A judgment method of "Virtual leg" of electric leveling device based on multiple perception

Aim to the present situation that the multi-point support electric leveling device is prone to virtual leg phenomenon in the leveling process, a method to determine the virtual leg of multi-sensory electric leveling device based on inclination, spin and output current of servo motor drive controller was proposed. The structure composition model of commonly used four-point support electric leveling device was constructed. Meanwhile, a leveling platform model was established by taking four-point support electric leveling device as an example. The principle of the proposed method, the decision strategy of pursuing height and multiple perception, the decision method of virtual leg and the decision procedure flow of the specific implementation process are described in detail, can effectively eliminate the phenomenon of virtual legs without adding new configurations, and can provide reference for automatic leveling and preventing virtual legs of construction machinery and land defense vehicle platform equipment.