阅读说明：本技术 一种智能实时调平装置及其控制方法 (Intelligent real-time leveling device and control method thereof ) 是由 李唐 王立慧 徐曼 马定奎 桑锐 于 2021-09-08 设计创作，主要内容包括：本发明公开了一种智能实时调平装置及其控制方法,包括底座和位于底座上方的横摇机构、纵摇机构、负载安装平台。底座内安装有控制装置,横摇机构包括安装于壳体顶端且与壳体一体式铸造的横摇支架、位于横摇支架的外侧且与横摇支架贯通的横摇轴套筒以及位于横摇轴套筒内的横摇组件,纵摇机构包括安装于壳体上方的纵摇支架、位于纵摇支架外侧且与纵摇支架贯通的纵摇轴套筒以及位于纵摇轴套筒内的纵摇组件。通过横摇编码器和纵摇编码器将采集到的倾斜角度分别传输到控制器,控制器分别控制横摇伺服电机和纵摇伺服电机运转,使整体横摇组件所在的横摇轴和整体纵摇组所在的纵摇轴达到指定位置,从而带动纵摇支架运动,最终实现负载安装平台的调平。(The invention discloses an intelligent real-time leveling device and a control method thereof. Install controlling means in the base, roll the mechanism including install in the casing top and with casing integral type cast roll support, be located the outside of roll support and with roll the roll shaft sleeve that the support link up and be located the roll subassembly in the roll shaft sleeve, pitch the mechanism including install in the casing top pitch the support, be located the pitch support outside and with the pitch the support link up pitch the shaft sleeve and be located the pitch subassembly in the roll shaft sleeve. The controller is respectively transmitted to the acquired inclination angles through the rolling encoder and the pitching encoder, and the controller respectively controls the rolling servo motor and the pitching servo motor to operate, so that a rolling shaft where the whole rolling assembly is located and a pitching shaft where the whole pitching assembly is located reach specified positions, the pitching support is driven to move, and finally the leveling of the load mounting platform is realized.)

1. An intelligent real-time leveling device, comprising:

the base (100) comprises a shell (110), a power socket (120) and a communication socket (130) which are respectively arranged on the outer end face of the shell (110), and a controller (140), a motor driving unit (150), an inclinometer (160) and a stabilized voltage power supply (170) which are arranged in the shell (110), wherein the controller (140), the motor driving unit (150) and the power socket (120) are respectively and electrically connected with the stabilized voltage power supply (170);

the rolling mechanism (200) comprises a rolling support (210) which is arranged at the top end of the shell (110) and is integrally cast with the shell (110), a rolling shaft sleeve (220) which is positioned at the outer side of the rolling support (210) and is communicated with the rolling support (210), and a rolling component (230) which is positioned in the rolling shaft sleeve (220), the rolling component (230) comprises a rolling encoder (230-1), a rolling servo motor (230-2) and a rolling speed reducer (230-3) which are sequentially connected from outside to inside, the rolling servo motor (230-2) is a double-shaft extension motor, one output shaft is connected with a rolling encoder (230-1), the other output shaft is connected with the input end of a rolling speed reducer (230-3), a rolling output shaft (230-3a) of the rolling speed reducer (230-3) extends inwards into the inner hollow cavity of the rolling support (210);

the pitching mechanism (300) comprises a pitching support (310) arranged above a shell (110), a pitching shaft sleeve (320) located on the outer side of the pitching support (310) and communicated with the pitching support (310), and a pitching assembly (330) located in the pitching shaft sleeve (320), wherein the pitching support (310) comprises a first connecting part (310-1) arranged in parallel with the pitching support (210) and a second connecting part (310-2) vertically arranged at one end of the first connecting part (310-1), the pitching assembly (330) comprises a pitching encoder (330-1), a pitching servo motor (330-2) and a pitching speed reducer (330-3) which are sequentially connected from outside to inside, the pitching servo motor (330-2) is a double-shaft extension motor, one output shaft is fixedly connected with the pitching encoder (330-1), the other output shaft is fixedly connected with the input end of the pitching speed reducer (330-3), and the pitching output shaft of the pitching speed reducer (330-3) extends inwards into the inner hollow cavity of the second connecting part (210-2);

the rolling mechanism (200) further comprises a rolling connecting shaft (240) which is arranged on the outer wall of one end, close to the rolling support (210), of the first connecting part (310-1), and the other end of the rolling connecting shaft (240) penetrates through the outer wall of the rolling support (210) and is connected with a rolling output shaft (230-3a) of a rolling speed reducer (230-3);

the load mounting platform (400) is positioned above the shell (110), the outer wall of the inner side of the second connecting part (310-2) is provided with a first mounting hole (410), and the load mounting platform (400) is connected with the second connecting part (310-2) and the first connecting part (310-1) is connected with the rolling bracket (210) through flanges;

the pitching mechanism (300) further comprises a pitching connecting shaft arranged on the outer wall of one end, close to the second connecting part (310-2), of the load mounting platform (400), and the other end of the pitching connecting shaft penetrates through the outer wall of the second connecting part (310-2) and is connected with a pitching output shaft of a pitching speed reducer (330-3);

the roll encoder (230-1), the pitch encoder (330-1), the inclinometer (160) and the communication socket (130) are respectively connected with the input end of the controller (140) through leads, and the roll servo motor (230-2) and the pitch servo motor (330-2) are respectively connected with the output end of the controller (140) through leads.

2. The intelligent real-time leveling device according to claim 1, further comprising a mechanical limiting mechanism (500), wherein the mechanical limiting mechanism (500) comprises:

the rolling limiting assembly (510) is positioned between the rolling support (210) and the pitching support (310) and comprises a first limiting rod (510-1) arranged on the outer wall of the first connecting part (210-1) and two first limiting blocks (510-2) symmetrically arranged on the outer wall of the rolling support (210);

when the rolling component (230) drives the pitching support (310) to move, the first limiting rod (510-1) swings between the two first limiting blocks (510-2);

the pitching limiting assembly (520) is positioned between the pitching support (310) and the load mounting platform (400) and comprises a second limiting rod (520-1) mounted on the outer side wall of the load mounting platform (400) and two second limiting blocks (520-2) symmetrically arranged on the outer wall of the second connecting part (210-2);

when the pitching assembly (330) drives the load mounting platform (400) to move, the second limiting rod (520-1) is enabled to swing between the two second limiting blocks (520-2).

3. The intelligent real-time leveling device according to claim 1, wherein: the controller (140) comprises an FPGA chip and a DSP chip which are mutually connected, the rolling encoder (230-1), the pitching encoder (330-1) and the inclinometer (160) are connected with the input end of the FPGA chip through serial port chips, and the rolling servo motor (230-2) and the pitching servo motor (330-2) are respectively connected with the output end of the DSP chip through a rolling motor driving unit and a pitching motor driving unit.

4. The intelligent real-time leveling device according to claim 1, wherein: a first bearing assembly is connected between the first connecting part (310-1) and the rolling bracket (210), the first bearing assembly comprises a first bearing inner ring (610) connected with a shaft shoulder of the rolling connecting shaft (240), a first bearing outer ring connected with the outer wall of the rolling bracket (210) through a first bearing bushing (620), a first bearing inner ring pressing plate (630) positioned on a rolling output shaft (230-3a) of the rolling speed reducer (230-3) through the shaft shoulder of the rolling connecting shaft (240) and a first bearing outer ring pressing plate (640) connected with the outer wall of the rolling bracket (210);

and a second bearing assembly is connected between the second connecting part (310-2) and the load mounting platform (400), and comprises a second bearing inner ring connected with a shaft shoulder of the pitching connecting shaft, a second bearing outer ring connected with the outer wall of the second connecting part (310-2) through a second bearing bushing, a second bearing inner ring pressure plate positioned on a pitching output shaft of the pitching speed reducer (330-3) through the shaft shoulder of the pitching connecting shaft, and a second bearing outer ring pressure plate connected with the outer wall of the second connecting part (310-2).

5. The intelligent real-time leveling device according to claim 1, wherein: the inside all transversely aligns of both ends is provided with the guide rail about casing (110), sliding connection has device mounting panel (180) on the guide rail, controller (140) and inclinometer (160) are installed on device mounting panel (180).

6. The intelligent real-time leveling device according to claim 1, wherein: two ends of the outer wall of the bottom of the shell (110) extend outwards horizontally to form an installation fixing plate (110-1), and a second installation hole (110-1a) penetrating to the bottom end of the installation fixing plate (110-1) is formed in the top end of the installation fixing plate (110-1).

7. The intelligent real-time leveling device according to claim 1, wherein: the outer surfaces of the shell (110), the rolling support (210), the rolling shaft sleeve (220), the pitching support (310) and the pitching shaft sleeve (320) are all sprayed with anti-corrosion coatings.

8. The intelligent real-time leveling device according to claim 1, wherein: the roll encoder (230-1) and the pitch encoder (330-1) are both absolute rotary encoders.

9. The control method of the intelligent real-time leveling device according to any one of claims 1 to 8, characterized by comprising the following steps:

1) instruction acceptance: the controller (140) receives the upper computer instruction through the RS422 serial port or the network port;

2) data acquisition: ship rolling angle and speed data collected by the rolling encoder (230-1), the pitching encoder (330-1) and the inclinometer (160) are transmitted to the controller (140);

3) the algorithm is realized as follows: the controller (140) performs algorithm control on the rolling servo motor (230-2) and the pitching servo motor (330-2) according to the received target angle, the current angle and the speed;

4) driving a motor: the controller (140) respectively controls the rolling motor driving unit and the pitching motor driving unit so as to control the rolling servo motor (230-2) and the pitching servo motor (330-2), the controller (140) completes position loop closed-loop control of the rolling servo motor (230-2) and the pitching servo motor (330-2), and the motor driving unit (150) completes speed loop and current loop closed-loop control so as to realize leveling of the load mounting platform (400);

5) full-automatic monitoring: the upper computer software is remotely controlled by accessing a communication socket (130), and displays the leveling state in real time through a state monitoring function.

10. The control method of the intelligent real-time leveling device according to claim 9, characterized in that: the algorithm control in the step 3) is composite PI algorithm control, and the method comprises the following steps:

1) determining a servo system schematic block diagram according to the working principle of the leveling device;

2) designing composite control;

the composite PI algorithm control is a composite control strategy based on the combination of feedforward compensation and PI,

2-1) solving the feedforward output signal u_f(s) is a group of,

in the formula, y_d(s) is the target angle signal, and g(s) is the transfer function;

2-2) obtaining the total control output u(s) of the feedforward compensation controller as,

u(s)＝u_p(s)+u_f(s) (2)

in the formula u_p(s) is PID control output, u_f(s) is the feedforward control output;

2-3) writing the total control output u(s) of the controller into a discrete form u (k),

u(k)＝u_p(k)+u_f(k) (3)

in the formula u_p(k) For the output of the PI controller, u_f(k) Is a feed control output;

2-4) comparing the target angle r (k) with the current angle y (k) to obtain a difference e (k) between the target angle and the current angle, and performing PI operation on the difference e (k) to obtain an output u of the PI controller_p(k) And the current ship rolling speed v (k) measured by an inclinometer is added to be used as an input signal of the motor driving unit (150), and the motor driving unit (150) finishes the control of a speed loop and a current loop of servo control and then drives the rolling servo motor (230-2) and the pitching servo motor (330-2) to act.

Technical Field

The invention relates to the technical field of leveling devices, in particular to an intelligent real-time leveling device and a control method thereof.

Background

During the running process of the ship, the vehicle and the airplane, a large amount of rolling can be generated, for example, in rivers and seas, the ship is influenced by wind and waves, and the large amount of rolling can be generated, which has a great influence on the measurement accuracy of the measurement equipment on the ship, the vehicle or the airplane. Therefore, when the precise measurement is carried out, the shaking needs to be isolated, so that the adverse effect of the shaking on the measurement precision of the testing equipment is reduced. In order to solve the influence, an intelligent real-time leveling device is needed, and the leveling device can automatically adjust balance in real time according to the swing amplitude and the swing speed, so that a real-time horizontal platform is provided for measuring equipment or instruments, and the adverse influence of the swing on the equipment and the instruments is isolated. Meanwhile, the existing product is easy to be corroded and interfered by salt mist, so that the precision and the reliability of the measuring equipment are reduced. In order to make up for the defects of the traditional device and improve the precision and the reliability, the technical problems of interference, salt spray corrosion and the like must be solved.

Disclosure of Invention

In order to solve the above problems in the prior art, an object of the present invention is to provide an intelligent real-time leveling device and a control method thereof, which can automatically adjust the balance in real time according to the swing amplitude and speed, and provide a real-time horizontal platform for an equipment instrument, thereby isolating the adverse effect of the swing on the equipment instrument.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an intelligent real-time leveling device, comprising:

the base comprises a shell, a power socket and a communication socket which are respectively arranged on the outer side end face of the shell, and a controller, a motor driving unit, an inclinometer and a stabilized voltage power supply which are arranged in the shell, wherein the controller, the motor driving unit and the power socket are respectively electrically connected with the stabilized voltage power supply;

the rolling mechanism comprises a rolling support, a rolling shaft sleeve and a rolling component, wherein the rolling support is installed at the top end of the shell and integrally cast with the shell, the rolling shaft sleeve is positioned on the outer side of the rolling support and is communicated with the rolling support, the rolling component is positioned in the rolling shaft sleeve and comprises a rolling encoder, a rolling servo motor and a rolling speed reducer which are sequentially connected from outside to inside, the rolling servo motor is a double-shaft extension motor, one output shaft of the rolling servo motor is connected with the rolling encoder, the other output shaft of the rolling servo motor is connected with the input end of the rolling speed reducer, and the rolling output shaft of the rolling speed reducer axially extends into an inner cavity of the rolling support;

the pitching mechanism comprises a pitching support arranged above the shell, a pitching shaft sleeve which is positioned outside the pitching support and is communicated with the pitching support, and a pitching assembly positioned in the pitching shaft sleeve, wherein the pitching support comprises a first connecting part which is parallel to the pitching support and a second connecting part which is perpendicular to one end part of the first connecting part, the pitching assembly comprises a pitching encoder, a pitching servo motor and a pitching speed reducer which are sequentially connected from outside to inside, the pitching servo motor is a double-shaft extension motor, one output shaft is fixedly connected with the pitching encoder, the other output shaft is fixedly connected with the input end of the pitching speed reducer, and the pitching output shaft of the pitching speed reducer axially extends into a hollow cavity of the second connecting part;

the rolling mechanism also comprises a rolling connecting shaft arranged on the outer wall of one end of the first connecting part, which is close to the rolling support, and the other end of the rolling connecting shaft penetrates through the outer wall of the rolling support and is connected with a rolling output shaft of the rolling speed reducer;

the load mounting platform is positioned above the shell and on the inner side outer wall of the second connecting part, a first mounting hole is formed in the top end of the load mounting platform, and the load mounting platform and the second connecting part as well as the first connecting part and the rolling bracket are connected through flanges;

the pitching mechanism also comprises a pitching connecting shaft arranged on the outer wall of one end, close to the second connecting part, of the load mounting platform, and the other end of the pitching connecting shaft penetrates through the outer wall of the second connecting part and is connected with a pitching output shaft of the pitching speed reducer;

the controller comprises a controller, a rolling encoder, a pitching encoder, an inclinometer and a communication socket, wherein the rolling encoder, the pitching encoder, the inclinometer and the communication socket are connected with the input end of the controller through wires respectively, and the rolling servo motor and the pitching servo motor are connected with the output end of the controller through wires respectively.

As a further improvement of the present invention, the present invention further comprises a mechanical limiting mechanism, wherein the mechanical limiting mechanism comprises:

the rolling limiting assembly is positioned between the rolling support and the pitching support and comprises a first limiting rod arranged on the outer wall of the first connecting part and two first limiting blocks symmetrically arranged on the outer wall of the rolling support;

when the rolling component drives the pitching support to move, the first limiting rods swing between the two first limiting blocks;

the pitching limiting assembly is positioned between the pitching support and the load mounting platform and comprises a second limiting rod mounted on the outer side wall of the load mounting platform and two second limiting blocks symmetrically arranged on the outer wall of the second connecting part;

when the pitching assembly drives the load mounting platform to move, the second limiting rod swings between the two second limiting blocks.

As a further improvement of the present invention, the controller includes an FPGA chip and a DSP chip which are mutually connected, the roll encoder, the pitch encoder, and the inclinometer are all connected to an input terminal of the FPGA chip through a serial port chip, and the roll servo motor and the pitch servo motor are connected to an output terminal of the DSP chip through a roll motor driving unit and a pitch motor driving unit, respectively.

As a further improvement of the present invention, a first bearing assembly is connected between the first connecting portion and the roll bracket, the first bearing assembly includes a first bearing inner ring connected to a shaft shoulder of the roll connecting shaft, a first bearing outer ring connected to an outer wall of the roll bracket through a first bearing bushing, a first bearing inner ring pressing plate positioned to a roll output shaft of the roll reducer through the shaft shoulder of the roll connecting shaft, and a first bearing outer ring pressing plate connected to the outer wall of the roll bracket;

and a second bearing assembly is connected between the second connecting part and the load mounting platform, and comprises a second bearing inner ring connected with a shaft shoulder of the pitching connecting shaft, a second bearing outer ring connected with the outer wall of the second connecting part through a second bearing bushing, a second bearing inner ring pressing plate positioned on a pitching output shaft of the pitching speed reducer through the shaft shoulder of the pitching connecting shaft and a second bearing outer ring pressing plate connected with the outer wall of the second connecting part.

As a further improvement of the invention, guide rails are transversely arranged inside the left end and the right end of the shell in an aligned mode, a device mounting plate is connected onto the guide rails in a sliding mode, and the controller and the inclinometer are mounted on the device mounting plate.

As a further improvement of the invention, two ends of the outer wall of the bottom of the shell extend outwards horizontally to form a mounting and fixing plate, and the top end of the mounting and fixing plate is provided with a second mounting hole penetrating to the bottom end of the mounting and fixing plate.

As a further improvement of the invention, the outer surfaces of the shell, the roll support, the roll shaft sleeve and the pitch shaft sleeve) and the pitch shaft sleeve are sprayed with anti-corrosion coatings.

As a further improvement of the present invention, the roll encoder and the pitch encoder are both absolute rotary encoders.

A control method of an intelligent real-time leveling device comprises the following steps:

1) instruction acceptance: the controller receives the instruction of the upper computer through the RS422 serial port or the network port;

2) data acquisition: ship rolling angle and speed data collected by the rolling encoder, the pitching encoder and the inclinometer are transmitted to the controller;

3) the algorithm is realized as follows: the controller performs algorithm control on the rolling servo motor and the pitching servo motor according to the received target angle, the current angle and the speed;

4) driving a motor: the controller respectively controls the rolling motor driving unit and the pitching motor driving unit so as to control the rolling servo motor and the pitching servo motor, the controller completes position loop closed-loop control of the rolling servo motor and the pitching servo motor, and the motor driving unit completes speed loop and current loop closed-loop control so as to realize leveling of the load mounting platform;

5) full-automatic monitoring: the upper computer software is connected with the communication socket for remote control, and displays the leveling state in real time through the state monitoring function.

As a further improvement of the present invention, the algorithm control in step 3) is a composite PI algorithm control, which specifically includes the following steps:

1) determining a servo system schematic block diagram according to the working principle of the leveling device;

2) designing composite control;

the composite PI algorithm control is a composite control strategy based on the combination of feedforward compensation and PI,

2-1) solving the feedforward output signal u_f(s) is a group of,

in the formula, y_d(s) is the target angle signal, and g(s) is the transfer function;

2-2) obtaining the total control output u(s) of the feedforward compensation controller as,

u(s)＝u_p(s)+u_f(s) (2)

in the formula u_p(s) is PID control output, u_f(s) is the feedforward control output;

2-3) writing the total control output u(s) of the controller into a discrete form u (k),

u(k)＝u_p(k)+u_f(k) (3)

in the formula u_p(k) For the output of the PI controller, u_f(k) Is a feed control output;

2-4) comparing the target angle r (k) with the current angle y (k) to obtain a difference e (k) between the target angle and the current angle, and performing PI operation on the difference e (k) to obtain an output u of the PI controller_p(k) And adding the current ship rolling speed v (k) measured by an inclinometer as an input signal of a servo motor driving unit, and controlling a rolling servo motor and a pitching servo motor to move after a servo control speed loop and a servo control current loop are completed by the servo motor driving unit.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the intelligent real-time leveling device, the collected inclination angles are respectively transmitted to the controller through the roll encoder and the pitch encoder, and the controller respectively drives the roll motor driving unit and the pitch motor driving unit to control the roll servo motor and the pitch servo motor to operate, so that a roll shaft where an integral roll component is located and a pitch shaft where an integral pitch component is located reach specified positions, a pitch support is driven to move, and finally leveling of a load mounting platform is achieved without external shaking interference.

2. According to the intelligent real-time leveling device, the rolling support and the base are designed into a right-angle frame connection mode formed by integral casting, the device has the advantages of good sealing performance, shock resistance, salt mist corrosion resistance and high reliability, and is suitable for being used in severe environments.

3. The invention discloses a control method of an intelligent real-time leveling device, and provides a composite control strategy based on the combination of feedforward compensation and PI, so that the average tracking error is reduced, the dynamic performance of a system is improved, and the control precision of the system is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the roll shaft sleeve and the pitch shaft sleeve of the present invention

FIG. 3 is a side view of the overall structure of the present invention;

FIG. 4 is a schematic view of the internal structure of the base of the present invention;

FIG. 5 is an enlarged view taken at A in FIG. 1 according to the present invention;

FIG. 6 is a cross-sectional view of the roll assembly attachment of the present invention;

FIG. 7 is an electrical control connection diagram of the present invention;

FIG. 8 is a diagram of a host computer debugging interface according to the present invention;

FIG. 9 is a block diagram of the servo system transfer scheme of the present invention;

FIG. 10 is a PID feed forward compensation control architecture of the present invention;

FIG. 11 is a schematic diagram of a feed forward PI of the present invention;

FIG. 12 shows the accuracy comparison between the feedforward PI algorithm and the conventional PI algorithm.

In the drawings:

100. a base; 110. a housing; 110-1, installing a fixing plate; 110-1a, a second mounting hole; 120. a power socket; 130. a communication socket; 140. a controller; 150. a motor drive unit; 160. an inclinometer; 170. a regulated power supply; 180. a device mounting plate;

200. a traversing mechanism; 210. a roll stand; 220. a roll shaft sleeve; 230. a roll assembly; 230-1, a roll encoder; 230-2, a roll servo motor; 230-3, a rolling speed reducer; 230-3a, a roll output shaft; 240. a rolling connecting shaft;

300. a pitching mechanism; 310. a pitching support; 310-1, a first connection; 310-2, a second connecting part; 320. a pitch shaft sleeve; 330. a pitch assembly; 330-1, a pitch encoder; 330-2, a pitch servo motor; 330-3, a pitch reducer;

400. a load mounting platform; 410. a first mounting hole;

500. a mechanical limiting mechanism; 510. a roll limit component; 510-1, a first limiting rod; 510-2, a first limiting block; 510-3, a first screw; 520. a pitch limit assembly; 520-1 and a second limiting rod; 520-2 and a second limiting block; 520-3, a second screw;

610. a first bearing inner race; 620. a first bearing bush; 630. a first bearing inner race pressure plate; 640. a first bearing outer ring pressure plate; 650. oil sealing; 660. and an end cover is arranged on the oil seal.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 to 8 are schematic structural diagrams illustrating an embodiment of an intelligent real-time leveling device according to the present invention, and a main body of the intelligent real-time leveling device includes a base 100, a roll mechanism 200, a pitch mechanism 300, and a load mounting platform 400.

The base 100 is used to support the traversing mechanism 200, the pitching mechanism 300 and the load mounting platform 400 as well as to position the control device. The base 100 comprises a housing 110, a power socket 120 and a communication socket 130 respectively arranged on the outer side end face of the housing 110, and a controller 140, a motor driving unit 150, an inclinometer 160 and a regulated power supply 170 arranged inside the housing 110, wherein the controller 140, the motor driving unit 150 and the power socket 120 are respectively electrically connected with the regulated power supply 170. The roll encoder 230-1, the pitch encoder 330-1, the inclinometer 160 and the communication socket 130 are respectively connected with the input end of the controller 140 through wires, and the roll servo motor 230-2 and the pitch servo motor 330-2 are respectively connected with the output end of the controller 140 through wires. Specifically, the controller 140 includes an FPGA chip and a DSP chip that are mutually connected, the roll encoder 230-1, the pitch encoder 330-1, and the inclinometer 160 are all connected to an input end of the FPGA chip through a serial port chip, and the roll servo motor 230-2 and the pitch servo motor 330-2 are respectively connected to an output end of the DSP chip through a roll motor driving unit and a pitch motor driving unit. The control part adopts an embedded technology, is uniformly distributed in the shell 110, and selects DSP + FPGA as a main controller. The DSP chip respectively controls the rolling motor driving unit and the pitching motor driving unit through a CAN bus, and the FPGA chip is used for collecting the ship rolling angle data of the rolling encoder 230-1, the pitching encoder 330-1 and the inclinometer 160. The motor driving unit 150 includes a roll motor driving unit and a pitch motor driving unit, and the controller 140 controls the operation of the roll servo motor 230-2 and the pitch servo motor 330-2 by driving the roll motor driving unit and the pitch motor driving unit, respectively.

The rolling mechanism 200 comprises a rolling support 210 which is installed at the top end of the shell 110 and integrally cast with the shell 110, a rolling shaft sleeve 220 which is positioned at the outer side of the rolling support 210 and is communicated with the rolling support 210, and a rolling component 230 which is positioned in the rolling shaft sleeve 220, wherein the rolling component 230 comprises a rolling encoder 230-1, a rolling servo motor 230-2 and a rolling speed reducer 230-3 which are sequentially connected from outside to inside, the rolling servo motor 230-2 is a double-shaft extension motor, one output shaft of the rolling servo motor is connected with the rolling encoder 230-1, the other output shaft of the rolling servo motor is connected with the input end of the rolling speed reducer 230-3, and a rolling output shaft 230-3a of the rolling speed reducer 230-3 extends inwards into a hollow cavity of the rolling support 210; the roll mechanism 200 further comprises a roll connecting shaft 240 mounted on an outer wall of one end of the first connecting portion 310-1 close to the roll bracket 210, and the other end of the roll connecting shaft 240 penetrates through the outer wall of the roll bracket 210 and is connected with a roll output shaft 230-3a of the roll reducer 230-3. The roll support 210 and the shell 110 are designed into a right-angle frame connection form formed by integral casting, and the whole body is in an inverted L shape, and has good sealing performance, shock resistance and salt mist resistance. When the device is used, after the roll servo motor 230-2 is started, power is output to the roll speed reducer 230-3, and the roll output shaft 230-3a of the roll speed reducer 230-3 drives the pitch support 310 to move through the roll connecting shaft 240, so that the leveling of the load mounting platform 400 connected with the pitch support 310 is driven.

The pitching mechanism 300 comprises a pitching support 310 arranged above the shell 110, a pitching shaft sleeve 320 located outside the pitching support 310 and communicated with the pitching support 310, and a pitching assembly 330 located in the pitching shaft sleeve 320, wherein the pitching support 310 comprises a first connecting part 310-1 arranged in parallel with the pitching support 210 and a second connecting part 310-2 arranged perpendicular to one end of the first connecting part 310-1, the pitching assembly 330 comprises a pitching encoder 330-1, a pitching servo motor 330-2 and a pitching speed reducer 330-3 which are sequentially connected from outside to inside, the pitching servo motor 330-2 is a double-shaft extension motor, one output shaft of the double-shaft extension motor is fixedly connected with the pitching encoder 330-1, the other output shaft of the double-shaft extension motor is fixedly connected with the input end of the pitching speed reducer 330-3, and the pitching output shaft of the pitching speed reducer 330-3 axially extends into the inner cavity of the second connecting part 210-2; the pitching mechanism 300 further comprises a pitching connecting shaft mounted on the outer wall of the end, close to the second connecting portion 310-2, of the load mounting platform 400, and the other end of the pitching connecting shaft penetrates through the outer wall of the second connecting portion 310-2 and is connected with a pitching output shaft of the pitching speed reducer 330-3. When the device is used, after the pitch servo motor 330-2 is started, power is output to the pitch reducer 330-3, and a pitch output shaft of the pitch reducer 330-3 drives the leveling of the load mounting platform 400 connected with the pitch support 310 through a pitch connecting shaft.

The load mounting platform 400 is used for mounting external load devices such as a radio frequency antenna, is located above the housing 110, is located on the inner outer wall of the second connecting portion 310-2, and has a first mounting hole 410 at the top end thereof, and the load mounting platform 400 and the second connecting portion 310-2, and the first connecting portion 310-1 and the roll bracket 210 are connected by flanges. The roll support 210 and the pitch support 310 are detachably connected through flanges, and in addition, corresponding first mounting holes 410 may be formed in the load mounting platform 400 according to the size of an external device, and the load mounting platform 400 is only a schematic mounting platform and does not represent a specific load device.

Preferably, in the present embodiment, as shown in fig. 1, 3, and 5, the present invention further includes a mechanical limiting mechanism 500, and the mechanical limiting mechanism 500 includes a roll limiting assembly 510 and a pitch limiting assembly 520. Wherein the adjustable rolling angle of the mechanical limit is-35 to +35 degrees, the adjustable pitching angle is-15 to +15 degrees, and the swinging period is 1S to 10S. The roll limiting assembly 510 is used for further controlling the movement range of the whole roll assembly 230, is located between the roll bracket 210 and the pitch bracket 310, and comprises a first limiting rod 510-1 installed on the outer wall of the first connecting portion 210-1 and two first limiting blocks 510-2 symmetrically arranged on the outer wall of the roll bracket 210. The first limit rod 510-1 is installed on the outer wall of the first connecting portion 210-1 through a screw, and the two first limit blocks 510-2 and the rolling support 210 are integrated through casting, so that the first limit rod 510-1 is convenient to replace. When the rolling assembly 230 drives the pitching support 310 to move, the first limiting rod 510-1 swings between the two first limiting blocks 510-2. The pitching limiting assembly 520 is used for further controlling the movement range of the whole pitching assembly 330, is located between the pitching support 310 and the load mounting platform 400, and comprises a second limiting rod 520-1 mounted on the outer wall of the load mounting platform 400 and two second limiting blocks 520-2 symmetrically arranged on the outer side wall of the second connecting portion 210-2. The second stopper 520-1 is installed on the outer sidewall of the load mounting platform 400 by screws, so that the second stopper 520-1 is easily replaced. When the pitching assembly 330 drives the load-mounting platform 400 to move, the second limiting rod 520-1 swings between the two second limiting blocks 520-2.

Preferably, in the present embodiment, as shown in fig. 6, a first bearing assembly is connected between the first connection portion 310-1 and the roll bracket 210, and the first bearing assembly includes a first bearing inner race 610 connected to a shoulder of the roll connecting shaft 240, a first bearing outer race connected to an outer wall of the roll bracket 210 through a first bearing bushing 620, a first bearing inner race presser plate 630 positioned to the roll output shaft 230-3a of the roll reducer 230-3 through the shoulder of the roll connecting shaft 240, and a first bearing outer race presser plate 640 connected to an outer wall of the roll bracket 210. A second bearing assembly is connected between the second connecting portion 310-2 and the load mounting platform 400, and the second bearing assembly comprises a second bearing inner ring connected with a shaft shoulder of the pitching connecting shaft, a second bearing outer ring connected with the outer wall of the second connecting portion 310-2 through a second bearing bushing, a second bearing inner ring pressing plate positioned on the pitching output shaft of the pitching speed reducer 330-3 through the shaft shoulder of the pitching connecting shaft, and a second bearing outer ring pressing plate connected with the outer wall of the second connecting portion 310-2. When the load mounting platform is used, the rolling output shaft 230-3a of the rolling speed reducer 230-3 drives the pitching support 310 to move through the rolling connecting shaft 240, and the pitching output shaft of the rolling speed reducer 330-3 drives the load mounting platform 400 to move through the pitching connecting shaft, so that the load mounting platform is more stable.

Preferably, in the present embodiment, as shown in fig. 4, guide rails are arranged inside both left and right ends of the housing 110 in a lateral alignment, the device mounting plate 180 is slidably connected to the guide rails, and the controller 140 and the inclinometer 160 are mounted on the device mounting plate 180. The guide rail is arranged in the base, and the device mounting plate 180 can be conveniently drawn out, is independent and flexible and is convenient to maintain.

Preferably, in the present embodiment, as shown in fig. 1 to 4, two ends of the outer wall of the bottom of the housing 110 extend horizontally outward to form a mounting and fixing plate 110-1, and a top end of the mounting and fixing plate 110-1 is provided with a second mounting hole 110-1a penetrating to a bottom end of the mounting and fixing plate 110-1. When the device is used, the second mounting hole 110-1a on the mounting and fixing plate 110-1 can be inserted into a bolt for fixing, so that the stability of the whole device is further improved.

In the present embodiment, the outer surfaces of the housing 110, the roll holder 210, the roll shaft sleeve 220, the pitch holder 310, and the pitch shaft sleeve 320 are preferably coated with an anti-corrosion coating to prevent salt spray corrosion, and thus are suitable for use in a severe environment.

In the present embodiment, the roll encoder 230-1 and the pitch encoder 330-1 are preferably absolute rotary encoders. The absolute rotary encoder is an angle measuring sensor, angle information is transmitted to the servo control panel through an SSI synchronous serial port, the mounting mode is simple and various, the data coding type is Gray codes, and meanwhile, the control panel is respectively communicated with the motor driving unit 150CAN, so that the stability and the anti-interference capability of the whole system are improved.

With reference to fig. 1 to 8, the intelligent real-time leveling device of the present embodiment has the following specific use principle: the base 100 is fixed on a ship, the load device is fixed at the top end of the load mounting platform 400, the collected inclination angles are respectively transmitted to the controller 140 through the roll encoder 230-1 and the pitch encoder 330-1, the controller 140 respectively controls the roll servo motor 230-2 and the pitch servo motor 330-2 to operate through driving the roll motor driving unit and the pitch motor driving unit, so that the roll shaft of the integral roll assembly 230 and the pitch shaft of the integral pitch assembly 330 reach the designated positions, the pitch support 310 is driven to move, and finally the leveling of the load mounting platform 400 is realized.

The intelligent real-time leveling device comprises two working modes: an auto-leveling mode and a positioning mode.

The specific operation process and principle are as follows: firstly, the leveling device is installed on a ship, the axis of the integral rolling component 230 is a rolling axis X, the axis of the integral pitching component 330 is a pitching axis Y, the ship rolling is parallel to the rolling axis X, the ship pitching is parallel to the pitching axis Y, then the production setting is carried out, the equipment is started, and the power supply is plugged into the power socket 120. The inclinometer 160 collects angle data and speed data, wherein the angle data is the roll angle and the pitch angle of the current ship, and the speed data is the roll speed and the pitch speed of the current ship. The roll shaft encoder 230-1 data is the current angle of the horizontal axis of the load mounting platform 400 and the vertical axis encoder number 330-1 data is the current angle of the vertical axis of the load mounting platform 400. Wherein the adjustable angle of the transverse rocking shaft is-30 degrees to +30 degrees, the adjustable angle of the longitudinal rocking shaft is-10 degrees to +10 degrees, and the rocking period is 1S-10S.

In the automatic leveling mode, taking the roll axis X as an example, when the upper computer issues a "leveling" command, the controller 140 takes the negative value of the roll angle of the inclinometer 130 as the target angle of the horizontal axis of the load mounting platform 400, and the controller 140 drives the roll servo motor 230-2 to move the load mounting platform 400 to the target angle by controlling the roll motor driving unit of the roll axis X, thereby ensuring the level of the load mounting platform 400. Wherein the roll encoder 230-1 is used as the current angle detecting element of the load mounting platform 400 to form a position loop closed-loop control with the target angle data of the inclinometer 130. The connection form of the pitch axis Y and the structure of the roll axis X are realized in the same manner, the controller 140 receives the data collected by the inclinometer 160, the roll encoder 230-1 and the pitch encoder 330-1 in real time, takes the negative value of the inclinometer 160 data as the target angle, takes the data of the roll encoder 230-1 and the pitch encoder 330-1 as the current angle, position loop control is performed according to the target angle and the current angle, and then the speed signal is sent to the motor driving unit 150, the motor driving unit 150 operates a speed loop and current loop control algorithm, so that the motor driving unit 150 drives the roll servo motor 230-2 and the pitch servo motor 330-2 to operate, thereby driving the roll shaft where the roll assembly 230 is located and the pitch shaft where the integral pitch assembly 330 is located to reach the designated positions, and realizing the real-time leveling of the load mounting platform.

In the positioning mode, the target angle is issued by the upper computer, the upper computer software is remotely controlled by accessing the communication socket 130, and the leveling state is displayed in real time through the state monitoring function. The controller 140 controls the motor driving unit 150 through the internal composite PI algorithm according to the data on the roll encoder 230-1, the pitch encoder 333-1 and the inclinometer 160, so that the roll servo motor 230-2 and the pitch servo motor 330-2 are controlled to drive the roll shaft where the roll assembly 230 is located and the pitch shaft where the integral pitch assembly 330 is located to reach the designated positions, and leveling of the load mounting platform is achieved.

A control method of an intelligent real-time leveling device comprises the following steps:

1) instruction acceptance: the controller 140 receives the upper computer instruction through the RS422 serial port or the network port;

2) data acquisition: the ship roll angle and speed data collected by the roll encoder 230-1, the pitch encoder 330-1 and the inclinometer 160 are transmitted to the FPGA chip in the controller 140 at high speed;

3) the algorithm is realized as follows: after the information interaction between the FPGA chip and the DSP chip, the controller 140 performs algorithm control on the positions of the roll servo motor 230-2 and the pitch servo motor 330-2 according to the received target angle, the current angle and the speed;

the algorithm control is specifically composite PI algorithm control, and comprises the following steps:

1) as shown in fig. 9, a schematic block diagram of a servo system is determined according to the working principle of the leveling device;

2) designing composite control;

the composite PI algorithm control is a composite control strategy based on the combination of feedforward compensation and PI, a position tracking error always exists in a leveling device system, and the purpose of the feedforward control is to transmit an expected error to a control system in advance by predicting the future behavior of the system so as to minimize the tracking error. By utilizing the idea of feedforward control, feedforward compensation is designed aiming at the traditional PI control so as to improve the tracking performance of the system.

A PI controller, consisting of proportional, integral and derivative controllers, describes how the error signal is amplified to produce a suitable motor response to reduce this deviation, and is configured as shown in figure 10.

2-1) solving the feedforward output signal u_f(s) is a group of,

in the formula, y_d(s) is the target angle signal, and g(s) is the transfer function;

2-2) obtaining the total control output u(s) of the feedforward compensation controller as,

u(s)＝u_p(s)+u_f(s) (2)

in the formula u_p(s) is PID control output, u_f(s) is the feedforward control output;

2-3) writing the total control output u(s) of the controller into a discrete form u (k),

u(k)＝u_p(k)+u_f(k) (3)

in the formula u_p(k) For the output of the PI controller, u_f(k) Is a feed control output;

2-4) comparing the target angle r (k) with the current angle y (k) to obtain a difference e (k) between the target angle and the current angle, and performing PI operation on the difference e (k) to obtain an output u of the PI controller_p(k) And the current ship rolling speed v (k) measured by the inclinometer is added to be used as an input signal of the servo motor driving unit, and the motor driving unit 150 completes the control of a speed loop and a current loop of servo control and then drives the rolling servo motor 230-2 and the pitching servo motor 330-2 to act. And aiming at the position loop, feedforward compensation is designed aiming at the traditional PID control by utilizing the feedforward idea. The principle is shown in FIG. 11, where r (k) is the target angle, y (k) is the current angle, e (k) is the difference between the target angle and the current angle, and u_p(k) V (k) is the current ship rolling speed measured by the inclinometer and is output by the PI controller;

4) driving a motor: the controller 140 controls the roll motor driving unit and the pitch motor driving unit respectively so as to control the roll servo motor 230-2 and the pitch servo motor 330-2, the controller 140 completes position loop closed-loop control of the roll servo motor 230-2 and the pitch servo motor 330-2, and the motor driving unit 150 completes speed loop and current loop closed-loop control so as to realize leveling of the load mounting platform 400;

5) full-automatic monitoring: the upper computer software is remotely controlled by accessing the communication socket 130, and displays the leveling state in real time through a state monitoring function.

The precision measurement method comprises the following steps: the leveling device is arranged on the swing platform and moves with the swing platform in a sine track. And defining the difference value between the current angle and the target angle as an error value, acquiring the error value in real time through an analyzer, and drawing an error curve. Taking the rocking shaft as an example, as shown in fig. 12, the curve with large fluctuation frequency up and down is the system control accuracy in the traditional PI algorithm, and the curve with small fluctuation frequency up and down is the system control accuracy in the composite algorithm added with the feedforward algorithm.

In the working process of a roll shaft where an integral roll component 230 of the leveling device is located and a pitch shaft where an integral pitch component 330 of the leveling device is located, when a roll servo motor 230-2 and a pitch servo motor 330-2 are started and stopped and external interference is generated, error accumulation of system PID operation is increased, and oscillation of the system is caused. The absolute value of the dynamic error of the traditional PI control is larger than 0.03 degrees, at the moment, feedforward control is introduced, the absolute value of the positioning deviation of the feedforward PI controller is smaller than 0.03 degrees, the average tracking error is reduced, and the feedforward PI can overcome the disturbance influence in the system to a certain extent, so that the dynamic precision of the system is improved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.