Multi-mode Switching Leveling Control Method for Engineering Vehicles on Flexible Platform

In order to overcome the phenomenon of chassis distortion in vehicle leveling caused by the coupling between the legs and the uneven load characteristics as well as promising the leveling rapidity of complex terrain work in the field, this paper proposes an electromechanical multi-mode switching control leveling strategy based on dual-level instrument. For the largesize and heavy-load flexible platform, on the one hand, the dual-level instrument installed at a specific position accurately reflects the front and rear posture of the vehicle body. On the other hand, a multi-mode switching control leveling algorithm is proposed and the corresponding switching control rules are designed. The designed rules of inter-mode switching can adapt to complex ground effectively and realize the rapid convergence of the leveling system in finite time. It is of great significance to improve the rapid response and field maneuverability of engineering vehicles. Finally, the advantages of the proposed control strategy in leveling stability and speed are verified through actual engineering vehicles.