A Motor-driven Self-leveling Device for Unmanned Weapon System

In order to solve the level-adjusting problem of unmanned weapon system in complex environment, a self-leveling device is developed in this paper. After a brief introduction of the working principle of the self-leveling system, the mathematical model of the device is established, in which the two-axis inclination angles are measured by the tilt sensor, and then the leveling algorithm is obtained through coordinate transformation. The stepper motor is adopted as the system actuator after analyzing its control strategy. The results of motor tests show that the rotation angle is controlled by an accurate degree. Finally, the position information measured by the sensor is used as input of the motor, and the reliability test of the algorithm is performed. The experimental results show that the proposed device and algorithm can realize the function of automatic leveling in different inclination states.