A leveling mechanism for the platform based on booms-constraint control of aerial vehicle

In order to achieve an automatic leveling function for work platforms of aerial vehicles with mixed-booms ( MAV) in full elevating domain, an auto-leveling mechanism for the platform is pro-posed based on a control method of booms-constraint, where mixed-boom structures and elevating characteristics are considered.Three models of constraint strategies include non-constraint model, elevating constraint model and lowering constraint model, which is designed to meet the leveling re-quirements in full working extent.Through the hydro-mechatronic unified modeling, a virtual proto-type model is set up based on the auto-leveling mechanism, and leveling performances of the plat-form are studied during booms elevating to the maximum working height and extent.Simulation re-sults show that the control method of booms-constraint can realize auto-leveling of the platform under two typical working conditions, meanwhile a leveling deviation appears at the constrained point, but the platform inclination is adjusted in the permissible range.The control method does not only re-strict booms' freedom elevating to a certain extent, but also impacts the booms extending to the max-imum working range.Experimental results verify that the auto-leveling mechanism based on booms-constraint control is valid and rational, which provides an effective technology approach for develop-ment of the platform leveling of MAV.