As a typical electronic control system, the control system of an aerial work platform is adopted to supervise its working condition in real time. It not only ensures the stability, reliability and security, but also serves as a performances index of an aerial work platform. Currently, the domestic manufactories of aerial work platforms almost don't master the control techniques. The techniques they own only suit for the special cases, with poor suitability and extensibility. Based on the current situation in this area, our work focusing on the crucial techniques of the modular control system is carried on with the cooperation of Xuzhou Handler Special Vehicle company. This work is supported by the special fund: Research and Industrialized of Roboticized Intelligent Control Systems on Aerial Work Platforms, the transformation of scientific and technological achievements of Jiangsu Province. First, the development of aerial work platforms and research situation of control system in China and abroad are presented. The meaning of modularization design for the control system of aerial work platforms is elaborated. Then the background of selected topic and main contents are introduced. Second, combining the characteristics of mechatronic control system, the overall plan of control system is designed from the aspect of the modularization to divide all modules into platform and functional modules. The design principles of hardware, software and communication bus will be described respectively. Furthermore, to take the aerial work platform as the plant, a modular embedded-control system is designed. Third, kinematics and dynamics of composite structure aerial work platforms are analyzed. The inverse kinematics solution is analyzed by constructing kinematics model using D-H method, and superfluous joint constraints are discussed. The dynamic model is constructed using Lagrangian-Eulerian method, and the booms and kinematic pairs are calculated and simulated by the combination of SolidWorks Motion Simulator. Finally, several important control problems are studied in the application of composite structure aerial work platforms, including automatic motion control, redundancy climbing obstacle motion control, anti-overturning control and so on. The corresponding control methods are proposed to improve the automatic, flexibility and safety of aerial work platforms. In the anti-overturning control, a hydraulic-cylinder- pressure-based anti-overtur...
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