In the large-scale transportation, the leveling of the transport vehicle loading platform will determine the safety of the transportation. Therefore, the research on the leveling of the transport vehicle loading platform with hydraulic suspension is carried out. The hydraulic suspension systems are simplified as four-point support. Based on the multisensor data collected by the pressure sensors of the suspension hydraulic cylinders and the double axis inclination sensor of the load-bearing platform, the leveling control system of the four-point load-bearing platform is designed according to the principle of the highest point chasing. In order to verify the precision of the leveling method, the leveling of the control system is simulated by using the software AMESim and MATLAB, and the PID controller is added. The results show that the leveling precision and velocity of this method fully meet the leveling requirements of the transport vehicle. On the basis, the leveling control system for the 100 ton transport vehicle is designed. The double axis inclination sensor is used to monitor the tilt angle of the loading platform in real time. The controller can make the suspension hydraulic cylinders act accordingly according to the four height differences to keep the loading platform level. Finally, the leveling experiment of the transport vehicle is carried out, and the lifting experiment is carried out under the condition of no load to full load. It is concluded that the displacement of the four points of the load-bearing platform of the transport vehicle is basically the same. The leveling control system can control the inclination angle of the platform within 0.25 degrees, and the leveling time is less than 1 second. The leveling process has higher precision and shorter time than other methods, which can provide reference for the leveling design of similar platforms.

中文翻译：

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基于多传感器融合的车辆承重平台调平控制

在大规模运输中，运输车辆装载平台的水平将决定运输的安全性。因此，对液压悬挂运输车辆装载平台的水平进行了研究。液压悬挂系统简化为四点支撑。基于悬架液压缸压力传感器和承重平台双轴倾角传感器采集的多传感器数据，根据最高原理设计了四点承重平台的调平控制系统点追。为了验证调平方法的精度，使用软件AMESim和MATLAB对控制系统的调平进行了仿真，并添加了PID控制器。结果表明，该方法的找平精度和速度完全满足运输车辆的找平要求。在此基础上，设计了100吨运输车辆的水平控制系统。双轴倾斜传感器用于实时监控装载平台的倾斜角度。控制器可以根据四个高度差使悬架液压缸相应地动作，以保持装载平台水平。最后，对运输车辆进行了调平实验，在空载至满载的条件下进行了举升实验。可以得出结论，运输车辆承重平台的四个点的位移基本相同。调平控制系统可以将平台的倾斜角度控制在0.25度以内，调平时间小于1秒。找平过程比其他方法精度更高，时间更短，可以为类似平台的找平设计提供参考。