折叠式高空作业车动力学分析及残留振荡抑制方法研究

发布时间：2018-04-23 06:27

本文选题：折叠式高空作业车 + 稳定性分析　；参考：《电子科技大学》2011年硕士论文

【摘要】：高空作业车是当今广泛应用在市政、园林、电力、消防、航空等行业的专用设备之一。随着我国经济的迅猛发展,对其的需求量越来越大,对其性能的要求也越来越高。但是目前国内高空作业车的开发能力、产品规模和质量都与国外有相当大的差距。而随着我们加入WTO,高空作业车在国内国际市场上竞争更激烈。因此,研究和探索高空作业车的动力学特性和作业平台的残留振荡的抑制,以便设计和生产出作业高度更高、操作更平稳可靠的高空作业车是当前最为紧迫的课题。本课题以应用广泛的折叠式高空作业车作为研究对象,鉴于实际工况中作业车存在的问题,首先对其进行了水平面上稳定性和作业稳定性分析,研究了一些重要结构参数对作业车稳定性的影响程度。其次,当作业臂做加速上升或下降运动时,作业平台会产生强烈的振动,因此有必要对折叠式高空作业车进行动力学分析。本文运用分析动力学法对折叠式高空作业车的作业平台进行动力学分析,即运用拉格朗日方程法对作业平台建立起了动力学模型,研究了在Bang-Bang输入下作业平台的动态特性,运用一种鲁棒性开环控制方法,即输入整形方法,对系统输入进行整形控制,通过数字仿真实验验证了此种方法对抑制作业平台摆动的有效性。最后,对基于柔性地基作业的折叠式高空作业车系统进行动力学分析,利用拉个朗日方程法建立了系统的非线性动力学方程。数值仿真了所考虑的折叠式高空作业车系统在作业时的摆动情况。
[Abstract]:Aerial vehicle is widely used in municipal, garden, electric power, fire fighting, aviation and other industries. With the rapid development of economy in our country, the demand for it is increasing and the demand for its performance is becoming higher and higher. However, the development ability, product scale and quality of domestic aerial vehicle are far from those of foreign countries. And as we join WTO, aerial vehicles in the domestic and international market more fierce competition. Therefore, it is the most urgent task to study and explore the dynamic characteristics of the aerial vehicle and the suppression of the residual oscillation of the operating platform in order to design and produce the aerial work vehicle with higher operating height and more stable and reliable operation. In this paper, the foldable aerial work vehicle is widely used as the research object. In view of the problems existing in the actual working conditions, the stability and operation stability of the vehicle in horizontal plane are analyzed firstly. The influence of some important structural parameters on the stability of the operating vehicle is studied. Secondly, the platform will produce strong vibration when the arm moves up or down, so it is necessary to analyze the dynamics of the folding aerial vehicle. In this paper, the analytical dynamics method is used to analyze the operation platform of folding aerial vehicle, that is, the Lagrange equation method is used to establish the dynamic model of the platform, and the dynamic characteristics of the platform under the input of Bang-Bang are studied. A robust open-loop control method, I. E. input shaping method, is used to control the input of the system. The effectiveness of the method is verified by digital simulation. Finally, the dynamic analysis of the folding aerial vehicle system based on flexible foundation operation is carried out, and the nonlinear dynamic equation of the system is established by using the Lagrangian equation method. The swing of the folding aerial vehicle system is simulated numerically.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH211.6

【引证文献】