摘要
以直臂高空作业车为研究对象,以其在船舶喷涂作业方面的应用为研究背景。提出了一种"船体轮廓连续喷涂"智能喷涂方式,建立了臂架末端位置向量与驱动空间向量之间的映射关系。针对船体轮廓连续喷涂模式,设计一种路径规划策略,实现在已知路径条件下得到驱动空间各变量的变化规律。根据电液比例位置控制系统的传递函数,在Simulink环境下建立船体轮廓连续喷涂轨迹控制系统模型,设计了由PID控制器及前馈补偿器共同构成的校正环节,并针对轨迹规划方案进行了仿真分析,得到的仿真结果反映了控制系统针对轨迹控制信号良好的跟随性。
Telescopic boom aerial work platform, which has been widely applied in ship building field, is taken as research object. An intelligent method of spray painting, continuous spray painting along hull＇s contour was proposed. Correspondence between position vector of boom＇s top and drive-space vector was established. A path planning strategy of continuous spray painting was designed, and the variation of driving-space vector was acquired when the path was known. The trajectory control system of intelligent spray painting was modeled in Simulink environment based on the transfer function of electro-hydraulic proportional position control system. The correction link made of PID controller and feed-forward compensation was designed. The simulation and analysis of the spray painting method were completed. The good following behavior of control system according to the trajectory control signal was revealed in the simulation result.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2016年第2期404-409,共6页
Journal of System Simulation
基金
辽宁省高等创新团队支持计划(LT2014001)
中央高校基本科研业务专项(DUT14ZD221)
关键词
直臂高空作业车
轨迹控制
PID
前馈补偿
telescopic boom aerial work platform
trajectory control
PID
feed-forward compensation
