液压调平系统广泛的应用在现代国防与民用技术中,而调平系统是一复杂的非线性时变系统,且在调平过程中会出现液压支腿之间、支腿与倾角之间的“牵连耦合”问题。针对这一问题采用基于目标面的调平方法,提出“以面调面”的面调平技术,通过调平平面与目标平面的相对位置输出控制量,设计了多输入多输出的MIMO非线性动态解耦模糊控制器。在调平过程中解决了耦合问题,实现多点调节。通过某型特种车辆和某型雷达车的现场应用和实验验证,很好实现了液压平台的精确快速调平。

Hydraulic leveling system has been widely used in modern national defense and civilian technologies. The control of hydraulic automatic leveling is a complex nonlinear time varying system, and during hydraulic leveling, the "implicated coupling" problems between hydraulic legs as well as between the angle and legs would occur to the system. To solve this problem, the "surface-adjust surface" leveling technique was proposed by the leveling method. The method is based on the target surface with multipoint and multi-direction control by outputting control variables from leveling the relative position between leveling surface and target surface. The decoupling fuzzy controller of MIMO (multiple input multiple output) nonlinear dynamic solution was designed. In the leveling process, the coupling problem was solved and the multi-point adjustment was realized. Online application and experimental verification were in a certain type of special vehicle and a certain type of radar vehicle. The result shows that precise and rapid leveling of hydraulic overloading platform is perfectly realized.