The dynamic leveling system has applications in multiple fields, such as intelligent landing gear, transfer bed, ship stabilization platform, mobile vehicle mounted weapons, aerial operation platform, medical vehicle, medical ship, offshore operation platform and other dynamic working conditions in military and civilian fields.

In the dynamic leveling system, the leveling controller receives the pitching and heeling information output by the inclination sensor. After the calculation of the dynamic leveling algorithm, the driving system controls the extension and retraction of each outrigger to make the pitching and heeling angles on the working platform reach the required horizontal accuracy. It is the central logic processing unit of the whole system. The leveling controller product launched by Xi'an Fangyuanming Technology Co., Ltd. adopts a 28V power input, which has the characteristics of easy use, high reliability, and strong environmental adaptability.

Dynamic Leveling Diagram

The dynamic leveling system mainly consists of a mechanical support transmission system and a control system. Taking the dynamic leveling system of intelligent landing gear as an example, its main components are as follows:

a) Platform mechanical support transmission system: mainly composed of several electric cylinders (mainly composed of transmission devices and reduction devices), and 3 servo motors;

b) Mainly composed of 1 tilt sensor and 3 rangefinders (intelligent landing gear);

c) Control system: composed of 1 leveling controller, 3 drivers, leveling control panel, power components and cables, etc.

Introduction to the functions of the main components:

1) Leveling control panel: used for information display and button operation;

2) Leveling controller: The leveling controller is responsible for receiving and parsing instructions from the leveling control panel, collecting information from the tilt sensor and rangefinder, and controlling the lower level action system through the bus to perform leveling, retraction, and support actions. It is the central logic processing unit of the entire system;

3) Driver: The driver receives instructions from the leveling controller, drives the motor to rotate, and completes the specified action of the electric cylinder. The driver can drive the motor to operate stably in torque, speed, and position modes;

4) Tilt sensor: Tilt sensor is one of the key components of multi-point dynamic leveling system, and its accuracy and installation position determine the accuracy of multi-point leveling system. The response speed of the tilt sensor is also one of the key factors determining whether the system can be quickly leveled;

5) Distance measuring instrument: used to measure distance information from the ground;

6) Servo motor: a direct action unit controlled by a driver, equipped with an electromagnetic brake for motor self-locking; The servo motor is equipped with an absolute value encoder for real-time feedback of the operation information of the electric cylinder;

7) Electric cylinder: a mechanical action execution unit mainly composed of a reducer, screw, bearing, and proximity switch; Its function is to output the rotation of the motor, which is then reduced by the reducer and transmitted to the screw, and then converted into the linear extension and retraction of the electric cylinder through rotational transmission;

8) Power supply components: supply power to electrical equipment such as leveling controllers, drivers, tilt sensors, etc.

Figure 1 Composition of Dynamic Leveling System

Figure 2 Schematic diagram of the relationship between controller, servo driver and servo motor

⊙ Product Features

1. Easy and fast operation

By operating the controller panel, the system can be automatically controlled and the support legs can be manually controlled.

2. Complete status display

The controller is equipped with a series of status display information, which facilitates customers to browse and understand the real-time relevant status parameters of the system and support legs during debugging and operation.

3. Simple and flexible control

The internal parameters of the controller can be modified to adapt to different environments and requirements.

4High precision and high frequency

The controller adopts a dynamic leveling algorithm combined with the company's independent electric cylinder products, with a continuous leveling accuracy of up to and stable within 45 '. The control system uses a high response motor driver and tilt angle sensor, with a high leveling frequency.

Selection rules for dynamic leveling system

1. Adaptive landing gear

As a type of rotary wing aircraft, helicopters have the characteristics of flexible maneuverability and convenient takeoff and landing, making them widely used in combat, reconnaissance, anti submarine operations, and rescue. Compared to helicopters taking off and landing on land, carrier based helicopters face more challenging dynamic swaying of the ship surface during takeoff and landing. Once the ship surface shakes violently or the pilot makes operational errors, it is highly likely to cause safety accidents. At present, the landing of shipborne helicopters often relies on landing assistance systems, which are equipped with corresponding connection devices for the ship and helicopter. While improving safety, it also increases structural complexity and aircraft load. Therefore, this product can actively adapt to the terrain with adaptive landing gear to solve the problem of swaying landing of shipborne helicopters.

The adaptive landing gear consists of three support legs, with the front support leg referred to as the front landing gear and the rear two legs

The main landing gear is composed of supporting legs, each of which is driven by two servo electric cylinders; The inertial measurement unit consists of a gyroscope and an accelerometer, installed on the body, and can be used to detect the inclination and acceleration of the body in various directions, and feedback this information to the control system; Three ground measurement devices are installed at the end of each support leg of the landing gear, which can detect the distance between the end of each support leg and the predetermined landing point, and feedback this information to the control system; The motion control and servo drive system is embedded in the body to control and drive the action of the servo electric cylinder.

2. Intelligent transfer bed

Traditional transfer beds do not have self stabilization and automatic lifting functions. During the transfer or transportation of patients, various reasons such as discomfort and secondary injuries may occur due to transportation difficulties and bumps. Nowadays, with the development of technology and intelligent robots, our intelligent transfer bed can automatically adjust the position of the transfer bed on bumpy roads or swaying ships, keeping it in a stable state at all times. When needed, it can also achieve the lifting function of the platform.

3Ship Stability Platform

Mainly used for dynamic launch and launch recovery of rockets on ship decks on the sea surface, the dynamic leveling system can adjust the state of the launch and recovery platform to make it in a stable state.

4. Offshore operation platform

When engineering ships operate at sea, the swaying and shaking of the hull caused by waves affect their engineering operations at sea. Therefore, dynamic leveling is applied to offshore operation platforms to adjust the platform's posture and achieve self stabilization.

• leveling system

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