摘要
设计一种能在起重机横梁上自动除锈和喷涂的跑车,跑车按照设定的路径在北斗导航系统制导下全自动运行。首先提高BDS定位精度,然后在分析喷涂跑车的机械运动特性基础上,设计出运动控制系统硬件电路。最后针对跑车运动模型设计出控制算法,并对喷涂跑车进行了测试,针对系统存在的问题,提出了改进措施。
In this paper, the derusting and painting trailer working on crane beam running under the control of the Beidou navigation system is developed. The improvement of the BDS＇ s localization precision base on real-time dynamic difference algorithm is studied. Secondly, the mechanical movement characteristics of the painting trailer is studied, and the hardware is designed. Thirdly, the tracking control algorithm for painting trailer is studied, and the painting trailer was tested, the problems of the system are analyzed and the improvement measures are put forward.
出处
《自动化与仪器仪表》
2016年第8期3-5,共3页
Automation & Instrumentation
基金
河南省高校重点科研项目(15B460010)
关键词
北斗卫星定位系统
位置随动系统
实时动态差分
喷涂跑车
跟随控制算法
beidou navigation satellite system
position servo system
real time kinematic
painting trailer
tracking control algorithm
