高空作业平台自主调平系统研究

发布时间：2018-11-12 06:43

【摘要】：高空作业平台是一种应用于高空作业的机械设备,广泛用于航空航天、船舶工业、电力、建筑施工等多种行业的登高作业。未来船舶朝着大型化、现代化的方向发展,对高空作业平台的需求量快速增加,对高空作业平台的性能要求也越来越高。高空作业平台工作斗作为工作人员进行高空作业的平台,在工作中应该时刻保持水平状态,以保证高空作业的安全进行。本文针对船舶工业高空作业平台,对工作斗自主调平系统进行了设计研究。本文主要从以下方面进行研究:首先比较了自重式、机械式、静液压式等多种工作斗调平方案,根据作业高度大于30m的直臂式高空作业平台特点,选择了电液比例自主调平系统方案。该调平方式精度高,稳定性好,滞后小,进行高空作业时安全可靠。其次根据船舶工业高空作业平台工作需求,对电液比例自主调平系统开展研究和设计,该系统独立于整车液压系统之外,仅依靠24V直流电供给能源,采用小型一体化泵站提供动力,该系统执行元件为两台齿轮齿条式摆动液压缸,控制元件为比例多路换向阀,系统元件少,重量轻,结构紧凑。在完成电液比例自主调平系统的原理设计与元件选型后,建立了该系统数学模型,对系统的稳定性进行了初步分析;并利用AMESim软件对液压系统的自主调平控制性能进行了仿真分析,得到了影响系统调平性能的几个关键参数,以及改善系统调平性能的方向。然后设计了工作斗自主调平系统试验验证平台。该试验平台主要用于对工作斗自主调平系统的调平性能进行测试研究,以发现该调平系统在实际工况中所存在的问题。最后基于EPEC控制器和Codesys编程语言对系统的自主调平控制软硬件开展了研究与设计,以符合工程机械控制系统的商用规范。该系统控制功能主要包括:臂架变幅功能、工作斗调平功能、工作斗防碰撞功能、故障报警功能、超载报警功能和实时通讯。
[Abstract]:Aerial work platform is a kind of mechanical equipment used in aerial work, widely used in aerospace, ship industry, electric power, building construction and other industries. In the future, ships will develop in the direction of large-scale and modernization. The demand for aerial work platforms will increase rapidly, and the performance requirements of aerial work platforms will become more and more high. The work bucket of aerial work platform, as a platform for staff to carry out aerial work, should be kept in a horizontal state at all times in order to ensure the safety of aerial work. In this paper, the automatic leveling system of working bucket is designed and studied on the platform of marine industry. This paper mainly studies from the following aspects: first, compared the self-weight type, the mechanical type, the hydrostatic type and so on many kinds of work bucket leveling plan, according to the work height above 30m straight arm type aerial work platform characteristic, The scheme of electro-hydraulic proportional self-leveling system is selected. It has high precision, good stability, low lag, and is safe and reliable in high altitude operation. Secondly, according to the working demand of marine industry aerial work platform, the electro-hydraulic proportional self-leveling system is studied and designed. The system is independent of the hydraulic system of the whole vehicle and only relies on 24V DC to supply energy. A small integrated pumping station is used to provide power. The actuator of the system is two gear rack type swing hydraulic cylinder and the control element is proportional multi-way reversing valve. The system has less components, light weight and compact structure. After completing the principle design of the electro-hydraulic proportional independent leveling system and the selection of the components, the mathematical model of the system is established, and the stability of the system is preliminarily analyzed. The self-leveling control performance of hydraulic system is simulated and analyzed by using AMESim software. Several key parameters affecting the leveling performance of the hydraulic system and the direction of improving the leveling performance of the system are obtained. Then, the test and verification platform of work bucket self-leveling system is designed. The test platform is mainly used to test and study the leveling performance of the work bucket autonomous leveling system, in order to find out the problems existing in the actual working condition of the leveling system. Finally, based on EPEC controller and Codesys programming language, the software and hardware of autonomous leveling control system are studied and designed to meet the commercial specification of construction machinery control system. The control function of the system mainly includes: arm amplitude change function, work bucket leveling function, work bucket anti-collision function, fault alarm function, overload alarm function and real-time communication.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH211.6

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