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高空作业车安全作业的关键控制技术研究
Alternative TitleResearch on Key Control Technologies for the Safe Operation of Aerial Work Platform
贾鹏霄
Subtype工学博士
Thesis Advisor梁自泽
2013-11-29
Degree Grantor中国科学院大学
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword高空作业车 倾翻稳定性 振颤抑制 防摆控制 Aerial Work Platform Tip-over Stability Vibration Suppression Vibration Suppression
Abstract高空作业车是一种将作业人员、工具、材料等通过作业平台举升到空中指定位置,进行安装、维修等作业的专用高空作业机械。随着经济的发展,高空作业车在日常生活中得到了广泛的应用。为了满足实际工作中越来越多的大作业范围、高作业效率的应用需求,高空作业车需要具有超高程、远距离、高机动的快速作业能力,而快速、大范围的机动作业同时也给高空作业车带来一定的安全隐患。因此,在满足大范围、快速作业需求的同时,如何保障高空作业车的安全作业性能成为避免安全事故的发生、提升高空作业车整体水平的重要研究问题。 本文从高空作业车安全作业的角度入手,围绕高空作业车安全作业的关键控制技术展开研究,主要涉及伸缩臂型高空作业车的防倾翻监控与预警、自行走高空作业车的防倾翻控制、高空作业车作业平台振颤抑制、高空作业车起重吊装作业时的防摆控制以及高空作业车控制系统的设计等方面的问题,论文的主要工作包括如下几个方面: 第一,针对伸缩臂型高空作业车的防倾翻控制问题,提出了一种幅度限制的防倾翻控制方法。通过分析高空作业车伸缩臂架的运动学,对幅度限制区域进行划分,得到了高空作业车伸缩臂架的安全作业空间。由安全作业空间可得到幅度限制的临界值。在实际控制系统中,将实时幅度值与幅度限制的临界值进行比较实现了伸缩臂型高空作业车的防倾翻监控与预警。 第二,针对自行走高空作业车的防倾翻控制问题,将其简化为一个移动机械臂,提出了一种自行走高空作业车的防倾翻控制方法。通过对自行走高空作业车建模得到其线性化模型,利用完全状态反馈实现了对模型中底盘的位置控制,引入ZMP理论作为臂架运动的限制条件,得到了模型中臂架运动的控制律;通过对模型中底盘和臂架运动轨迹的跟踪实现了自行走高空作业车的防倾翻控制。仿真实验验证了该方法的有效性。 第三,针对高空作业车作业平台的振颤抑制问题,设计了一种鲁棒的振颤抑制控制器。基于Euler-Bernoulli梁理论,采用假设模态法建立了液压缸驱动的高空作业车柔性臂架动力学模型;考虑臂架的柔性以及系统参数的不确定性,设计了基于滑模控制和Backstepping的振颤抑制控制器。仿真实验验证了该控制器对抑制振颤的有效性和鲁棒性。 第四,针对高空作业车起重吊装作业时的防摆控制问题,采用拉格朗日方法建立了高空作业车吊摆系统的动力学模型,并分别针对臂架俯仰运动和转台回转运动设计了各自的防摆控制器。针对臂架俯仰运动引起的负载摆动,设计了一种输入整形结合模糊控制的复合控制器;针对转台回转运动引起的负载摆动,利用Lyapunov稳定性理论设计了一种非线性反馈控制器。仿真实验验证了吊摆系统动力学模型的正确性以及防摆控制器的有效性。 第五,开发了高空作业车的智能控制系统并进行了初步的实验研究。实验结果表明开发的控制系统可以取得良好的运动控制效果。 最后,对本文的研究成果进行了总结,并指出需要进一步开展的工作。
Other AbstractAerial work platform is a kind of special aerial work machinery used for lifting the operator, tool, material to the specified location by platform for the installation, maintenance and other operations. Aerial work platform has been widely used in daily social life with economic development. Aerial work platform is required for fast, large-scale operation in order to pursuit the larger operation range and higher operation efficiency, but fast, large-scale operation is bound to bring some security risk. In order to avoid the loss caused by accidents, the higher safe performance of aerial work platform is required when pursuing efficiency. Aiming at the safe operation of aerial work platform, the key control technologies for safe operation of aerial work platform are explored in this thesis. Some relevant topics such as design of intelligent control system for aerial work platform, anti-rollover control and early warning for aerial work platform, anti-rollover control for self-propelled aerial work platform, vibration suppression for light weight long beam aerial work platform and anti-sway control for aerial work platform used for lifting are discussed. The main contributions of this thesis include following issues: Firstly, a kind of amplitude restricted anti-rollover control method is proposed for the anti-rollover control issue of telescopic aerial work platform. The safe operation work space of aerial work platform is derived by dividing the amplitude restricted areas and kinematic analysis of the telescopic boom. The amplitude restricted threshold is derived by the safe operation work space. The anti-rollover monitoring and early warning for telescopic aerial work platform can be achieved by comparing the real-time amplitude and amplitude restricted threshold in actual control system. Secondly, a kind of anti-rollover control method for self-propelled aerial work platform is proposed for the anti-rollover control issue of self-propelled aerial work platform. The linearized model is obtained through the establishment of self-propelled aerial work platform model. The position control of chassis in the model is achieved by using full state feedback and the motion control law of boom in the model is derived by introducing the ZMP theory as restrictions for boom movement. The anti-rollover control of self-propelled aerial work platform is achieved by tracking the trajectories of chassis model and boom model. The anti-rollover control method is verified...
shelfnumXWLW1972
Other Identifier201018014628007
Language中文
Document Type学位论文
Identifierhttp://ir.ia.ac.cn/handle/173211/6570
Collection毕业生_博士学位论文
Recommended Citation
GB/T 7714
贾鹏霄. 高空作业车安全作业的关键控制技术研究[D]. 中国科学院自动化研究所. 中国科学院大学,2013.
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