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.

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

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.

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