悬吊式作业平台提升机构性能及控制策略研究

发布时间：2018-08-26 10:43

【摘要】：悬吊式作业平台是一种新型、高效、安全的建筑外立面安装作业装备,该类作业平台操作简单、灵活、方便,具有较高的适应性,可将传统工程施工效率提升80%以上。悬吊式作业平台采用摩擦式提升机构将承载施工人员和材料的平台提升至高空施工作业面。尽管悬吊式作业技术在高空施工领域取得了巨大成功,但其推广应用依然存在严重的制约,平台中提升机构传动性能的稳定性是主要因素。稳定性研究包括提升机构性能、控制两个方面,其核心是：改善提升机构的提升性能,减少摩擦中滑动,提高传动控制的可靠性。影响提升机构稳定性因素很多,包括钢丝绳参数、提升机构形式、绳轮结构及控制系统等。其中,钢丝绳的多螺旋结构导致其模型建立及力学分析十分困难,制约了摩擦传动性能的精确计算；提升能力、振动、温度是提升机构的重要性能指标,提升能力与钢丝绳的直径、绳轮绳槽结构及绕绳方式有关,而影响振动和温度的因素并不十分明确；控制系统则是保证传动过程稳定性的重要部分,钢丝绳参与的传动控制问题比较复杂,这些问题的解决将有助于促进悬吊式作业平台技术的提高,改善平台的安全性和稳定性。本文针对提升机构核心部件钢丝绳进行了精确建模,进而研究了提升机构摩擦传动机理与性能,提出并优化了提升机构的性能控制策略。首先,基于微分几何学和螺旋结构的数学表达,揭示了螺旋角对钢丝绳空间结构的影响机理,采用修正螺旋角显著地提高了钢丝绳建模精度,降低了钢丝绳力学计算误差；其次,在考虑摩擦绳轮作用角的情况下,推导出钢丝绳与绳轮间的等效摩擦系数。并提出将钢丝绳拉力Fl与周向摩擦力F2形成的影响角γ考虑在摩擦传动分析过程中,与传统分析方法相比,该方法更为准确地描述了钢丝绳摩擦传动的工作过程；再次,提出了提升机构传动性能测试方法,使用该方法开发了可对摩擦提升力、振动及机身温度等特性进行测试的系统,采用该系统测试了不同设计参数下提升机构的性能,得到了各参数对提升机构性能的作用曲线；最后,设计了参数可调的自适应模糊PID控制策略,其在响应速度及抗干扰能力等方面优于传统PID控制,解决了提升机构稳定性问题。探索性提出慢变和快变双模控制策略,应用降阶滑膜系统对提升机构不确定因素的干扰进行了抑制,增强了控制系统的鲁棒特性。论文通过对提升机构进行深入研究,准确地描述了钢丝绳摩擦传动的作用机理,系统地测试了不同设计参数下提升机构性能,采用自适应模糊PID的控制策略及双时标控制策略解决了提升机构传动控制的稳定性问题。
[Abstract]:Suspension platform is a new type of installation equipment for exterior facade of building. It is simple, flexible, convenient and has high adaptability. It can improve the construction efficiency of traditional engineering by more than 80%. The suspension platform uses friction lifting mechanism to lift the platform carrying construction personnel and materials to the high altitude construction work surface. In spite of the great success of suspended operation technology in the field of high-altitude construction, its popularization and application are still severely restricted, and the stability of the transmission performance of the lifting mechanism in the platform is the main factor. The stability research includes two aspects: the performance of the lifting mechanism and the control, the core of which is to improve the lifting performance of the lifting mechanism, to reduce the sliding in friction, and to improve the reliability of the transmission control. There are many factors affecting the stability of hoisting mechanism, including wire rope parameters, hoisting mechanism form, rope wheel structure and control system. Among them, the multi-helical structure of wire rope leads to the difficulty of modeling and mechanical analysis, which restricts the accurate calculation of friction transmission performance, and the lifting ability, vibration and temperature are the important performance indexes of lifting mechanism. The lifting capacity is related to the diameter of the wire rope, the structure of the rope grooves and the winding mode, but the factors affecting the vibration and temperature are not very clear, and the control system is an important part of ensuring the stability of the transmission process. The problems of transmission control in which wire rope is involved are quite complex. The solution of these problems will help to improve the technology of suspension platform and improve the safety and stability of the platform. In this paper, the precise modeling of the steel wire rope, the core component of the lifting mechanism, is carried out, and the friction transmission mechanism and performance of the lifting mechanism are studied, and the performance control strategy of the lifting mechanism is proposed and optimized. Firstly, based on the mathematical expression of differential geometry and helical structure, the influence mechanism of helical angle on the spatial structure of wire rope is revealed. The modified spiral angle improves the modeling accuracy of wire rope significantly and reduces the calculation error of wire rope mechanics. Secondly, the equivalent friction coefficient between wire rope and rope wheel is derived by considering the action angle of friction rope wheel. It is proposed that the influence angle 纬 of wire rope tension Fl and circumferential friction force F2 be considered in the process of friction transmission analysis. Compared with the traditional analysis method, this method describes the working process of steel wire rope friction transmission more accurately. A testing method for the transmission performance of a lifting mechanism is proposed. A system for testing the friction lift force, vibration and temperature of the fuselage is developed. The performance of the lifting mechanism under different design parameters is tested by the system. Finally, the adaptive fuzzy PID control strategy with adjustable parameters is designed, which is superior to the traditional PID control in response speed and anti-jamming ability, and solves the stability problem of the lifting mechanism. A slow and fast variable dual mode control strategy is proposed in this paper. The disturbance of the uncertain factors of the lifting mechanism is suppressed by using the reduced order synovium system, and the robustness of the control system is enhanced. In this paper, the mechanism of friction transmission of steel wire rope is described accurately, and the performance of lifting mechanism under different design parameters is systematically tested. The adaptive fuzzy PID control strategy and the dual time scale control strategy are used to solve the stability problem of the drive control of the lifting mechanism.
【学位授予单位】：大连理工大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TH211.6

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