【摘要】：高空作業(yè)車(chē)在基礎(chǔ)設(shè)施建設(shè)中應(yīng)用廣泛,但其普通操作模式存在低效率和對(duì)操作者熟練程度要求較高的缺點(diǎn)。本文根據(jù)伸縮臂高空作業(yè)車(chē)的運(yùn)動(dòng)特性,研究并設(shè)計(jì)出一種智能直線軌跡控制系統(tǒng)。該系統(tǒng)以操作平臺(tái)為控制目標(biāo),對(duì)高空作業(yè)車(chē)的變幅機(jī)構(gòu)、伸縮機(jī)構(gòu)、回轉(zhuǎn)機(jī)構(gòu)和平臺(tái)擺動(dòng)機(jī)構(gòu)進(jìn)行控制,實(shí)現(xiàn)操作平臺(tái)在特定方向上按設(shè)定速度運(yùn)動(dòng),如垂直升降、水平伸縮和水平回轉(zhuǎn)。 本文對(duì)直線軌跡控制系統(tǒng)對(duì)象進(jìn)行詳細(xì)分析,提出設(shè)計(jì)原則和設(shè)計(jì)要求；確定了由五個(gè)模塊組成控制系統(tǒng)的總體方案,并對(duì)各模塊功能進(jìn)行闡述；繪制控制流程圖。 直線軌跡控制系統(tǒng)屬于典型的電液比例位置控制系統(tǒng),且運(yùn)行時(shí)涉及多個(gè)機(jī)構(gòu)的復(fù)合協(xié)調(diào)動(dòng)作。本文采用主信號(hào)同時(shí)控制多個(gè)機(jī)構(gòu)動(dòng)作的控制策略；基于簡(jiǎn)化模型,推導(dǎo)出不同軌跡控制模式下各功能塊運(yùn)算方法；根據(jù)選用閥組特性,確定了閥的流量壓力增益系數(shù),同時(shí)推導(dǎo)并修正閥控缸和閥控馬達(dá)數(shù)學(xué)模型；并對(duì)控制系統(tǒng)的關(guān)鍵性能參數(shù)進(jìn)行分析研究。 本文根據(jù)國(guó)家標(biāo)準(zhǔn)擬定出直線軌跡控制性能指標(biāo),結(jié)合實(shí)際產(chǎn)品開(kāi)發(fā)要求,計(jì)算出各液壓回路驅(qū)動(dòng)負(fù)載并確定設(shè)備中元器件所需性能參數(shù),根據(jù)簡(jiǎn)化的物理模型建立控制系統(tǒng)的傳遞函數(shù),利用復(fù)合校正方法提升了初步校正回路的斜坡響應(yīng)性能,為控制系統(tǒng)達(dá)到性能指標(biāo)奠定基礎(chǔ)。 本文在ADAMS中搭建高空作業(yè)車(chē)簡(jiǎn)化物理模型,在MATLAB/Simulink中搭建系統(tǒng)控制模型,并控制系統(tǒng)設(shè)計(jì)中加入“死區(qū)+縮進(jìn)”策略,解決單出桿液壓缸快速換向帶來(lái)的干擾。上述研究?jī)?nèi)容為實(shí)現(xiàn)直線軌跡控制系統(tǒng)提供了理論基礎(chǔ)和技術(shù)保障,利用軟件聯(lián)合仿真建立了較完整的直線軌跡控制系統(tǒng)模型。利用聯(lián)合仿真模型,本文分別進(jìn)行垂直升降、水平伸縮和水平回轉(zhuǎn)仿真并獲得符合擬定性能指標(biāo)的控制效果。 本文成功設(shè)計(jì)并發(fā)明了一種高空作業(yè)車(chē)的直線軌跡控制系統(tǒng),可使人員簡(jiǎn)單快速操作設(shè)備,并能穩(wěn)定復(fù)現(xiàn)軌跡動(dòng)作,可明顯節(jié)省工作時(shí)間,提高工作效率,從而降低設(shè)備運(yùn)行成本,顯著增強(qiáng)設(shè)備的在同類(lèi)市場(chǎng)的競(jìng)爭(zhēng)力,具有明顯的應(yīng)用前景。
[Abstract]:High-altitude vehicle is widely used in infrastructure construction, but its common operation mode has the shortcomings of low efficiency and high requirement for operator's proficiency. According to the motion characteristics of telescopic aerial vehicle, an intelligent linear trajectory control system is studied and designed in this paper. Taking the operating platform as the control target, the system controls the amplitude-changing mechanism, the telescopic mechanism, the rotary mechanism and the platform swing mechanism of the high-altitude working vehicle, so that the operating platform can move at a set speed in a specific direction, such as vertical lifting and lifting. Horizontal expansion and horizontal rotation. In this paper, the object of linear trajectory control system is analyzed in detail, the design principle and design requirements are put forward, the overall scheme of the control system composed of five modules is determined, and the function of each module is expounded, and the control flow chart is drawn. The linear trajectory control system is a typical electro-hydraulic proportional position control system. In this paper, the main signal is used to control the movement of multiple mechanisms simultaneously, and based on the simplified model, the operation methods of each functional block under different trajectory control modes are deduced. According to the characteristics of the valve group, the flow and pressure gain coefficient of the valve is determined, and the mathematical models of the valve control cylinder and the valve control motor are deduced and modified, and the key performance parameters of the control system are analyzed and studied. In this paper, the performance index of linear trajectory control is drawn up according to the national standard. According to the requirements of actual product development, the driving load of each hydraulic circuit is calculated and the required performance parameters of the components in the equipment are determined. According to the simplified physical model, the transfer function of the control system is established, and the slope response performance of the primary correction loop is improved by using the compound correction method, which lays the foundation for the control system to achieve the performance index. In this paper, the simplified physical model of high-altitude working vehicle is built in ADAMS, the control model of system is built in MATLAB/Simulink, and the "dead-zone indentation" strategy is added in the design of control system to solve the interference caused by the quick commutation of hydraulic cylinder with single exit rod. The above research contents provide theoretical basis and technical support for the realization of linear trajectory control system. A relatively complete linear trajectory control system model is established by software co-simulation. By using the joint simulation model, the vertical lift, horizontal expansion and horizontal rotation simulation are carried out in this paper, and the control effect in accordance with the proposed performance index is obtained. This paper has successfully designed and invented a kind of linear trajectory control system for high-altitude working vehicles, which can make the personnel operate the equipment simply and quickly, and can stably reproduce the trajectory action, can obviously save the working time and improve the work efficiency. Therefore, the equipment operation cost can be reduced, and the competitiveness of the equipment in the same market will be greatly enhanced, which has obvious application prospect.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類(lèi)號(hào)】：TH211

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 賀浩;基于空間避障的冗余度高空作業(yè)車(chē)軌跡規(guī)劃[D];大連理工大學(xué);2013年

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本文編號(hào)：2439140