Virtual leg compensation control method for four-point-supporting electromechanical leveling system

With the adoption of a virtual leg compensation control method for a four-point-supporting electromechanical leveling system, a vehicle-mounted platform is adjusted to be in a horizontal state, four supporting legs are evenly stressed, and virtual legs are eliminated. The leveling system comprises the vehicle-mounted platform and the four electric supporting legs distributed in a rectangular shape. After a leveling procedure is started, firstly, a controller drives the four supporting legs to extend simultaneously, and all the four supporting legs are contacted with the ground and then stop extending; then all supporting leg motors run at a low speed, tires are continuously and slowly lifted off the ground, and meanwhile, values currents of windings of all the supporting leg motors are detected and converted into supporting forces; then optimized supporting forces of all the supporting legs after leveling are calculated and converted into target values of the currents of the windings of the motors, and effects caused by intermediate uncertain variables are eliminated during conversion; finally, the vehicle-mounted platform is leveled and the virtual legs are eliminated with a control strategy with current feedback. According to the method, under the condition that structures of existing leveling systems are unchanged, the virtual legs are eliminated directly through software, and the development and design cost of the system is reduced.