伸缩臂高空作业车直线轨迹控制研究
发布时间：2019-03-12 20:54
【摘要】：高空作业车在基础设施建设中应用广泛,但其普通操作模式存在低效率和对操作者熟练程度要求较高的缺点。本文根据伸缩臂高空作业车的运动特性,研究并设计出一种智能直线轨迹控制系统。该系统以操作平台为控制目标,对高空作业车的变幅机构、伸缩机构、回转机构和平台摆动机构进行控制,实现操作平台在特定方向上按设定速度运动,如垂直升降、水平伸缩和水平回转。 本文对直线轨迹控制系统对象进行详细分析,提出设计原则和设计要求；确定了由五个模块组成控制系统的总体方案,并对各模块功能进行阐述；绘制控制流程图。 直线轨迹控制系统属于典型的电液比例位置控制系统,且运行时涉及多个机构的复合协调动作。本文采用主信号同时控制多个机构动作的控制策略；基于简化模型,推导出不同轨迹控制模式下各功能块运算方法；根据选用阀组特性,确定了阀的流量压力增益系数,同时推导并修正阀控缸和阀控马达数学模型；并对控制系统的关键性能参数进行分析研究。 本文根据国家标准拟定出直线轨迹控制性能指标,结合实际产品开发要求,计算出各液压回路驱动负载并确定设备中元器件所需性能参数,根据简化的物理模型建立控制系统的传递函数,利用复合校正方法提升了初步校正回路的斜坡响应性能,为控制系统达到性能指标奠定基础。 本文在ADAMS中搭建高空作业车简化物理模型,在MATLAB/Simulink中搭建系统控制模型,并控制系统设计中加入“死区+缩进”策略,解决单出杆液压缸快速换向带来的干扰。上述研究内容为实现直线轨迹控制系统提供了理论基础和技术保障,利用软件联合仿真建立了较完整的直线轨迹控制系统模型。利用联合仿真模型,本文分别进行垂直升降、水平伸缩和水平回转仿真并获得符合拟定性能指标的控制效果。 本文成功设计并发明了一种高空作业车的直线轨迹控制系统,可使人员简单快速操作设备,并能稳定复现轨迹动作,可明显节省工作时间,提高工作效率,从而降低设备运行成本,显著增强设备的在同类市场的竞争力,具有明显的应用前景。
[Abstract]:High-altitude vehicle is widely used in infrastructure construction, but its common operation mode has the shortcomings of low efficiency and high requirement for operator's proficiency. According to the motion characteristics of telescopic aerial vehicle, an intelligent linear trajectory control system is studied and designed in this paper. Taking the operating platform as the control target, the system controls the amplitude-changing mechanism, the telescopic mechanism, the rotary mechanism and the platform swing mechanism of the high-altitude working vehicle, so that the operating platform can move at a set speed in a specific direction, such as vertical lifting and lifting. Horizontal expansion and horizontal rotation. In this paper, the object of linear trajectory control system is analyzed in detail, the design principle and design requirements are put forward, the overall scheme of the control system composed of five modules is determined, and the function of each module is expounded, and the control flow chart is drawn. The linear trajectory control system is a typical electro-hydraulic proportional position control system. In this paper, the main signal is used to control the movement of multiple mechanisms simultaneously, and based on the simplified model, the operation methods of each functional block under different trajectory control modes are deduced. According to the characteristics of the valve group, the flow and pressure gain coefficient of the valve is determined, and the mathematical models of the valve control cylinder and the valve control motor are deduced and modified, and the key performance parameters of the control system are analyzed and studied. In this paper, the performance index of linear trajectory control is drawn up according to the national standard. According to the requirements of actual product development, the driving load of each hydraulic circuit is calculated and the required performance parameters of the components in the equipment are determined. According to the simplified physical model, the transfer function of the control system is established, and the slope response performance of the primary correction loop is improved by using the compound correction method, which lays the foundation for the control system to achieve the performance index. In this paper, the simplified physical model of high-altitude working vehicle is built in ADAMS, the control model of system is built in MATLAB/Simulink, and the "dead-zone indentation" strategy is added in the design of control system to solve the interference caused by the quick commutation of hydraulic cylinder with single exit rod. The above research contents provide theoretical basis and technical support for the realization of linear trajectory control system. A relatively complete linear trajectory control system model is established by software co-simulation. By using the joint simulation model, the vertical lift, horizontal expansion and horizontal rotation simulation are carried out in this paper, and the control effect in accordance with the proposed performance index is obtained. This paper has successfully designed and invented a kind of linear trajectory control system for high-altitude working vehicles, which can make the personnel operate the equipment simply and quickly, and can stably reproduce the trajectory action, can obviously save the working time and improve the work efficiency. Therefore, the equipment operation cost can be reduced, and the competitiveness of the equipment in the same market will be greatly enhanced, which has obvious application prospect.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH211
本文编号：2439140
[Abstract]:High-altitude vehicle is widely used in infrastructure construction, but its common operation mode has the shortcomings of low efficiency and high requirement for operator's proficiency. According to the motion characteristics of telescopic aerial vehicle, an intelligent linear trajectory control system is studied and designed in this paper. Taking the operating platform as the control target, the system controls the amplitude-changing mechanism, the telescopic mechanism, the rotary mechanism and the platform swing mechanism of the high-altitude working vehicle, so that the operating platform can move at a set speed in a specific direction, such as vertical lifting and lifting. Horizontal expansion and horizontal rotation. In this paper, the object of linear trajectory control system is analyzed in detail, the design principle and design requirements are put forward, the overall scheme of the control system composed of five modules is determined, and the function of each module is expounded, and the control flow chart is drawn. The linear trajectory control system is a typical electro-hydraulic proportional position control system. In this paper, the main signal is used to control the movement of multiple mechanisms simultaneously, and based on the simplified model, the operation methods of each functional block under different trajectory control modes are deduced. According to the characteristics of the valve group, the flow and pressure gain coefficient of the valve is determined, and the mathematical models of the valve control cylinder and the valve control motor are deduced and modified, and the key performance parameters of the control system are analyzed and studied. In this paper, the performance index of linear trajectory control is drawn up according to the national standard. According to the requirements of actual product development, the driving load of each hydraulic circuit is calculated and the required performance parameters of the components in the equipment are determined. According to the simplified physical model, the transfer function of the control system is established, and the slope response performance of the primary correction loop is improved by using the compound correction method, which lays the foundation for the control system to achieve the performance index. In this paper, the simplified physical model of high-altitude working vehicle is built in ADAMS, the control model of system is built in MATLAB/Simulink, and the "dead-zone indentation" strategy is added in the design of control system to solve the interference caused by the quick commutation of hydraulic cylinder with single exit rod. The above research contents provide theoretical basis and technical support for the realization of linear trajectory control system. A relatively complete linear trajectory control system model is established by software co-simulation. By using the joint simulation model, the vertical lift, horizontal expansion and horizontal rotation simulation are carried out in this paper, and the control effect in accordance with the proposed performance index is obtained. This paper has successfully designed and invented a kind of linear trajectory control system for high-altitude working vehicles, which can make the personnel operate the equipment simply and quickly, and can stably reproduce the trajectory action, can obviously save the working time and improve the work efficiency. Therefore, the equipment operation cost can be reduced, and the competitiveness of the equipment in the same market will be greatly enhanced, which has obvious application prospect.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH211
【引证文献】
相关硕士学位论文 前1条
1 贺浩;基于空间避障的冗余度高空作业车轨迹规划[D];大连理工大学;2013年
，本文编号：2439140
本文链接：https://www.wllwen.com/kejilunwen/jixiegongcheng/2439140.html
