基于柔性多体动力学的高空作业车作业臂控制方法研究

发布时间：2018-02-25 20:11

本文关键词： 拉格朗日方程奇异摄动理论模糊PID控制最优控制输入整形器　出处：《电子科技大学》2013年硕士论文　论文类型：学位论文

【摘要】：折叠式高空作业车是一种用来运送工作人员和使用工具、材料等到达空中指定位置进行各种安装、维修等作业的专用高空作业机械，广泛应用于各个行业。随着经济和科技的迅猛发展，人们对高空作业车的高作业效率、高安全性的性能要求越来越高，不断发展轻量化、高速度和高精度的高空作业车应用于消防、抢险、抢修等需要高机动性的紧急场所。传统的局限于臂杆刚性范围的研究没有考虑到高空作业车作业臂柔性变形对整个系统动态性能的影响，已不能满足具有轻量化柔性臂的高空作业车系统性能的要求，人们已将高空作业车动力学与控制研究方向转向了轻量化柔性臂的高空作业车系统。本文基于拉格朗日原理推导了折叠式高空作业车臂架的动力学微分方程，紧接分析了造成柔性作业臂强耦合和非线性动力学特性的主要因素，并对作业臂一些重要结构参数多动力学的影响做了仿真对比分析，然后根据振动特性的不同，分两部分设计系统：一部分是系统作业臂的定位和消振的控制设计；另一部分是系统工作平台的消摆的控制设计。针对第一部分系统作业臂的定位和消振的控制设计，本文基于奇异摄动理论将作业臂柔性多体动力学方程的刚性坐标和弹性坐标耦合项解耦，分解成作业臂刚性转角慢变系统和弹性变形快变系统两个子系统，然后研究了两个子系统的控制方法，，并设计出用于强耦合、非线性及不确定性的柔性作业臂慢变刚体运动的模糊PID控制来跟踪控制作业臂末端轨迹，设计出用于经变换后呈线性的柔性作业臂快变弹性运动的线性二次型最优控制来抑制作业臂弹性振动。针对第二部分系统作业臂的定位和消振的控制设计，本文将作业平台的摆动视为由驱动力矩作用于一个近似刚性系统而产生的大幅低频振荡，针对该类型的振动，在不影响系统结构、硬件和稳定性的前提下，设计了外循环输入整形器控制策略，抑制了工作平台的残留振荡。仿真表明，外循环输入整形器控制系统具有非常好的伺服性能，有效地抑制了工作平台的摆动。
[Abstract]:A folding aerial work vehicle is a special aerial work machine used to transport staff, use tools, materials, etc. to a designated position in the air for various installation, maintenance, etc. Widely used in various industries. With the rapid development of economy and science and technology, people have higher and higher performance requirements for high efficiency and high safety of aerial work vehicles, and continue to develop lightweight, High-speed and high-precision aerial vehicles are used for fire fighting and emergency rescue. The traditional research on rigid range of arm rod does not take into account the influence of flexible deformation on the dynamic performance of the whole system. The performance of aerial vehicle with lightweight flexible arm has not been satisfied, so the research direction of dynamics and control of aerial vehicle has been turned to the system with lightweight flexible arm. Based on the Lagrangian principle, the dynamic differential equations of the folding aerial vehicle boom are derived in this paper. The main factors that cause the strong coupling and nonlinear dynamic characteristics of the flexible working arm are analyzed immediately. The effects of several important structural parameters on the dynamics of the working arm are compared and analyzed. According to the different vibration characteristics, the system is designed in two parts: one is the positioning of the working arm and the other is the control design of the vibration suppression; The other part is the control design of the system working platform. In view of the control design of positioning and damping of the working arm of the first part of the system, the coupling terms of rigid coordinate and elastic coordinate of flexible multi-body dynamic equation of the working arm are decoupled based on singular perturbation theory. It is decomposed into two subsystems: the rigid rotation angle slowly variable system and the elastic deformation fast variable system. Then, the control methods of the two subsystems are studied, and the two subsystems are designed for strong coupling. The nonlinear and uncertain fuzzy PID control of the slow variable rigid body motion of the flexible manipulator is used to track the trajectory of the end of the control arm. A linear quadratic optimal control is designed to suppress the elastic vibration of flexible manipulators. For the second part of the design of the positioning and vibration control of the operating arm, this paper regards the swing of the platform as a large low frequency oscillation caused by the driving moment acting on an approximate rigid system, aiming at this type of vibration. Without affecting the structure, hardware and stability of the system, the control strategy of the external loop input shaper is designed to suppress the residual oscillation of the working platform. The simulation results show that the control system of the external loop input shaper has very good servo performance. The swing of the working platform is effectively restrained.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TH22

【参考文献】