Design and Implemntation of Hydraulic Auto-Leveling Control System for Vehicle-Borne Platform Based on PLC

Abstract

This paper puts forward hydraulic auto-leveling control system for vehicle-borne platform with four legs based on Programmable Logic Controller. In particular, a Siemens S7-300 (Programmable Logic Controller) PLC, and the accessional hydraulic circuit and control circuit is used. By introducing the theory of auto-leveling, the methods to design the hardware and software of the embedded control system are presented. The system adopts highly accurate two-axis tilt sensor and proportional direction control valves, optimizing auto-leveling strategy. The hardware and software of the embedded system make use of the concept of minimizing the error as possible on tilting axis corresponding to the required accuracy. The tests prove that this auto-leveling control system improves leveling-precision, performance stability of the system, shortens the leveling-time, and satisfies the maneuverability and operating requirements of the vehicle-borne platform in formidable nature conditions.

Experimental comparison of leveling control schemes for the hyperstatic-leg support platform

“…8 Each additional leg above three will result in a significant increase in leveling time, more severe oscillation during the leveling process, deterioration in leveling accuracy and stability, and even lead to leveling failure. Take the outrigger leveling as an example, El-Gohary et al, 9 Ramli et al, 10 Kan et al, 11 and Lingard et al, 12 all pointed out that poor leveling angles and virtual legs greatly School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo, People's Republic of China affect the working stability and increase the overturning risk.…”