机电式支承平台自动调平控制系统设计  

Design of automatic leveling control system for electromechanical support platform

作　　者：吴海志 朱少杰 张帆[1] 刚宪约[1] 吕春毅 刘爱冰 WU Haizhi;ZHU Shaojie;ZHANG Fan;GANG Xianyue;LYU Chunyi;LIU Aibing(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255049,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255049

出　　处：《山东理工大学学报（自然科学版）》2021年第4期29-35,共7页Journal of Shandong University of Technology:Natural Science Edition

基　　金：国家自然科学基金项目(51705298)。

摘　　要：对位置误差控制法和角度误差控制法进行对比计算分析,并利用ABAQUS软件进行多点调平与单点调平的数值仿真,最终确定中心点不动-多点调平法作为系统的调平方法。设计基于STM32的机电式自动调平系统,通过控制不同支腿伺服电机转速实现多点调平,避免支腿因分步调整产生的相互耦合,并结合传感器技术解决虚腿问题,最后根据设计方案搭建了实验平台,证明了调平方法及控制系统的可行性。This paper compared,calculated and analyzed two leveling control methods of displacement error control method and decline angle error control method,and used ABAQUS software to conduct numerical simulations of multi-point leveling and single-point leveling,and determined multi-point leveling method with the center point fixed as the final leveling method for this system.As a design of a electromechanical automatic leveling system based on STM32,it can achieve multi-point leveling by controlling the speed of servo motors of different supporting legs,and avoided the mutual coupling between the supporting legs which results from asychronous adjustment.In addition,it combined the sensor technology to handle the problem of virtual landing legs.Finally an experimental platform was built according to the design,and a leveling test was conducted to prove the feasibility of the leveling method and control system.

关 键 词：支撑平台 多点调平 自动调平系统 传感器技术 

分 类 号：U463.92[机械工程—车辆工程]