基于自学习的JJC型接触网检修车平台位置精度控制算法

Self-learning Based Location Accuracy Control Algorithm for JJC Catenary Maintenance Vehicle Platform

为了解决控制系统延迟导致JJC型接触网作业车平台上升过程中非线性位置精度误差大的问题,文章对平台的升降机构进行数学建模和运动特性分析,并以驱动油缸固定伸出量作为研究对象,采用系统自学习方法,解决了环境温度、程序更新等因素对位置控制精度的影响问题。实验结果表明,平台实际上升停止高度与设定高度之间控制误差可由原来的大于10 mm提升到现在的3 mm以内,满足了两平台高度差在10 mm内的技术要求。

Delay of the control system may introduce large error of non-linear position precision during the rising process of a JJC catenary working platform. It built a mathematical model for the platform lifting mechanism and analyzed its movement characteristics. By taking fixed out quantity of the drive cylinder as the research object, the problems that the environmental temperature and program update factors that influence the control precision have been solved using self-learning method. The experimental results show that the error can be reduced from more than 10 mm to less than 3 mm between actually stop height and original set height, which successfully meets the technical requirements of 10 mm design precision between the two platforms.