PLATFORM LEVELING SYSTEM
First Claim
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1. A leveling system for a vehicle with a structure to be leveled, the leveling system comprising:
- at least one linear accelerometer mounted to measure platform acceleration in at least one principal plane of motion of a lift structure;
an angular rate sensor mounted to measure angular velocity about an axis perpendicular to the principal plane of motion of the lift structure; and
an electronic control module configured to use measurements from angular rate and accelerometer sensors to produce a level angle output;
wherein the level angle output is used to adjust and control a level angle of a structure to be leveled.
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Abstract
A leveling system for a structure to be leveled is provided. At least one linear accelerometer is mounted to measure acceleration in a principal plane of motion of a lift structure. An angular rate sensor is mounted to measure angular velocity about an axis perpendicular to the principal plane of motion of the lift structure. An electronic control module is configured to use measurements from angular rate and accelerometer sensors to produce a level angle output. The level angle output is used to adjust and control a level angle of the structure to be leveled.
34 Citations
20 Claims
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1. A leveling system for a vehicle with a structure to be leveled, the leveling system comprising:
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at least one linear accelerometer mounted to measure platform acceleration in at least one principal plane of motion of a lift structure; an angular rate sensor mounted to measure angular velocity about an axis perpendicular to the principal plane of motion of the lift structure; and an electronic control module configured to use measurements from angular rate and accelerometer sensors to produce a level angle output; wherein the level angle output is used to adjust and control a level angle of a structure to be leveled. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A leveling system for a vehicle with a lift structure comprising:
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a linear accelerometer mounted to measure acceleration of a lift structure to be leveled in the at least one principal plane of motion of the lift structure; an angular rate sensor mounted to measure angular velocity about an axis perpendicular to the principal plane of motion of the lift structure; and an electronic control module configured to use measurements from angular rate and accelerometer sensors to produce a lift structure level angle output; wherein the level angle output is used to adjust and control a level angle; and wherein the electronic control module updates a first compensated angle to a subsequent compensated angle by adding a product of loop time and angular rate to a first compensated angle, the compensated angle is compared to a low pass filtered accelerometer based angle to produce a resulting error, the resulting error adjusts the compensated angle to the platform level angle output which approaches the accelerometer based angle using a compensation coefficient. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A method of leveling a lift structure comprising:
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providing a linear accelerometer mounted to measure platform acceleration in a principal plane of motion of a platform of a lift structure; providing an angular rate sensor mounted to measure angular platform velocity about an axis perpendicular to the principal plane of motion of the lift structure; and providing an electronic control module configured to use measurements from angular rate and accelerometer sensors to produce a platform level angle output; wherein the platform level angle output is used to adjust and control a platform level angle. - View Dependent Claims (17, 18, 19, 20)
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Specification