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Inclination sensor vehicle body auxiliary leveling device
1. Overall project requirements: 1. Convert the tilt angles measured by the tilt sensor in two directions of the vehicle platform into the vertical adjustment amounts for four support points, and output them on the display interface to provide operators with a basis for adjustments; 2. Detect the horizontal condition of the vehicle platform and give an alarm reminder when it exceeds the limit.
2. Mathematical calculation model deduction:
(1) Determination of the standard horizontal plane
Take any standard horizontal cross-section M of the vehicle body, simplifying the four adjustment supports of the vehicle body to the four endpoints A, B, C, D of two vertically intersecting line segments located within the horizontal plane M, with the intersection point being the center point O of the horizontal plane, as shown in Figure 1:
Figure 1 Schematic diagram of the vehicle body standard horizontal plane
(2) Establishment of the calculation model
In general, the initial state of the vehicle body horizontal plane is usually in a tilted state. Any tilted plane can be achieved by rotating a horizontal plane through two steps: when a plane is tilted, its tilted state can be decomposed into a state formed by tilting along two vertically intersecting line segments within the plane by the same or different angles. For example, in Figure 1, when plane M is tilted, it can be decomposed into the first step: rotating the plane around CD as the axis by an angle α, and the second step: rotating the plane around AB as the axis by an angle β. In other words, any tilted plane can return to a horizontal state by rotating the plane around CD as the axis by an angle -α, and then rotating the plane around AB as the axis by an angle -β. Here, α and β are the tilt angles of the plane along the AB and CD axes, which can be measured using a high-precision dual-axis level sensor system in this project. Thus, through a series of mathematical deductions, the required heights Ha, Hb, Hc, Hd for adjusting the four support points A, B, C, D to restore the tilted plane M to a horizontal state can be obtained. The process is as follows:
First, further transform and set the above process, moving the rotation axis to the two lines passing through points A and C on plane M, and determining the rotation direction as downward for points B and D. When the rotation angle is small (not exceeding 10 degrees in this project), the second rotation is considered to still be in the initial state where the plane is horizontal. During the first rotation, the heights that points A, B, C, D drop are Ha1, Hb1, Hc1, Hd1 respectively, and during the second rotation, the heights that points A, B, C, D drop are Ha2, Hb2, Hc2, Hd2 respectively. Finally, the total heights that points A, B, C, D drop are Ha, Hb, Hc, Hd respectively.
In the first step, as shown in Figure 2, calculate the plane moving parallel to CD to the edge line passing through point A as the rotation axis. When rotating clockwise by an angle α, point B rotates to position B1. At this time, the height of support point A remains unchanged (i.e., Ha1 is 0), point B drops to point B1, with a drop distance of Hb1, and points C and D drop Hc1, Hd1.
Figure 2 Schematic diagram of the first rotation calculation
In the second step, as shown in Figure 3, calculate the plane moving parallel to AB to the edge line passing through point C as the rotation axis. When point D rotates downward by an angle β, point D rotates to position D2. At this time, the height of support point C remains unchanged, point D drops Hd2, point A drops Ha2, and point B drops Hb2.
Figure 3 Schematic diagram of the second rotation calculation
Through the above analysis and calculations, a plan can be derived: in this project, when the vehicle body horizontal plane is in a tilted state, the lengths connecting the four adjustment supports A and B, C and D are known, and the horizontal tilt angles α and β along the AB and CD directions can be measured by the tilt sensor. Then, the adjustment amounts Ha, Hb, Hc, Hd for adjusting the four supports A, B, C, D can be calculated using formulas 5, 6, 7, and 8, thereby adjusting the vehicle body from a tilted state to a horizontal state.
(3) Determination of adjustment methods in practical operation
1. In the process of establishing the calculation model, we adopted the method of setting both transformations as clockwise rotations. However, in practical situations, the angles of the two rotations that synthesize the final effect may be either clockwise or counterclockwise. This is reflected in the calculation model where the angles α and β may take positive or negative values, resulting in the final adjustment values of the four adjustment points also being both positive and negative. This means that when operators adjust the heights of the four support legs, some need to be raised while others need to be lowered.
However, the initial position of the vehicle body can generally only be raised and not lowered. Therefore, it is necessary to convert the adjustment values of the four adjustment points appropriately. First, determine the adjustment point with the highest relative height and do not adjust its height, saving the workload and adjustment time for the personnel; second, convert the adjustment amounts of the other adjustment points to only raise and not lower, adapting to the actual terrain conditions of the operational site.
Parameter conversion scheme: Sort the four calculated values, take the adjustment point with the minimum value as the highest point, do not make adjustments, and subtract the adjustment value of this minimum point from the adjustment values of the other three points, setting them as the final upward adjustment values for these three points to be output to the display for operators to use.
2. Combine specificTilt sensorSet the positive and negative directions of the angle and the installation direction of the sensor to determine the positive and negative relationship of angles α and β in the calculation model.
The positive and negative relationships of the sensor angles corresponding to the above calculation model are shown in the following figure:
If the specific sensor direction settings and installation directions do not match the above figure, the positive and negative values of angles α and β should be adjusted accordingly based on the specific situation.
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