车载平台的调平方法与控制技术研究

Study on leveling method and control technology of a vehicle-borne platform

运用坐标变换的方法,推导了车载平台的位姿变换矩阵,并从提高调平效率的角度出发,利用位姿变换矩阵确定了向中间点看齐的调平策略,并采用了方向解耦调平方法以避免调平运动的干涉。介绍了基于PLC调平控制系统,给出了系统的硬件组成并设计了相应的软件。该系统能升能降,可快速调节平台水平,具有自锁和保护功能,为其他调平系统提供借鉴作用。

The gesture transformation matrix of a vehicle-borne platform was concluded using coor-dinates conversion.With the matrix,the strategy of leveling to middle point was decided to advance the ef-ficiency of leveling.The direction decoupling leveling method is adopted to avoid movement interference. The leveling control systems based on PLC was introduced,moreover the hardware and software was de-signed.With the system,the platform can rise and fall rapidly with high level precision,auto lock and pro-tection.The work may be helpful to the similar platform leveling systems.