折臂式高空作业车轨迹跟踪与控制研究

Folding-boom aerial working vehicle tracking and control

针对折臂式高空车自动化控制程度较低的问题,以某型号18m折臂式高空作业车为研究对象,应用机器人学理论,通过建立其运动学模型,实现了作业平台的轨迹跟踪控制,为最终实现折臂式高空车常用工况下的自动控制打下基础.为解决折臂式高空车臂架液压系统控制精度低,控制存在滞后问题,建立了臂架液压系统的数学模型,针对该模型设计自整定模糊PID控制系统,在MATLAB/Simulink环境下,对控制系统进行仿真验证,仿真结果表明,加入自整定模糊PID控制器后,臂架系统的响应速度增加,稳态误差消除,跟随能力加强.

To resolve the low level of automatic control on folding-boom aerial working vehicles, a specific 18 m folding-boom aerial working vehicle is used as a case. By applying the robotics,a kinematic model is established to realize aerial working platform tracking and control for automatic control under normal working conditions. To resolve the low control precision and delay of boom hydraulic systems, relevant mathematical model is developed with a self - tuning fuzzy PID control system. Under MATLAB/ SimulinkTM environment, the control system is verified via simulation. From the simulation results, it is found that,with assistance of the selftuning fuzzy PID controller, the boom system response speed is increased, the steady-state error is eliminated, and the tracking ability is enhanced.