| 英文摘要 | The aerial work platform is a major machinery equipment for manned work, which is widely used in various sectors of national economic constructions. With the social development and technological progress, the standards of aerial work platform’s automation, humanization, and intellectualization are higher and higher. Therefore, combining the new control technology in the other fields and the aerial work platform, which is the specific object, to develop the intelligent controller is an important way to promote technological progress in the industry. Aerial work platforms can be divided into three types in accordance with the boom structures. That is the telescopic-booms, folding-booms and mixed-booms. And telescopic-boom aerial work platform, because of its relatively simple structure, small size, high operating height’s advantages, has become the industry’s main direction of development. This paper mainly uses the technology related to the robot control to develop the aerial work platform’s control systems, and makes deeply research of the kinematic analysis, anti-rollover control and trajectory tracking control method of the telescopic-boom aerial work platform. First, based on the comprehensive analysis of the current control technology on aerial work platforms, to reach the functional requirements of the intelligent control, this paper designs the control modules using the embedded ARM platform. For the feature of the low efficiency of the SDO communication in "CANopen protocol", which is the application layer protocol for CAN bus, the improved scheme is achieved in the application of the control system on the aerial work platform. Also, the software and hardware design is developed. Secondly, this paper presents an anti-rollover control method based on the kinematic analysis of the robotic arm. The structure and kinematics of the aerial work platform’s robotic arm is analyzed to derive the kinematic equations and achieve the conversion between the Cartesian coordinate system and the joint coordinate system. And further, combined with the results of kinematical analysis, the secured operation work space of the aerial platform is given, also is the limited motive curve of the robotic arm, implementing the anti-rollover control. Finally, a trajectory tracking control method of the multi-freedom robotic arm end is proposed. Through the research of the hydraulic power system’s and hydraulic proportional flow valve’s characteristics, this ... |
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