折叠桥梁机构架设轨迹优化自动控制仿真研究

Research on Trajectory Optimization and Automatic Control Emulation of Folding Bridge Mechanism

针对某型军用折叠桥梁机构手动控制精度差等不足,进行桥梁运动轨迹规划及优化仿真研究,使得桥梁实现自动精准的架设控制作业。首先基于折叠桥梁作业特性分析,确定桥梁运动轨迹,建立桥梁运动学模型与油缸伸长量-关节转角关系模型,通过轨迹特性分析,将轨迹控制转换为油缸行程协同控制。由于油缸行程关系曲线存在跳跃突变阶段,会导致自动控制过程产生冲击,利用函数插值算法进行优化处理,结合桥梁轨迹规划控制系统得到桥梁优化轨迹,仿真研究表明优化轨迹满足防碰撞安全要求,并增加了平滑性,进一步提高了桥梁架设作业速度与安全性。

In order to increase control accuracy of manual control of a certain type military folding bridge, the mo- tion trajectory planning and optimization emulation of military bridge is studied, so as to realize its automatic erection control operation. Based on operation characteristic analysis of folding bridge, the space trajectory model of the bridge and relationship between hydraulic cylinder length and turn angle of mechanism joints is built, then the bridge attitude is converted to co - control stroke of bridge cylinder based on trajectory characteristic analysis. Because there is a discontiguous phase in cylinders stroke relation curve, which will lead to impact during the bridge automatic con- trol process, the interpolation algorithm is used to optimize cylinder stroke, then the bridge optimization trajectory as- sociated with trajectory planning control system is obtained. Emulation test results show that the optimization trajecto- ry can meet the requirement of anti - collision, and improve the smoothness, speed and safety of the bridge erection operation