公开(公告)号：US20240208289A1

公开(公告)日：2024-06-27

申请号：US18400243

申请日：2023-12-29

Applicant: Shandong University of Technology

Inventor： Fan Zhang ,  Jiguo Yang ,  Xuejian Jiao ,  Lijun Li ,  Xianyue Gang

IPC: B60G17/016

CPC classification number: B60G17/016 ,  B60G2400/0511 ,  B60G2400/0512 ,  B60G2400/252 ,  B60G2400/61 ,  B60G2401/14

Abstract: The present invention discloses an active suspension vehicle and a control method controlling the same. Each wheel of the vehicle is equipped with a telescopically adjustable active actuator. The control method begins by constructing a load and deformation joint control matrix of the vehicle and measuring the current vehicle parameters; then determining vertical displacement excitation of wheels at a next moment, and pre-calculating passive responses of vehicle height, attitude, and wheel loads at the said next moment; determining the vehicle height, attitude, and feasible wheel load expectations at the said next moment, and inverse-calculating adjustment strokes of the suspension; finally, performing active suspension adjustment to chase the vehicle height, attitude, and feasible wheel load expectations in real-time. The disclosure implements synchronous vehicle height, attitude, and wheel loads control for multi-axle vehicles, thus significantly improving their passability, maneuverability, and stability under extreme off-road terrains.

公开(公告)号：US12162735B2

公开(公告)日：2024-12-10

申请号：US17476052

申请日：2021-09-15

Applicant: Shandong University of Technology

Inventor： Fan Zhang ,  Jixing Wu ,  Wentao Yang ,  Huiheng Wang ,  Zhenhua Wu ,  Lijun Li ,  Xianyue Gang

IPC: B66F7/06 ,  B60S9/02 ,  B65G69/24

Abstract: The present disclosure discloses an automatic leveling control method for a four-leg support working platform, which comprises the steps: determining the mass center position of the working platform, determining the main bearing quadrant and distinguishing active legs from the driven leg; adjusting the driven leg to weak state, controlling all legs to synchronously actuate for leveling; calculating the limit compensating actuation length of the driven leg, and performing compensating actuation until accomplishing the leveling process. The method is advantageous in: high speed, high robustness, no repeated oscillation. The mass center always stays within the bearing zone of the active legs, thus completely eliminating capsizing risk of the working platform. The compensating actuation of the driven leg ensures there is no weak leg, and hence high attitude and load-bearing stability of the working platform is achieved.

公开(公告)号：US12097737B2

公开(公告)日：2024-09-24

申请号：US17208034

申请日：2021-03-22

Applicant: Shandong University of Technology

Inventor： Fan Zhang ,  Wentao Yang ,  Xianyue Gang ,  Huiheng Wang ,  Jixing Wu ,  Aibing Liu ,  Chunyi Lv

IPC: G05B19/404 ,  B60G17/016 ,  B60G17/018

CPC classification number: B60G17/018 ,  B60G17/016 ,  G05B19/404 ,  B60G2400/051 ,  B60G2400/61

Abstract: The present disclosure discloses a leveling control method for a multi-point support platform, which comprises the steps: respectively measuring and obtaining a load-bearing interaction matrix and a deformation interaction matrix of the platform to construct a load-bearing and deformation joint control matrix; calculating the optimal loads of the legs and measuring the current loads of the legs to obtain the load deviation rates of the legs, and determining if the platform warrants leveling in combination with the two-dimensional inclination angles of the platform; constructing a platform geometry and leg load joint control equation according to the two-dimensional inclination angles of the platform, the load deviations of the legs and the load-bearing and deformation joint control matrix, calculating the actuation quantities of the legs and performing synchronous leveling; and determining the load deviation rates of the legs and the two-dimensional inclination angles of the platform cyclically and performing the actuation control until the leveling goal is achieved. The method is capable of synchronously realizing the geometric leveling of the platform and the load control of the legs, and can significantly improve the speed, geometric accuracy, process stability, leg load-bearing stability and control robustness of the leveling control for the multi-point support platform.

公开(公告)号：US20220227195A1

公开(公告)日：2022-07-21

申请号：US17208034

申请日：2021-03-22

Applicant: Shandong University of Technology

Inventor： Fan Zhang ,  Wentao Yang ,  Xianyue Gang ,  Huiheng Wang ,  Jixing Wu ,  Aibing Liu ,  Chunyi Lv

IPC: B60G17/018 ,  B60G17/016

Abstract: The present disclosure discloses a leveling control method for a multi-point support platform, which comprises the steps: respectively measuring and obtaining a load-bearing interaction matrix and a deformation interaction matrix of the platform to construct a load-bearing and deformation joint control matrix; calculating the optimal loads of the legs and measuring the current loads of the legs to obtain the load deviation rates of the legs, and determining if the platform warrants leveling in combination with the two-dimensional inclination angles of the platform; constructing a platform geometry and leg load joint control equation according to the two-dimensional inclination angles of the platform, the load deviations of the legs and the load-bearing and deformation joint control matrix, calculating the actuation quantities of the legs and performing synchronous leveling; and determining the load deviation rates of the legs and the two-dimensional inclination angles of the platform cyclically and performing the actuation control until the leveling goal is achieved. The method is capable of synchronously realizing the geometric leveling of the platform and the load control of the legs, and can significantly improve the speed, geometric accuracy, process stability, leg load-bearing stability and control robustness of the leveling control for the multi-point support platform.

公开(公告)号：US20220378191A1

公开(公告)日：2022-12-01

申请号：US17476052

申请日：2021-09-15

Applicant: Shandong University of Technology

Inventor： Fan Zhang ,  Jixing Wu ,  Wentao Yang ,  Huiheng Wang ,  Zhenhua Wu ,  Lijun Li ,  Xianyue Gang

IPC: A47B3/02

Abstract: The present disclosure discloses an automatic leveling control method for a four-leg support working platform, which comprises the steps: determining the mass center position of the working platform, determining the main bearing quadrant and distinguishing active legs from the driven leg; adjusting the driven leg to weak state, controlling all legs to synchronously actuate for leveling; calculating the limit compensating actuation length of the driven leg, and performing compensating actuation until accomplishing the leveling process. The method is advantageous in: high speed, high robustness, no repeated oscillation. The mass center always stays within the bearing zone of the active legs, thus completely eliminating capsizing risk of the working platform. The compensating actuation of the driven leg ensures there is no weak leg, and hence high attitude and load-bearing stability of the working platform is achieved.