基于非对称组合正弦函数的举升系统轨迹规划研究

发布时间：2018-06-10 19:54

本文选题：举升系统 + 非对称组合正弦　；参考：《机械设计与制造》2017年09期

【摘要】：液压多级缸在换级时,易产生较大的液压冲击,为保证举升系统的稳定性,同时获得举升过程的快速性,在分级规划时,首先,提出采用加速和减速阶段比例为3:7的三种非对称组合正弦函数来拟合起竖臂的位姿变化规律,并建立轨迹规划模型,然后运用模式搜索法求解最优时间,仿真得到多级液压缸的运行轨迹和负载冲击情况。最后通过仿真结果对比,表明提出的轨迹规划方法是有效的,且不同分段的非对称组合正弦函数对于举升系统有明显的影响。
[Abstract]:In order to ensure the stability of the lifting system and obtain the quickness of the lifting process, in order to ensure the stability of the lifting system and obtain the quickness of the lifting process, the first step in the hierarchical planning, Three kinds of asymmetric combined sinusoidal functions with the ratio of 3:7 in acceleration and deceleration stage are proposed to fit the position and pose change of vertical arm, and a trajectory planning model is established, and the optimal time is solved by pattern search method. The running trajectory and load impact of multistage hydraulic cylinder are obtained by simulation. Finally, the simulation results show that the proposed trajectory planning method is effective, and the asymmetric combined sinusoidal function of different segments has obvious influence on the lifting system.
【作者单位】：武汉科技大学机械自动化学院;北京航天发射技术研究所;
【基金】：国家自然科学基金项目(51175386)
【分类号】：TH137.51

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