高空作业平台调平链传动动态特性研究

Research on dynamic performance of aerial work platform leveling chain transmission

链传动机构可作为高空作业平台电液比例调平系统,针对链条的横向振动对系统动态性能的影响,提出了采用不必基于模型的单神经元自适应PID和干扰观测器相结合的控制策略。通过设置干扰观测器加快了链条振动扰动的消除,单神经元PID的控制作用使系统输出能够更快地跟踪系统输入。以某型54 m高空作业平台调平系统为例,综合考虑长管道、阀控非对称缸等因素建立了系统模型。仿真结果表明,采用闭环控制器相对常规PID控制系统鲁棒性增强。

As the aerial work platform electro-hydraulic proportional leveling system takes the chain system as its actuator,by referring to the influence on the dynamic performance of the system by the horizontal vibration of the chain system,this paper proposes the control strategy by combining the single neuron adaptive PID not based on the model with the disturbance observer.By setting the disturbance observer,the process for suppressing the vibration and disturbance is sped up,the control action of the single neuron PID enables the system output to follow the system input.Taking certain 54 m aerial work platform leveling system as an example,the system model is established by considering the long-pipe,valve-controlled asymmetrical cylinder and other parameters comprehensively.The simulation results show that the robustness has been enhanced by using the closed-loop controller comparing with traditional PID control system.