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Kinematics Simulation and Control of the Aerial Working Platform

Author: ZhuKeLou
Tutor: QiChaoZuo
School: Dalian University of Technology
Course: General and Fundamental Mechanics
Keywords: Altitude vehicles Kinematics simulation Trajectory planning Multi- body system kinematics Luffing mechanism
CLC: TU998.13
Type: Master's thesis
Year: 2011
Downloads: 134
Quote: 1
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Abstract

With the city building to the development of high-level, high-altitude operations and fire fighting tasks have become increasingly prominent, high-altitude operation truck as necessary city fire department fire tools also gradually to the development of ultra-height direction. Due to the increase in the height of its operation, the vehicle boom structure is complicated, causing the boom to expand the complex movement of movement and work platforms. The vehicle kinematics analysis is the basis of dynamic analysis, inverse kinematics problem of aerial vehicles being studied, to lay the foundation for the mechanical analysis of the vehicle. Vehicle boom movement, including the jib luffing movement and the jib telescopic movement, both movement control is done by driving the telescopic movement of the cylinder, so the boom motion control need to solve the mapping between the cylinder movement and jib movement. Due to the complexity of the cylinder drive mechanism, this mapping relationship is nonlinear. The existing literature on the the boom structure design a lot of research work, but there is no discussion of this mapping, not to study the the jib movement and control. This paper engineering practice to do the following five aspects of work, vehicle motion simulation and control. 1. Analysis of the three luffing jib system of aerial vehicles kinematics: Front double figure eight cylinder luffing mechanism, the folding jib luffing mechanism, three hinge points luffing mechanism. The mapping between the cylinder telescopic movement and jib luffing movement of the jib luffing movement control. Typical character type dual cylinder luffing mechanism, combined with engineering practice, give full consideration to the installation error and double cylinder telescopic motor incoordination jib luffing, and further analysis of how to control these errors in order to reduce the adverse effects of . The movement of the work platform converse solution, get in line with the actual boom motion parameters to achieve the jib automatic start function. In order to improve the smooth movement of the work platform, an acceleration function for the combination of the sine function of trajectory planning method, this method can not only reduce the speed and acceleration of the peak, but also can reduce the running time, the work platform smooth motion avoid vibration and overshoot phenomenon, and improve operating efficiency. With this paper calculated derivation, and development of hybrid arm-altitude vehicles kinematics simulation analysis software. Analysis software vehicle boom commenced the process of simulation results verify the effectiveness of the proposed method. Vehicle kinematics cylinder telescopic control boom to expand the automation of the movement, to make up for the lack of control operations of the traditional artificial visual feedback, improve operating efficiency and accuracy of aerial vehicles.

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