a ||+||β 0 L b One of the four numerical values is distributed according to the difference of high points, and the leveling process can be iterated circularly until the levelness reaches the requirement;
s106, in order to meet the requirement of quick leveling within 10 seconds, leveling support legs are symmetrically arranged along the axial direction of a vehicle body, after four support legs are landed under the action of a leveling controller, an inclination angle sensor and the like, the left and right leveling precision of a rear support leg is taken as a main control parameter, a front support leg synchronously extends out in the leveling process of the rear support leg, and an electric cylinder with a stepless speed regulating function is adopted as a scheme of simultaneous action and parallel leveling of the four support legs, so that leveling time is saved; since the support leg is inconvenient to shorten when the vehicle is leveled, the leveling is performed by adopting a three-point height-by-height method, and a specific leveling method is shown in fig. 3.
S2, after a four-fulcrum leveling scheme is determined, a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is constructed according to leveling theoretical error calculation, and the vehicle-mounted platform leveling interference model comprises
S201, calculating the supporting leg bearing capacity of the vehicle-mounted platform in the initial leveling state, wherein the supporting leg bearing capacity comprises the following specific steps of
S2011, when the vehicle-mounted platform is leveled, certain unevenness is allowed on the ground, the fact that the vehicle has a certain pitch angle and a certain roll angle before leveling is reflected on the vehicle-mounted platform, the whole of a frame and a load are taken as stress objects for analysis, each supporting leg is rigidly connected with the frame, when the vehicle-mounted platform is leveled in an initial state, the supporting legs have an axial supporting force and two mutually perpendicular radial supporting forces on the frame, the stress of the vehicle-mounted platform in a pitching state and the vehicle-mounted platform in a roll state is as shown in fig. 5 and 6, and the axial direction of the two front supporting legs to the frame is setThe force and radial force are f respectively 1y 、f 1x 、f 1z The method comprises the steps of carrying out a first treatment on the surface of the The axial force and the radial force of the two rear supporting legs to the frame are respectively f 2y 、f 2x 、f 2z The method comprises the steps of carrying out a first treatment on the surface of the The pitch angle of the vehicle body is alpha, and the roll angle of the vehicle body is beta;
in fig. 5-6:
(1) The left-right span h=3m of the two front supporting legs, and the span of the two rear supporting legs is the same as the left-right span h=3m;
(2) Front-rear leg span on the same side l=12m;
(3) Frame mass m 1 =28t, load mass m 2 =35t; total mass m=63 t;
(4) The mass center of the frame is positioned in the vertical symmetrical plane of the vehicle body and is horizontally away from the central axis of the rear leg by a distance l 1 ＝8.1m；
(5) The load mass center is positioned in the vertical symmetrical plane of the vehicle body and is horizontally distant from the central axis of the rear leg by l 2 ＝6.2m；
(6) Gravitational acceleration g=9.8 m/s 2 ；
S2022, tracking balance between the gravity of the frame and the axial force of the supporting leg when the state of the vehicle body changes by taking the plane of the frame as a reference, wherein the resultant force of the supporting leg in the axial direction is equal to the projection of the gravity of the frame and the load in the axial direction of the supporting leg, and when the vehicle body has a pitch angle and a roll angle, the stress balance equation is as follows:
f 1y +f 2y ＝mgcosαcosβ (11)
f 1x +f 2x ＝mgsinα (12)
f 1z +f 2z ＝mgsinβ (13)
s2023, carrying out moment balance analysis by taking a connecting line of the two front supporting legs as a rotating shaft, wherein a moment balance equation is as follows:
[m 1 g(l-l 1 )+m 2 g(l-l 2 )]cosαcosβ＝f 2y l (14)
and (3) taking the connecting line of the two rear supporting legs as a rotating shaft, performing moment balance analysis, wherein a moment balance equation is as follows:
[m 1 gl 1 +m 2 gl 2 ]cosαcosβ＝f 1y l (15)
calculated according to formulas (11) - (15): f (f) 1y And f 2y According to the average calculation of the stress of the two legs, the front supporting leg single-leg bearing and the rear supporting leg single-leg bearing can be obtained, and the data can be obtained by carrying the data: f (f) 1y ＝361424N；f 2y = 254310N, front leg single-leg load is 180712N, and rear leg single-leg load is 127155N;
s202, establishing an electric cylinder deformation error model
S2021, the error when the vehicle body is leveled is mainly the influence of supporting leg deformation on leveling, the main deformation in the electric cylinder comes from the deformation of the planetary roller screw, and the axial deformation of the assembly is mainly divided into 3 conditions: the first is the Hertz deformation of the point contact thread groove between the thread and the roller; secondly, axial deformation is caused when the screw rod and the nut are respectively contacted with the roller; thirdly, deformation of the screw teeth when the screw rod and the nut are respectively contacted with the roller can obtain curvature sum when the electric cylinder is used as a leveling executing mechanism of the vehicle-mounted platform:
∑ρ＝ρ 11 +ρ 12 +ρ 21 +ρ 22 (7)
in formula (7):
s2022, the principal curvature function is as follows:
s2023, the total deformation of the available supporting legs is as follows:
wherein R is the radius of an arc at the contact point of the roller and the center screw rod and is 31mm; r is R 1 The radius of the thread rolling path of the center screw rod is 24mm; d, d 1 The radius from the contact point to the center screw rod is 24.2mm; d, d 2 A radius from the contact point to the roller axis of 6.3mm; theta is the lead screw and the rollerContact angle of nut with roller, θ=45°; λ is the lead angle of the roller, λ=4°; e (E) 1 And E is connected with 2 The elastic moduli of the roller and the screw rod are 210MPa; mu (mu) 1 And mu 2 The poisson ratio of the roller to the screw rod is 0.3; f (F) 0 The axial force is that n is the number of rollers and is 12;can be obtained according to the value lookup table of F (ρ), is 1.1; the above parameters can be brought into formula (9):
s203, constructing a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation by utilizing an adaptive fuzzy PID control algorithm based on interference compensation according to the electric cylinder deformation error model
The input error e in the traditional self-adaptive fuzzy PID control algorithm is often obtained according to experience, and the defects of poor leveling precision, poor robustness and the like sometimes exist in practical application; the preliminary fuzzy control compensation error table is formulated by calculating theoretical frame deformation and supporting leg deformation, and meanwhile, in the leveling process, after each leveling is finished, the leveling error is calculated according to the numerical value fed back by the inclination angle sensor or the displacement sensor, the fuzzy control rule table is automatically updated by using the leveling error, and the self-adaptive fuzzy PID control algorithm structure based on interference compensation is shown in figure 4 and comprises the following steps:
s2031, calculating an initial error of the deformation of the support leg according to a formula (9) or a formula (10), and compensating an input error e of the fuzzy controller;
s2032, deriving the error e, and calculating the error change rate e c Calculating the output DeltaK of the fuzzy controller p 、ΔK I And delta K D ；
The delta K p 、ΔK I And delta K D The change amounts of the proportion, the differentiation and the integration of the error change are respectively shown;
s2033, the fuzzy controller is runningBy updating e and e c Then at e and e c After updating, ΔK is adjusted according to Table 1 p 、ΔK I And delta K D Realizes the online self-tuning of PID parameters, satisfies e and e c Different requirements on control parameters are met, and a leveling interference model of the vehicle-mounted platform based on mechanical deformation interference compensation is obtained;
wherein, the input and output language variables e, e of the fuzzy controller c 、ΔK p 、ΔK I 、ΔK D The fuzzy domains of (a) are [ -6,6]The fuzzy subset is [ NB, NM, NS, ZO, PS, PM, PB ]]Each fuzzy subset adopts Gaussian membership function, and the inverse blurring of output quantity adopts gravity center method, delta K p 、ΔK I And DeltaK D The control rules of (2) are shown in Table 1:
TABLE 1 DeltaK p 、ΔK I And DeltaK D Fuzzy rule table
S3, a rapid leveling control system is established according to the four-fulcrum leveling model and the vehicle-mounted platform leveling interference model, so that the vehicle-mounted platform is controlled to perform rapid leveling
S301, building a system block diagram in a simulink with reference to FIG. 4 and Table 1, completing editing of the FIS file according to a fuzzy controller control rule and a fuzzy solving method, and determining an initial parameter K of the PID controller by adopting a trial-and-error method p 、K I And K D Initial values are 1500, 30 and 5 respectively; the ratio factor of the available error and the error change rate is 150 and 0.2, delta K according to the fuzzy theory of each parameter p 、ΔK I And DeltaK D The quantization factors of (1) are 300, 5 and 1, and an adaptive fuzzy PID controller simulation model is built, and is shown in figure 7;
s302, under an AMESim environment, selecting a corresponding model from a model library for connection, and establishing a joint simulation model under a MATLAB/Simulink environment, wherein the joint simulation model comprises the following steps:
(1) In an AMESim environment, selecting a corresponding model from a model library for connection, constructing a model as shown in fig. 8, and equivalently replacing a planetary roller screw structure in the electric leveling support leg by adopting a bolt and nut structure;
(2) Creating a MATLAB/Simulink joint simulation icon 1 in AMESim, calculating a calculated theoretical stress signal 2 of the planetary roller screw by a function 3 to output a compensation value, combining the calculated theoretical stress signal 2 with an expected displacement signal 5 when a leveling landing leg touches the ground, comparing the calculated compensation value with an actual displacement signal 4, and then using the calculated compensation value as an input of a fuzzy PID controller, and processing the calculated compensation value to obtain a driving motor input signal so as to control the landing leg speed and displacement;
(3) And establishing a data exchange interface of the leveling system model and the fuzzy PID controller model through MATLAB/Simulink, connecting corresponding modules, and constructing a joint simulation model in a MATLAB/Simulink environment as shown in figure 9.
S303, simulation analysis
(1) According to the leveling method in the steps S1 and S2, the leveling process in the actual work of the vehicle-mounted platform is combined, and the leveling process has three stages: the first stage is an electric cylinder no-load high-speed touchdown stage; the second stage is the ground contact detection of each leveling supporting leg; the third stage is leveling of the low-speed lift car;
(2) When the leveling mechanism performs low-speed lifting leveling in the third stage, the leveling support leg needs to lift by 5mm again after touching the ground in order to ensure that the vehicle-mounted platform leaves the ground;
(3) Setting the left rear supporting leg at the third stage as the highest point and the displacement as e 2 Right front leg displacement e =5 mm 4 =245 mm, right rear leg displacement e 3 =159 mm, left front leg displacement e 1 ＝90mm；
(4) Inputting displacement signals of each supporting leg in a signal module, wherein the displacement signals are attached to actual experiments as much as possible, when 0-0.81s is used for detecting the operation of a leveling system, each supporting leg keeps motionless in the 0,9.28-10s stage, the displacement signals of each supporting leg in the first stage to the third stage are as follows, and the displacement signals in the first stage are obtained by actual measurement;
(5) The left front leg first phase given signal is changed from 0 to 233mm within t=0.81-2 s, and the second phase given signal is kept unchanged within t=2-4.5 s; the third phase gives a signal varying from 233.6mm to 323mm within t=4.5-9.28 s;
the first phase of the right front leg gives a signal which varies from 0 to 117mm within t=0.81-1.8 s, and the second phase gives a signal which remains unchanged within t=1.8-4.5 s; the third phase gives a signal varying from 117mm to 362mm within t=4.5-9.28 s;
the first phase of the left rear leg gives a signal that varies from 0 to 270mm within t=0.81-2.75 s, and the second phase gives a signal that remains unchanged within t=0.7-4 s; the third phase gives a signal varying from 270mm to 275mm within t=5-10 s;
the first phase of the right rear leg gives a signal which changes from 0 to 80mm within t=0.81-1.5 s, and the second phase gives a signal which remains unchanged within t=1.5-4.5 s; the third phase gives a signal varying from 80mm to 239mm within t=4.5-9.28 s;
(6) Inputting a compensation signal of force when leveling enters a second stage, wherein the input force of the front support leg is 180712N, and the input force of the rear support leg is 127155N;
(7) Setting the simulation time to 10s, running the simulation in a MATLAB/Simulink environment, and observing the displacement of each supporting leg in AMESim, as shown in FIG. 10;
as can be seen from fig. 10, after the leveling support leg is extended in place in each stage, a larger error is generated, but the leveling support leg is stable in a shorter time, and can be extended in place quickly according to a preset signal, and from simulation results, the vehicle-mounted platform can be leveled quickly by adopting an adaptive fuzzy PID control mode based on interference compensation, and the leveling error is smaller.
Example 2: s4, experimental verification
In order to simulate the real vehicle-mounted situation, an experimental prototype shown in fig. 11 is built, a leveling electric cylinder is shown in fig. 12, each leveling supporting leg is driven by a main motor and a pair of motors, a component 1 shown in fig. 12 is a main motor, a component 2 is a pair of motors, the change of the vehicle angle is measured through an inclination angle sensor in the leveling process, a leveling control system is carried out through a VB and motion control board card, and fig. 13 is a leveling operation interface, and a one-key operation program can be entered through setting up except for performing a step-by-step inching operation;
experimental study is mainly carried out on the working conditions, the initial pitch angle corresponding to the working conditions is 1.9 degrees, the roll angle is 2.94 degrees, experimental data are processed to obtain a change curve of angle and displacement in the experimental process, the result is shown in fig. 14-15, and the leveling deviation curve is obtained by comparing the experimental data with simulation data, as shown in fig. 16;
14-15, the vehicle-mounted platform under heavy load can be leveled within 10 seconds by using the method, the pitch angle after leveling is 0.05 degrees, and the roll angle is 0.001 degrees;
as can be seen from fig. 16, the deviation between simulation and experimental displacement is smaller in the ground contact leveling stage, the maximum deviation is 0.5mm, the error is relatively larger in the no-load rapid extension stage, the maximum deviation is 9.7mm, and the main reason for the larger deviation is that the driving motor is not completely linear when being started, so that a larger error occurs.
S5 conclusion
(1) The invention provides a leveling control strategy based on interference compensation, which is used for inputting an initial error through theoretical calculation and rapidly leveling through a fuzzy PID control algorithm.
(2) The quick leveling experiment of the vehicle-mounted platform is completed, and experimental results show that the vehicle-mounted platform using the control method can finish leveling within 10 seconds under the condition of large inclination angle and large load, and the relative hydraulic leveling time is shortened by 71.4 percent; and the leveling precision is higher, the pitch angle leveling precision reaches 3', the roll angle leveling precision reaches 0.06', and the leveling precision is improved by 25%.
The feasibility of adopting the vehicle-mounted platform rapid leveling method based on interference compensation is verified through the experiment.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. A vehicle-mounted platform rapid leveling control method based on mechanical deformation interference compensation is characterized by comprising the following steps of: comprising the steps of
S1, on the basis of taking a stepless speed regulation electric cylinder as a vehicle-mounted platform leveling executing mechanism, a four-fulcrum leveling model is built according to a four-fulcrum leveling basic principle;
the construction process of the four-pivot leveling model in the step S1 comprises the following steps of
S101, setting a supporting leg i of a vehicle-mounted platform in a horizontal coordinate system OX 0 Y 0 Z 0 The coordinates of (a) are 0 P i ＝( 0 P iX , 0 P iY , 0 P iZ ) T In the platform coordinate system OX 1 Y 1 Z 1 The coordinates of (a) are 1 P i ＝( 1 P iX , 1 P iY , 1 P iZ ) T The method comprises the steps of carrying out a first treatment on the surface of the Alpha is a pitch angle of the vehicle body, beta is a roll angle of the vehicle body, alpha and beta are not 0, and according to a kinematic conclusion of space attitude transformation, a transformation matrix between a horizontal coordinate system and a platform coordinate system is as follows:
s102, setting in a platform coordinate system OX 1 Y 1 Z 1 The coordinates of each supporting leg are as follows: 1 P i ＝( 1 X i , 1 Y i , 1 Z i ) T thenThe coordinates of each fulcrum Z are then:
0 Z i ＝(-α,β,1)( 1 X i , 1 Y i , 1 Z i ) T (2)；
s103, pre-supporting the platform before leveling the platform, and setting the platformThe initial angle is alpha 0 And beta 0 Firstly, judging the highest point of the vehicle-mounted platform, taking the highest point as the origin of coordinates, and the initial positions of the supporting legs are as follows:
0 Z i ＝-α 0 1 X i +β 0 1 Y i + 1 Z i (3)
it is obvious that the process is not limited to, 1 Z i =0, and thus, the above formula (3) can be expressed as:
0 Z i ＝-α 0 1 X i +β 0 1 Y i (4)
s104. let i=h be the highest point: 0 Z h ≥ 0 Z i at any time, the difference between each fulcrum and the highest point is:
e i ＝ 0 Z h - 0 Z i ＝-α 0 ( 1 X h - 1 X i )+β 0 ( 1 Y h - 1 Y i ) (5)
the legs are symmetrically distributed along the front and back of the frame, and the distance between the long sides of the legs is L a The distance between short sides is L b Then the coordinates of each leg in the platform coordinate system are:
according to the above formula (6), the extension amount of each supporting leg can be calculated;
s105, the positive and negative inclination angles of the initial angle of the platform obey the right-hand rule, namely, the anticlockwise rotation is positive when seen from the coordinate vector end, and the corresponding support leg with the highest coordinate is different according to different combinations of the positive and negative inclination angles of the X axis and the Y axis, so that the following can be obtained:
(1) When alpha is 0 ＜0，β 0 At > 0, leg 1 is highest, at which point e 1 ＝0，e 2 ＝-α 0 L a ，e 3 ＝-α 0 L a +β 0 L b ，e 4 ＝β 0 L b ；
(2) When alpha is 0 ＞0，β 0 At > 0, leg 2 is highest, at which point e 1 ＝α 0 L a ，e 2 ＝0，e 3 ＝β 0 L b ，e 4 ＝α 0 L a +β 0 L b ；
(3) When alpha is 0 ＜0，β 0 At > 0, leg 3 is highest, at which point e 1 ＝α 0 L a -β 0 L b ，e 2 ＝-β 0 L b ，e 3 ＝0，e 4 ＝α 0 L a ；
(4) When alpha is 0 ＜0，β 0 At > 0, leg 4 is highest, at which point e 1 ＝-β 0 L b ，e 2 ＝-α 0 L a -β 0 L b ，e 3 ＝-α 0 L a ，e 4 ＝0；
From the four cases described above, it can be derived: each time leveling, the adjustment quantity of each supporting leg is 0, alpha 0 L a ||，||β 0 L b ||，||α 0 L a ||+||β 0 L b One of the four numerical values is distributed according to different high points, and the leveling process is iterated circularly until the levelness reaches the requirement;
s2, after a four-fulcrum leveling scheme is determined, a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation is constructed according to leveling theoretical error calculation:
s201, calculating the supporting leg bearing capacity of the vehicle-mounted platform in the initial leveling state;
the calculation process of the supporting leg bearing capacity in the step S201 comprises
S2011, when the vehicle-mounted platform is arranged to level, the axial force and the radial force of the two front support legs to the frame are respectively f 1y 、f 1x 、f 1z The method comprises the steps of carrying out a first treatment on the surface of the Shaft of two rear supporting legs to frameThe radial force and the directional force are f respectively 2y 、f 2x 、f 2z The method comprises the steps of carrying out a first treatment on the surface of the The pitch angle of the vehicle body is alpha, and the roll angle of the vehicle body is beta;
s2012, tracking balance between the gravity of the frame and the axial force of the supporting leg when the state of the vehicle body is changed by taking the plane of the frame as a reference, wherein the resultant force of the supporting leg in the axial direction is equal to the projection of the gravity of the frame and the load in the axial direction of the supporting leg, and when the vehicle body has a pitch angle and a roll angle, the stress balance equation is as follows:
f 1y +f 2y ＝mg cosαcosβ (11)
f 1x +f 2x ＝mg sinα (12)
f 1z +f 2z ＝mg sinβ (13)
s2013, carrying out moment balance analysis by taking a connecting line of the two front supporting legs as a rotating shaft, wherein a moment balance equation is as follows:
[m 1 g(l-l 1 )+m 2 g(l-l 2 )]cosαcosβ＝f 2y l (14)
and (3) taking the connecting line of the two rear supporting legs as a rotating shaft, performing moment balance analysis, wherein a moment balance equation is as follows:
[m 1 gl 1 +m 2 gl 2 ]cosαcosβ＝f 1y l (15)
calculated according to formulas (11) - (15): f (f) 1y And f 2y According to the average stress calculation of the two legs, the front supporting leg single-leg bearing and the rear supporting leg single-leg bearing can be obtained;
s202, establishing an electric cylinder deformation error model;
the process for establishing the deformation error model of the electric cylinder in the step S202 includes:
s2021 is arranged when the electric cylinder is used as a leveling executing mechanism of the vehicle-mounted platform, and the curvature and the angle are equal
The method comprises the following steps: Σρ=ρ 11 +ρ 12 +ρ 21 +ρ 22 (7)
In formula (7):
s2022, the principal curvature function is as follows:
s2023, the total deformation of the supporting legs is as follows:
wherein R is the radius of an arc at the contact point of the roller and the center screw; r is R 1 The radius of the thread raceway of the center screw rod; d, d 1 Radius from the contact point to the center lead screw; d, d 2 Radius from the contact point to the roller axis; θ is the contact angle of the screw rod with the roller, the nut with the roller; lambda is the lead angle of the roller; e (E) 1 And E is connected with 2 The elastic modulus of the roller and the screw rod; mu (mu) 1 And mu 2 The Poisson ratio of the roller to the screw rod; f (F) 0 The axial force is given, and n is the number of rollers;according to the value of F (ρ), table look-up is carried out;
s203, constructing a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation by utilizing an adaptive fuzzy PID control algorithm based on interference compensation according to the electric cylinder deformation error model;
the process of constructing the vehicle platform leveling interference model based on mechanical deformation interference compensation by using the adaptive fuzzy PID control algorithm based on interference compensation in the step S203 comprises
S2031, calculating an initial error of the deformation of the support leg according to a formula (9), and compensating an input error e of the fuzzy controller;
s2032, deriving the error e, and calculating the error change rate e c Calculating the output DeltaK of the fuzzy controller p 、ΔK I And delta K D ；
The delta K p 、ΔK I And delta K D Representing the ratio, derivative, integral, respectively, of the change in errorA variation amount;
s2033, updating e and e by the fuzzy controller in operation c Then at e and e c After updating, ΔK is adjusted according to Table 1 p 、ΔK I And delta K D Realizing the online self-tuning of PID parameters, and obtaining a vehicle-mounted platform leveling interference model based on mechanical deformation interference compensation;
table 1: ΔK p 、ΔK I And DeltaK D Fuzzy rule table
Wherein, the input and output language variables e, e of the fuzzy controller c 、ΔK p 、ΔK I 、ΔK D The fuzzy domains of (a) are [ -6,6]The fuzzy subset is [ NB, NM, NS, ZO, PS, PM, PB ]]Each fuzzy subset adopts a Gaussian membership function, and the inverse blurring of the output quantity adopts a gravity center method;
s3, a rapid leveling control system is established according to the four-fulcrum leveling model and the vehicle-mounted platform leveling interference model to control the vehicle-mounted platform to perform rapid leveling;
the process for establishing the rapid leveling control system in step S3 comprises
S301, building a system block diagram in a simulink according to a four-pivot leveling model and a vehicle-mounted platform leveling interference model, finishing editing of a FIS file according to a fuzzy controller control rule and a fuzzy solving method, and determining initial parameters K of a fuzzy PID controller by adopting a trial-and-error method p 、K I And K D Building a simulation model of the self-adaptive fuzzy PID controller;
s302, under an AMESim environment, selecting corresponding models from a model library for connection, and establishing a joint simulation model under a MATLAB/Simulink environment;
leveling is performed by using a four-fulcrum leveling model, and leveling is performed by using a three-point height-by-height method.
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