桶形基础平台沉浮过程的建模与控制

Modeling and control of bucket-foundation platforms during raising and lowering

为了实现桶形基础平台的平稳下沉和上浮,首先将平台沉浮过程的运动分解为纵向运动和横向运动,并建立了二者的数学模型。在此基础上,给出了桶形基础平台平稳沉浮的控制策略和算法,通过模型试验验证了这一控制方法的可行性。

To realize steady lowering and raising for bucketfoundation platforms, the lowering and raising motions are decomposed to longitudinal and transverse motions based on implement mechanism, and their mathematic models are built. Then, the control maneuver and arithmetic for the stable motion of bucketfoundation platforms are offered, and model tests are performed for validating the feasibility.