Research on Dynamic Model and Control Strategy of Auto-Leveling System for Vehicle-Borne Platform

摘要

This paper puts forward new dynamic model and control strategy of auto-leveling system for vehicle-borne platform with four legs. The new dynamic model for legs is built based on the method of linear graph. Through analyzing the dynamic model, the state space equations of the leveling system can be carried out. Aiming at the shortcomings of traditional leveling strategy, the new circular leveling strategy is applied in the leveling system to optimize the dynamic performance in the progress of auto-leveling. The test proves that the new leveling strategy improves the key factors of the leveling system: leveling-precision and leveling-time.