Leveling control method for multi-point support platform
US12097737B2 · kind B2 · utility
Inventors
Key dates
| Filing date | Mar 22, 2021 |
| Grant date | Sep 24, 2024 |
| Priority date | — |
| Expiry date | May 12, 2043 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60G2400/61
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
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 …
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.