林用二自由度自动调平平台的研究

A Study for Automatic Leveling Platform with Two Degrees of Freedom in Forest

为准确获取森林资源信息,提高地基激光雷达的作业效率,改善地基激光雷达对林区作业环境的适应能力,研究针对自动调平平台存在的不足设计一款林用二自由度自动调平平台。二自由度自动调平平台采用两个电动缸和一个辅助支撑杆作为平台的支撑点,基于位置式PID控制算法通过上、下位机控制模式控制伺服驱动器驱动两个电动缸协调运动实现平台的调平作业。通过对平台调平过程的研究确定了电动缸伸缩量和电动缸行程的计算公式,利用Adams软件对平台俯仰运动和滚转运动进行仿真,确定平台的最大俯仰角和最大滚转角,为今后二自由度自动调平平台的设计和研究提供一定参考。

In order to obtain the information of forest resources accurately, improve the efficiency of Terrestrial Laser Scanning and improve the adaptability of Terrestrial Laser Scanning to the operating environment of the forest area, a forest two degrees of freedom automatic leveling platform aiming at the shortcomings of the automatic leveling platform is designed. The two degrees of freedom automatic leveling platform uses two electric cylinders and an auxiliary supporting pole as the supporting points of the platform. Based on the position PID control algorithm, the control mode of the upper computer and lower computer controls the servo driver to drive two electric cylinders to coordinate movement to realize the leveling operation of the platform. The calculation formulas of the expansion of the electric cylinder and the stroke of the electric cylinder are determined through the study of the leveling process of the platform. The Adams software is used to simulate the pitching motion and rolling motion of the platform, the maximum pitch angle and the maximum roll angle of the platform are determined. Leveling platform designed in this study provides some reference for the design and research of the two degrees of freedom automatic leveling platform in the future.