摘要
In order to achieve an automatic leveling function for work platforms of aerial vehicles with mixed-booms( MAV) in full elevating domain,an auto-leveling mechanism for the platform is proposed based on a control method of booms-constraint,where mixed-boom structures and elevating characteristics are considered. Three models of constraint strategies include non-constraint model,elevating constraint model and lowering constraint model,which is designed to meet the leveling requirements in full working extent. Through the hydro-mechatronic unified modeling,a virtual prototype model is set up based on the auto-leveling mechanism,and leveling performances of the platform are studied during booms elevating to the maximum working height and extent. Simulation results show that the control method of booms-constraint can realize auto-leveling of the platform under two typical working conditions,meanwhile a leveling deviation appears at the constrained point,but the platform inclination is adjusted in the permissible range. The control method does not only restrict booms' freedom elevating to a certain extent,but also impacts the booms extending to the maximum working range. Experimental results verify that the auto-leveling mechanism based on booms-constraint control is valid and rational,which provides an effective technology approach for development of the platform leveling of MAV.
In order to achieve an automatic leveling function for work platforms of aerial vehicles with mixed-booms（ MAV） in full elevating domain,an auto-leveling mechanism for the platform is proposed based on a control method of booms-constraint,where mixed-boom structures and elevating characteristics are considered. Three models of constraint strategies include non-constraint model,elevating constraint model and lowering constraint model,which is designed to meet the leveling requirements in full working extent. Through the hydro-mechatronic unified modeling,a virtual prototype model is set up based on the auto-leveling mechanism,and leveling performances of the platform are studied during booms elevating to the maximum working height and extent. Simulation results show that the control method of booms-constraint can realize auto-leveling of the platform under two typical working conditions,meanwhile a leveling deviation appears at the constrained point,but the platform inclination is adjusted in the permissible range. The control method does not only restrict booms＇ freedom elevating to a certain extent,but also impacts the booms extending to the maximum working range. Experimental results verify that the auto-leveling mechanism based on booms-constraint control is valid and rational,which provides an effective technology approach for development of the platform leveling of MAV.
基金
Supported by the National Natural Science Foundation of China(No.51509006)
National Key Technology R&D Program(No.2015BAF07B08)
Fundamental Research Funds for the Central Universities of Chang’an University(No.310825161008)
