公开(公告)号：US12097737B2

公开(公告)日：2024-09-24

申请号：US17208034

申请日：2021-03-22

申请人： Shandong University of Technology

发明人： Fan Zhang ,  Wentao Yang ,  Xianyue Gang ,  Huiheng Wang ,  Jixing Wu ,  Aibing Liu ,  Chunyi Lv

IPC分类号： G05B19/404 ,  B60G17/016 ,  B60G17/018

CPC分类号： B60G17/018 ,  B60G17/016 ,  G05B19/404 ,  B60G2400/051 ,  B60G2400/61

摘要： 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.

公开(公告)号：US20220227195A1

公开(公告)日：2022-07-21

申请号：US17208034

申请日：2021-03-22

申请人： Shandong University of Technology

发明人： Fan Zhang ,  Wentao Yang ,  Xianyue Gang ,  Huiheng Wang ,  Jixing Wu ,  Aibing Liu ,  Chunyi Lv

IPC分类号： B60G17/018 ,  B60G17/016

摘要： 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.