CN102707730A - Hydraulic aerial cage operation platform trajectory control device - Google Patents

Hydraulic aerial cage operation platform trajectory control device Download PDF

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Publication number
CN102707730A
CN102707730A CN2012100972911A CN201210097291A CN102707730A CN 102707730 A CN102707730 A CN 102707730A CN 2012100972911 A CN2012100972911 A CN 2012100972911A CN 201210097291 A CN201210097291 A CN 201210097291A CN 102707730 A CN102707730 A CN 102707730A
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China
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jib
control
angle
platform
module
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CN2012100972911A
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Chinese (zh)
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CN102707730B (en
Inventor
滕儒民
刘鹏飞
王欣
曹旭阳
王鑫
王惠民
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大连理工大学
大连益利亚工程机械有限公司
大连理工大学(徐州)工程机械研究中心
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Publication of CN102707730A publication Critical patent/CN102707730A/en
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Abstract

The invention discloses a hydraulic aerial cage operation platform trajectory control device. The control device comprises an operation mechanism (A), a detection device (B), a display and alarm device (C), a hydraulic operation loop (D) with pressure compensation, a coordinate location module (E), a forward resolving module (F), a deflection compensation module (G), a speed setting module (H), an algorithm optimization module (I), and a programmable controller (J). The control device provided by the invention can significantly improve the work efficiency of the hydraulic aerial cage, reduce the labor intensity of operators, and lower the energy consumption as well as the use cost.

Description

High-altitude operation vehicle operating platform TRAJECTORY CONTROL device
Technical field
The present invention relates to luffing telescopic arm aerial lift device field, particularly high-altitude operation vehicle operating platform control device.
Background technology
High-altitude operation vehicle is to be used for transporting staff and the special engineered vehicle that uses equipment to carry out operation to specified altitude assignment, and operating platform is that staff and the device that uses equipment are carried aloft in Operation Van.Application of the present invention is the straight-arm high-altitude operation vehicle of band telescoping mechanism, and its jib is installed in the hydraulic oil cylinder driving luffing on turntable and the jib respectively by two ends, and jib is flexible to be realized by oil cylinder drive telescoping mechanism (like rope row, sprocket wheel etc.).
High-altitude operation vehicle carries out cleaning glass up and down or when the roof order is installed object along the skyscraper wall, or when arriving assignment point fast, for making operating platform orbiting motion as expected, the operator needs constantly to operate luffing and telescoping handle.To this typical case " open loop " motion control method, just require the operator to have higher operative skill.And only relying on operator's vision, implementation platform is very difficulty and very difficult reproduction along desired trajectory.In contrast; " closed loop " of the present invention kinetic control system utilizes the long angle transducer and the linear transducer on the oil cylinder that are installed on the jib to detect the via controller computing; Realize that operating platform accurately along drafting orbiting motion and can reappearing, for example moves along the wall up-down or along the wall top.
Application and the development on engineering machinery of electronics and hydraulic technique makes that TRAJECTORY CONTROL is able to use in various engineering equipment.At present on equipment such as concrete mixer, excavator, shovel loader, crawler crane, swing arm tower machine, fork truck, occurred to realize carrying out the control system of operation and having applied for many patents by setting track.
On high empty wagons, utilize controller, the motion control that has realized has following aspect:
(1) utilizes the workbench horizon sensor, carry out the real-time leveling of platform.
(2) utilize the long angle transducer of jib, the flexible and up-down of control jib makes equipment work in the safety work interval.After controller receives this sensor signal simultaneously, according to different jib operating modes, the restriction car load speed of travel.
(3) utilize the turntable horizon sensor, detect the complete machine angle of inclination, limit the corresponding mechanism action.
(4) utilize the platform load sensor, limit platform load and be no more than rated load, guarantee complete machine stability.
Belong to the usually essential installed device of high empty wagons with upper sensor.The controller sensor-lodging according to the program of establishment, is made corresponding steering order.But above-mentioned motion control is confined to specified point or local restricted action, and the present invention has then realized a kind of continuity TRAJECTORY CONTROL.
Following content is and this patent protection similar patent of content and document, but all has obviously difference and summary as follows:
Number of patent application is 201110027467.1, and name is called has introduced the work method for controlling trajectory that adopts six steps to realize a kind of aerial work platform in " a kind of work method for controlling trajectory of aerial work platform ".Controlling parts and the functions of use thereof selected for use have been introduced in this patent.In the patent algorithm, introduced through the multiple sensors acquired signal, via controller calculates actual demand length and angle.But there is following technical matters:
(1) control algolithm of patent discloses insufficient.Though provided the error compensation notion in this patent, through controller, set forth upward smudgy with the concrete compensation that pwm signal affacts on the proportioning valve in the difference of utilizing desired value and state value.Specifically there are following four problems: the one; Pwm signal affacts on the proportioning valve in this patent, and proportioning valve is the nonlinear element in the The whole control, promptly the delivery rate of proportioning valve not can with the proportional relation of Control current PWM value; So only go out the minimum and maximum electric current of proportioning valve through experiment measuring; Adjust pwm signal in any case and can not can not get the control requirement described in the literary composition, can not realize error compensation, and then can not realize said control function; The 2nd,, can know by engineering control theory, only have in the position control one type system of degenerative typical valve-controlled cylinder at this, when the signal behind trigonometric function operation as input command, executive system can produce steady-state error, can't realize the full remuneration of error; The 3rd,, in realizing the desirable VTOL (vertical take off and landing) and horizontal stretching motion that this patent is set forth, there is not the angle of revolution to participate in computing.The 4th,, this patent does not clearly provide angle of revolution and jib angle and change angle mathematical operation relation.
(2) there is potential safety hazard during this patent working.As equipment, guarantee that operator safety is primary with personnel's lifting work high above the ground.The horizontal rotation action of carrying out in the literary composition is only considered working arm revolution, luffing and flexible, and has been ignored the revolution control to manned operating platform.When implementing the horizontal rotation of this patent description; According to the said horizontal rotation of only realizing the working arm arm head of this patent; Operating platform then produces angle with the horizontal rotation plane of arm head in this motion, thereby is positioned at the horizontal rotation that the terminal operating platform of jib can not carry out deviser's expectation.This control the possibility of result causes operating platform and the high-altitude object that closes on to bump, and not only causes device damage, even harm operating personnel life security, causes security incident.
(3) this patent lacks the integrality of said action controlling element.The high-altitude operation vehicle jib often combines for a few joint jib overlap joints.Because of overlapping the gap between jib deadweight, platform load effect and the jib, jib all can produce obvious deflection deformation.Along with jib length increases, deflection deformation can be remarkable more, has a strong impact on the position control effect that this patent is set forth.Do not relate to deflection deformation in this patent, do not propose solution yet.
Set forth a kind of motion control method of aerial work platform in the document " Motion control of an aerial work platform ".The document is utilized high theory of mechanisms; To control with detected parameters and transform in cartesian coordinate system, joint coordinate system and execution space coordinates; Relate to theoretical complicated; Arithmetic speed and control accuracy to the control system components and parts are had relatively high expectations, thus selected specific high side controller in the document for use, thus make this control method cost expensive.This complex calculation control method can't realize on the high-altitude operation vehicle general purpose control device at present.This patent carries out model simplification, adopts plane analytic geometry to find the solution, and the simple TRAJECTORY CONTROL function that also effectively realized can realize on the high-altitude operation vehicle general purpose control device at present.
Set forth a kind of level luffing control method of crawler crane in the document " Level luffing control system for crawler crane ".The control system that the document proposes is applicable to crawler crane, and its controlling object is luffing motor and lifting motor.The document mainly proposed and solved the swing that jib causes because of insufficient rigidity, executive component non-linear, because of hang carry with engine speed cause the different and startup of control characteristic moment than four problems of mistake.
Causing on the problem of swing that to solving jib rigidity document has only adopted the complex correction method of feedforward and feedback, and this patent adopts different bearing calibrations respectively to each link.On to solution linear elements nonlinear problem, document adopts the measure of electric signal control compensation, and this patent employing is with pressure compensated proportional valve element to solve.Can on this patent objective for implementation, not occur in the document latter two problems.
Number of patent application is 06119983.2, and name is called the path control and the vibration suppression of having set forth a kind of radial type ascending stair or lifting platform in " Articulated ladder or raisable platform position path control and active vibration damping ".This patent utilization multiple sensors acquired signal also is input to computing in the controller, realizes the accuracy in the independent mechanism kinematic process, and suppresses to vibrate in the motion process.This patent has only realized the stationarity control of independent mechanism action, does not carry out mechanism's composite move control, can not realize the control of operating platform along the particular line track.
Summary of the invention
(1) goal of the invention
The present invention seeks to realize that high-altitude operation vehicle operating platform VTOL (vertical take off and landing), level are stretched and the particular line orbiting motion of horizontal rotation.
(2) technical scheme
A) function button and operating grip
Function button comprises enable button, motor learning button and reproduction movement buttons.
At control panel enable button is set, is convenient to switch each other between normal operations and this intelligence operation.During the normal position of enable button, controling the face upper handle is the normal operations function.When needs use the TRAJECTORY CONTROL intelligence operation, must press this button and maintenance earlier, the control panel upper handle switches to the intelligence operation pattern and shields handle normal operations function.
Be provided with the motor learning button in the control panel,, start this button when when enable button is pressed and keep, controller can remember should the time period in high-altitude operation vehicle kinematic parameter (path, speed), and store.
Be provided with the reproduction movement buttons in the control panel, when when enable button is pressed and keep, start this button, high-altitude operation vehicle will reappear the last motion that stores, and not be activated until this button or enable button, and the reproduction action stops.
In the intelligence TRAJECTORY CONTROL, select two twin shaft ratio handles for use.VTOL (vertical take off and landing) function as shown in Figure 1 is carried out in the expression that moves up and down of first operating grip, and the operating grip side-to-side movement representes to carry out horizontal Telescopic as shown in Figure 2.The side-to-side movement of second operating grip representes to carry out horizontal rotation function as shown in Figure 3, operating function conductively-closed up and down.
B) sensor
Be checkout equipment jib state; Adopt long angle transducer to detect jib length and jib angle; Adopt linear transducer to detect amplitude oil cylinder length, adopt the turntable scrambler to detect the angle of revolution that turntable is got off relatively, adopt the angle of revolution of the relative jib of plateau coding device detecting operation platform.Measured value will be delivered to and carry out computing in the Programmable Logic Controller.
C) displaying alarm
Display device can be selected between the operation area of setting according to current complete machine state automatically, highlights on display screen, is beneficial to the clear and definite scope of work of operating personnel.Warning device is made up of pilot lamp and hummer, makes corresponding actions according to the controller steering order.When pressing the TRAJECTORY CONTROL enable button, the pilot lamp flicker.Press TRAJECTORY CONTROL enable button and operating grip, when letting platform move by particular track, pilot lamp constant, hummer send corresponding voice prompt, demonstrate the ideal movements track in the display device.
D) be with pressure compensated hydraulic loop
Turntable valve group comprises luffing, flexible and rotating three loops; The main valve in every loop all has pressure compensation; Make that the flow that promotes oil cylinder or motor motion is only relevant with the main valve aperture, promptly with control main valve electric current approximately linear proportionate relationship, and irrelevant with the driving load.Flexible simultaneously, luffing and three control loops of revolution do not disturb mutually, and are as shown in Figure 4.
Platform valve group comprises platform swing and platform leveling loop; The main valve in every loop all has pressure compensation; Make that the flow that promotes leveling cyclinder or rotary actuator motion is only relevant with the main valve aperture, promptly with control main valve electric current approximately linear proportionate relationship, and irrelevant with the driving load.Two control loops of leveling simultaneously and swing do not disturb mutually, and are as shown in Figure 5.
E) coordinate setting module
This module has the current principal arm state of detection and judges whether to allow to carry out intelligence operation.When starting intelligent TRAJECTORY CONTROL, this module receives the long angle transducer signal of jib, confirms jib angle and jib length; Receive the turntable code device signal, confirm the turntable angle of revolution, promptly jib is with respect to the angle of revolution of getting off; The receiving platform code device signal is confirmed the relative jib of operating platform angle of revolution.
In the XY plane, calculate the jib terminal position by controller, compare with show the equipment availability interval like Fig. 6, can carry out VTOL (vertical take off and landing) or the flexible intelligence operation judgement of level.When detecting the jib end and be positioned between the operation area envelope and adjacent domain thereof, allow vertically to rise or fall in action and level stretch or contract in an action.When operator's driving handle does not allow to move, alarm buzzing warning and complete machine attonity.
In the XZ plane, controller calculates the angle of revolution and operating platform angle of revolution with respect to jib of jib with respect to the positive dirction of getting off, with current arm support and the preservation of operating platform state parameter.
The speed priority of intelligence track operation is lower than the operating speed of stipulating between the operation area.Controller receives the detection signal of this module transmission in real time and compares with setting program.When the operation of intelligent track closes between the operation area envelope or other restriction point, the warning device alert; Between the operation of intelligent track is near the operation area, when envelope or other restriction point, limit intelligent track operation, the warning device buzzing is reported to the police.
F) forward is found the solution module
This module is carried out the computing of perfect condition operating platform motion path track.This module can carry out carrying out work after the intelligent track operation in the judgement of coordinate setting module, receives the detected jib of coordinate setting module, turntable and operating platform state parameter and lever operated signal.
When this module arithmetic VTOL (vertical take off and landing) and level are stretched, be the primary input reference quantity with the jib angle, the desirable control signal of amplitude oil cylinder and telescopic oil cylinder action is controlled in output respectively.
During this module arithmetic horizontal rotation, be the primary input reference quantity with the turntable angle of revolution, the desirable control signal of turntable rotary motor, amplitude oil cylinder, telescopic oil cylinder and the action of operating platform rotary actuator is controlled in output respectively.
In VTOL (vertical take off and landing) reduced graph as shown in Figure 7, guarantee that jib OC keeps constant in horizontal X axial projection length in the motion process, calculate as follows:
(1)
(2)
In the flexible reduced graph of level as shown in Figure 8, guarantee that jib OC keeps constant in vertical Y axial projection length in the motion process, calculate as follows:
(3)
(4)
In horizontal rotation reduced graph as shown in Figure 9; Guarantee that the projection of jib OC in the XY plane keeps constant in the motion process; Promptly all keep constant along Y axial projection length with along X axial projection length ; In conjunction with Fig. 7 and Fig. 8, calculate as follows:
(5)
(6)
(7)
(8)
(9)
(10)
Utilize sensor with physical length and computational length, the angle of revolution compares with calculating angle, and both differences are imported computing in loops, and it is following to calculate luffing, flexible, turntable revolution and platform swing control loop departure respectively:
(11)
(12)
(13)
(14)
(15)
In the formula: is the jib error in length; is the jib physical length; is jib telescopic oil cylinder error in length; is the ratio of jib length variations amount and jib telescopic oil cylinder length variations amount; is jib amplitude oil cylinder error in length; is jib amplitude oil cylinder physical length; is turntable angle of revolution error; is turntable revolution actual angle; is platform pendulum angle error, and is the actual pendulum angle of platform.
G) deflection compensation module
This module is calculated the fixedly deflection deformation amount of jib because of deadweight and platform loading generation, and this deflection is joined in the control cylinder action signal trajectory error that the modifying factor deflection deformation produces.Simultaneously in this module, add modifying factor, be used for the distortion that space of slider in the modifying factor jib overlap joint, jib crudy produce.In jib deflection deformation sketch 10; This module is calculated under the different jib states, jib change angle deflection compensation amount .
Show jib deflection deformation reduced graph according to Figure 10, utilize method of superposition to try to achieve jib flexural deformation and the angle compensation value is following:
(16)
(17)
H) speed setting link
National standard " GB/T 9465-2008 high-altitude operation vehicle " regulation, the hoisting of workbench, decline rate must not surpass 0.4m/s, are no more than 0.7m/s in the horizontal linear velocity of maximum magnitude measuring table outermost edge.Existing respectively with above-mentioned two values, computing system primary input reference quantity-jib change angle signal :
In VTOL (vertical take off and landing) reduced graph as shown in Figure 7:
(18)
Formula (18) both sides respectively to the time differentiate, are got following formula
(19)
With starting condition ; separates the differential equation; Ask platform 0.4 when at the uniform velocity going up and down, change angle is:
(20)
In the flexible reduced graph of level as shown in Figure 8:
(21)
Formula (21) both sides respectively to the time differentiate, are got following formula
(22)
With starting condition ; separates the differential equation; When asking platform 0.7 at the uniform velocity flexible, change angle is:
(23)
In horizontal rotation reduced graph as shown in Figure 9:
(24)
Formula (24) both sides respectively to the time differentiate, are got following formula
(25)
With starting condition ; separates the differential equation; Ask terminal 0.7 of jibwhen at the uniform velocity turning round, angle of revolution is:
(26)
At this moment; For keeping the operating platform direction of getting off relatively constant; Should reverse constant speed rotate, pendulum angle is:
(27)
I) algorithm optimization module
In the present intelligent track close loop control circuit of this module body; Amplitude oil cylinder, telescopic oil cylinder, turntable rotary motor, the action of platform rotary actuator are the closed-loop control system of band position feedback; The response performance of its control system and stability can influence should intelligence TRAJECTORY CONTROL effect; Be related to operator's on the platform comfortableness and security, directly influence the practicality of Based Intelligent Control.Through adding control algolithm, realize TRAJECTORY CONTROL be swift in motion, steadily, eliminate steady-state error, guarantee the TRAJECTORY CONTROL superperformance.
I.1 negative feedback adds the complex correction of feedforward: measured value and the controller operation values with amplitude oil cylinder, telescopic oil cylinder, turntable rotary motor, platform rotary actuator compares respectively, shown in formula (11), (12), (13), (14), (15).Add signal input feedforward path simultaneously, system that composition feedovers and FEEDBACK CONTROL combines greatly reduces steady-state error, forms complex correction;
I.2 PID controlling unit: between control signal and main valve, add PID, utilize its ratio, integration, the differential action;
I.3 the pid control algorithm that in flexible loop, adds the band dead band.
Jib is flexible to drive telescoping mechanism driving completion by the jib telescopic oil cylinder usually.And the length-diameter ratio of telescopic oil cylinder and cylinder diameter are bigger than all, so the response frequency of telescoping mechanism is lower, thereby have increased the control difficulty.
In the pattern that vertically hoists, when the jib luffing passed through horizontal level, jib length can become elongation from shortening.In vertical drop mode, when the jib luffing passed through horizontal level, jib length can become shortening from elongation.Jib closes on horizontal level more, and jib length variations amount is more little, then requires high more to position control accuracy.And for valve control asymmetrical cylinder,, cause " implosion " or " outer quick-fried " of fluid, thereby when switching-over, can not work reposefully because switching-over can cause pressure jump fast.
Commutate fast when the jib luffing passes through level for fear of telescoping mechanism, eliminate owing to the caused vibration of switching-over action fast, the control accuracy that rationally dips simultaneously, the PID control in employing band dead band, shown in figure 11.The pid control algorithm FB(flow block) in band dead band is shown in figure 12, and its control formula is following:
(28)
In the formula; Dead band is an adjustable parameter, and concrete numerical value can be confirmed by field experiment according to concrete equipment.
Derive according to each modular algorithm in the TRAJECTORY CONTROL assembly, straight path control system flow process such as Figure 13 show.
J) Programmable Logic Controller
High-altitude operation vehicle generally adopts electrohydraulic control system at present, and Programmable Logic Controller is made logic determines according to the command signal of operating personnel's input in the system, and control electromagnetic valve realizes the car load motion control.Controller can receive various sensing datas and analyze computing simultaneously, makes corresponding judgement.Programmable Logic Controller receives the signal that is produced by the TRAJECTORY CONTROL module that coordinate setting, forward are found the solution, deflection compensation, speed setting and algorithm optimization four parts are formed, utilizes each modular algorithm in the programming realization TRAJECTORY CONTROL assembly.Figure 14 is data transfer figure between Programmable Logic Controller and high empty wagons topworks, the sensing device.
When carrying out VTOL (vertical take off and landing) or level when flexible, be unified input variable with the jib change angle, produce simultaneously on the solenoid valve and warning device that Control current affacts luffing, flexible hydraulic loop, its control computing is shown in figure 15.
When carrying out horizontal rotation, be unified input variable with the turntable angle of revolution, produce simultaneously on the solenoid valve and warning device that Control current affacts luffing, flexible, turntable revolution and operating platform swing hydraulic loop, its control computing is shown in figure 16.
(3) beneficial effect
Adopt this kind device, can obviously improve the work efficiency of high-altitude operation vehicle, reduce labor intensity of operating staff, and can reduce energy resource consumption, reduce use cost.
Description of drawings
Fig. 1 is a high-altitude operation vehicle VTOL (vertical take off and landing) synoptic diagram.
Fig. 2 is the flexible synoptic diagram of high-altitude operation vehicle level.
Fig. 3 is a high-altitude operation vehicle horizontal rotation synoptic diagram.
Fig. 4 is a turntable valve group hydraulic schematic diagram.
Fig. 5 is a platform valve group hydraulic schematic diagram.
Fig. 6 schemes between high empty wagons operation area.
Fig. 7 is the VTOL (vertical take off and landing) reduced graph.
Fig. 8 is the flexible reduced graph of level.
Fig. 9 is the horizontal rotation reduced graph.
Figure 10 is a jib deflection deformation reduced graph.
Figure 11 is the PID control system figure in band dead band.
Figure 12 is the pid control algorithm flow chart in band dead band.
Figure 13 is the tracking control system process flow diagram.
Figure 14 is tracking control system data transfer figure.
Figure 15 is VTOL (vertical take off and landing) and horizontal extension and contraction control arithmograph.
Figure 16 is horizontal rotation control arithmograph.
Description of reference numerals is following:
1. get off; 2. turntable (Innerscoping hydraulic system and electrical system); 3. amplitude oil cylinder (displacement transducer is installed); 4. telescopic oil cylinder (built-in, as to connect one, two joint arms of jib); 5. jib assembly; 6. long angle transducer; 7. workbench.
The flexible back of -jib length; Be Fig. 7 and Fig. 8 , among Fig. 9;
-jib original state length, i.e. among Fig. 7, Fig. 8 and Fig. 9;
-operating platform axis simplified schematic;
During -original state, the angle of jib with ;
? - and the X-axis angle between the positive direction;
During -original state, the angle between jib and the XZ plane;
During -original state, the angle of jib between XZ plane inner projection OD and X axle positive dirction;
During -original state, operating platform axis and the angle of jib between the inner projection of XZ plane;
After -jib is flexible, the angle of jib with ;
After -jib is flexible; Amplitude oil cylinder length, i.e. among Fig. 7 and Fig. 8;
After -jib is flexible, the angle between jib and the XZ plane;
After -jib is flexible, the angle of jib between XZ plane inner projection OD and X axle positive dirction;
After -jib is flexible, operating platform axis and the angle of jib between the inner projection of XZ plane;
Distance between -amplitude oil cylinder root hinge and the jib root hinge, i.e. among Fig. 7 and Fig. 8;
Distance between -amplitude oil cylinder end hinge and the jib root hinge, i.e. among Fig. 7 and Fig. 8;
-? jib end point along the Y-axis direction displacement;
-? jib end pitch displacement of the X-axis direction;
-? jib end pitch displacement of the Z-axis direction;
-jib end maximum defluxion;
-modifying factor;
-jib quality line density;
-jib elasticity modulus of materials;
-jib equivalent section moment of inertia;
-platform assembly quality;
The angle of -jib and X axis;
-jib change angle deflection compensation amount.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is elaborated.
The high-altitude operation vehicle TRAJECTORY CONTROL device of present embodiment comprises following components:
1. operating mechanism
1.1 the TRAJECTORY CONTROL that resets certainly enable button: disconnect circuit under the normality, this moment, equipment was normal normal operations control.When this button is pressed, launch intelligent TRAJECTORY CONTROL, shield normal normal operations control simultaneously.
1.2 three rocker switch are used as motor learning button and reproduction movement buttons.From the TRAJECTORY CONTROL enable button that resets be pressed and the prerequisite that keeps under, rocker switch is upper to be pressed, and starts the motor learning function, controller can remember should be in the time period high-altitude operation vehicle kinematic parameter (path, speed), and store.The TRAJECTORY CONTROL that resets enable button be pressed and the prerequisite that keeps under, rocker switch is in normal position, stops memory, the kinematic parameter of previous memory was preserved simultaneously.From the TRAJECTORY CONTROL enable button that resets be pressed and the prerequisite that keeps under; Rocker switch is the next to be pressed, and starts the reproduction motor function, and high-altitude operation vehicle will reappear the last motion that stores; Be not activated in the next or enable button until this rocker switch, the reproduction action stops.
1.3 twin shaft ratio handle: during normal normal operations, the driving handle up and down of first operating grip is amplitude-variation hoisting and luffing decline, and left and right sides driving handle is that jib stretches out with jib and withdraws.The side-to-side movement of second operating grip representes to carry out common turntable revolution merit.When the TRAJECTORY CONTROL enable button that resets certainly was pressed, VTOL (vertical take off and landing) function as shown in Figure 1 was carried out in the expression that moves up and down of first operating grip, and the operating grip side-to-side movement representes to carry out horizontal Telescopic as shown in Figure 2.The side-to-side movement of second operating grip representes to carry out horizontal rotation function as shown in Figure 3, operating function conductively-closed up and down.
2. show and warning device
2.1 display screen: according to current complete machine state, select automatically between the operation area of setting, highlight on display screen, be beneficial to the clear and definite scope of work of operating personnel.Press from resetting TRAJECTORY CONTROL enable button and operating grip, when letting platform move, demonstrate the ideal movements track in the display screen by particular track.
2.2 hummer: press from resetting TRAJECTORY CONTROL enable button and operating grip, when letting platform move by particular track, hummer sends corresponding voice prompt.
2.3 yellow indicator lamp: when pressing when resetting the TRAJECTORY CONTROL enable button yellow indicator lamp flicker.Press reset certainly TRAJECTORY CONTROL enable button and operating grip, when letting platform move by particular track, the yellow indicator lamp constant.
3. pick-up unit
3.1 long angle transducer: select for use long angle transducer to measure jib length and jib angle, there are proportionate relationship in jib length and jib telescopic oil cylinder stroke.Jib telescopic oil cylinder range is 8m among this embodiment, and the jib angular range is-12 ° ~ 80 °.Select effective measurement length 11.5m for use, 320 ° the long angle transducer of effectively taking measurement of an angle, its corresponding respectively output current value scope is 4-20mA.
3.2 linear transducer: this sensor measurement jib amplitude oil cylinder length.The amplitude oil cylinder stroke is 1.9m among this embodiment, selects the linear transducer of effective measurement length 2.5m for use, and its corresponding output current scope is 4-20mA.
3.3 scrambler: this scrambler is common to measures turntable angle of revolution and operating platform pendulum angle.This embodiment intermediate station can carry out continuous 360 ° of revolutions, selects many circle absolute value encoders for use, and its corresponding output current scope is 4-20mA.The individual pen absolute value encoder was selected in each swing of 90 ° for use about operating platform can carry out, and its corresponding output current scope is 4-20mA.
4. hydraulic-driven valve group
Pressure compensated proportional-type flow inserted valve is with in employing, and this valve is plug-in mounting valve core type Electromagnetically driven valve, and is normally closed during outage, and its delivery outlet flow does not receive system works pressure influence, increases with Control current in the solenoid valve, and delivery rate increases.Luffing and flexible main valve are coil voltage 24V, threshold current 175 ± 50mA, and maximum controlling current 800 ± 100mA, maximum flow can reach 53L/min.
5. coordinate setting
Among the embodiment, when pressing after the TRAJECTORY CONTROL enable button that resets, the coordinate setting module is after accepting sensor signal, and the coordinate setting module at first detects current principal arm state and judges whether to allow to carry out intelligence operation.With between operation area shown in Figure 6, carry out as judging:
1) when the jib current state be positioned between the operation area the envelope I and when neighbouring, carry out level in can be between the operation area and stretch out with vertical and hoist, but do not allow to carry out level withdrawal and vertical landing;
2) when the jib current state be positioned between the operation area the envelope II and when neighbouring, carry out that level is stretched out and vertical landing in can be between the operation area, do not hoist with vertical but do not allow to carry out the level withdrawal;
3) when the jib current state be positioned between the operation area the envelope III and when neighbouring, carry out level withdrawal and vertical landing in can be between the operation area, but the level that do not allow to carry out is stretched out with vertical and is hoisted;
4) when the jib current state be positioned between the operation area the envelope IV and when neighbouring, carry out level in can be between the operation area and stretch out with vertical and hoist, but do not allow to carry out level withdrawal and vertical landing;
5) be positioned at all envelopes between the operation area when inner when the jib current state, expect intelligent track operation in can be between the operation area.
Jib is the box section of band telescoping mechanism in the present embodiment, and the jib root is hinged on the turntable, and the jib middle part connects amplitude oil cylinder, the platform of jib end bearing certain mass.
Respectively with vertically hoist in three kinds of original states of equipment checking TRAJECTORY CONTROL, level withdrawal and horizontal rotation performance.
In vertically hoisting, original state is that jib and X axle clamp angle are 0 °, and the jib initial length is 15m; This moment, jib was projected as 15m on the X axle; Jib and X axle clamp angle are 61.79 ° during end state, and it is 31.76m that jib stretches out back length, and this moment, jib was projected as 15.01m on the X axle.Explanation has better kept vertical effect in platform hoists process.
In the level withdrawal, original state is that jib and X axle clamp angle are 60 °, and the jib initial length is 26.0m; This moment, jib was 22.52m in Y axial projection; Jib and X axle clamp angle are 76.77 ° during end state, and jib withdrawal back length is 23.11m, and this moment, jib was projected as 22.5m on the Y axle.Explanation has better kept horizontal effect in platform withdrawal process.
In horizontal rotation; Original state is a jib 25 ° of XZ plane inner projection and X positive dirction angles; The angle on jib and XZ plane is 45 °, and the jib initial length is 20.0m, and operating platform and jib angle are-25 °. this moment, jib was in XY axial projection; Along Y axial projection length is 14.14m, is 12.82m along X axial projection length.Jib is at XZ plane inner projection and X positive dirction angle-25 ° during end state, and this moment, the angle on jib and XZ plane was 45.07 °, and jib length is 20.04m, and operating platform and jib angle are 25 °.Explanation has better kept horizontal effect in the platform turning course.
Brief summary, this TRAJECTORY CONTROL device has following characteristics:
1. make full use of device on the vehicle device of former high-altitude, do not have too many additional devices to purchase;
2. be provided with normal operations and intelligence operation switching device shifter, be convenient to switch between two kinds of operator schemes, and mutually noninterfere;
3. VTOL (vertical take off and landing) and level are unified input quantity with the jib change angle in flexible, carry out the synchro control of amplitude oil cylinder and telescopic oil cylinder, can reach high control precision, and the control loop of two oil cylinders do not have interaction;
4. be unified input quantity with the turntable angle of revolution in the horizontal rotation, carry out the synchro control of rotary motor, rotary actuator, amplitude oil cylinder and telescopic oil cylinder, can reach high control precision, and four control loop does not have interaction;
5. in the position control system of each mechanism, adopted the different algorithms correction respectively, thereby effectively realized the quick and stable response, reached TRAJECTORY CONTROL and want;
6. add deflection deformation compensation and adjustable reorganizing and bringing up to full strength and repay the factor, make the control track adapt to the jib of different collapsing lengths;
7. have simple to operately, reduce skill level requirement, reduce workman's working strength operating personnel;
8. owing to can stablize and reappear the track action, can obviously save the working time, increase work efficiency, thereby reduce the equipment operation cost, and the competitive power at similar market of remarkable enhancement apparatus.
Above content is to combine optimal technical scheme to the further explain that the present invention did, and can not assert that the practical implementation of invention only limits to these explanations.Under the present invention, the those of ordinary skill of technical field, under the prerequisite that does not break away from design of the present invention, simple deduction and replacement can also be made, all protection scope of the present invention should be regarded as.

Claims (1)

1. a high-altitude operation vehicle operating platform TRAJECTORY CONTROL device is characterized in that, said high-altitude operation vehicle operating platform TRAJECTORY CONTROL device comprises with the lower part:
A. operating mechanism
Said operating mechanism partly is the control panel that is provided with function button and operating grip;
Said function button comprises enable button, motor learning button and reproduction movement buttons;
Said enable button is used for switching each other between normal operations and the intelligence operation; During the normal position of enable button, control that operating grip is the normal operations function on the face; When needs use the TRAJECTORY CONTROL intelligence operation, must press enable button and maintenance earlier, operating grip switches to intelligence operation pattern and masking operation handle normal operations function on the control panel;
Said motor learning button when when enable button is pressed and keep, starts the motor learning button, the Programmable Logic Controller memory should be in the time period high-altitude operation vehicle kinematic parameter, and store;
Said reproduction movement buttons when when enable button is pressed and keep, starts the reproduction movement buttons, and high-altitude operation vehicle will reappear the last motion that stores, and not be activated until reproduction movement buttons or enable button, and the reproduction action stops;
When using the TRAJECTORY CONTROL intelligence operation, select two twin shaft ratio handles for use; The VTOL (vertical take off and landing) function is carried out in the expression that moves up and down of first operating grip, and the first operating grip side-to-side movement representes to carry out horizontal Telescopic; The side-to-side movement of second operating grip representes to carry out horizontal rotation function, operating function conductively-closed up and down;
B. pick-up unit
The angle of revolution that long angle transducer detection jib length of said pick-up unit employing and jib angle, employing linear transducer detection amplitude oil cylinder length, employing turntable scrambler detection turntable are got off relatively, the angle of revolution of the relative jib of employing plateau coding device detecting operation platform; Each measured value will be delivered to and carry out computing in the Programmable Logic Controller;
C. show and warning device
Said display device is selected between the operation area of setting according to current complete machine state automatically, highlights on display screen, is beneficial to the clear and definite scope of work of operating personnel;
Said warning device is made up of pilot lamp and hummer, makes corresponding actions according to the controller steering order; When pressing the TRAJECTORY CONTROL enable button, the pilot lamp flicker; Press TRAJECTORY CONTROL enable button and operating grip, when letting platform move by particular track, pilot lamp constant, hummer send corresponding voice prompt, demonstrate the ideal movements track in the display device;
D. be with pressure compensated hydraulic loop
The said pressure compensated hydraulic loop of being with comprises: turntable valve group peace deck valve group;
Turntable valve group comprises luffing, flexible and rotating three loops; The main valve in every loop all has pressure compensation; Make that the flow that promotes oil cylinder or motor motion is only relevant with the main valve aperture, promptly with control main valve electric current approximately linear proportionate relationship, and irrelevant with the driving load; Flexible simultaneously, luffing and three control loops of revolution do not disturb mutually;
Platform valve group comprises platform swing and platform leveling loop; The main valve in every loop all has pressure compensation; Make that the flow that promotes leveling cyclinder or rotary actuator motion is only relevant with the main valve aperture, promptly with control main valve electric current approximately linear proportionate relationship, and irrelevant with the driving load; Two control loops of leveling simultaneously and swing do not disturb mutually;
E. coordinate setting module
Said coordinate setting module detects current principal arm state and judges whether to allow to carry out intelligence operation; When starting intelligent TRAJECTORY CONTROL, the coordinate setting module receives long angle transducer signal, confirms jib angle and jib length; Receive the turntable code device signal, confirm the turntable angle of revolution, promptly jib is with respect to the angle of revolution of getting off; The receiving platform code device signal is confirmed the relative jib of operating platform angle of revolution;
In the XY plane, calculate the jib terminal position by Programmable Logic Controller, relatively interval with equipment availability, carry out can VTOL (vertical take off and landing) or the flexible intelligence operation of level judge; When detecting the jib end and be positioned between the operation area envelope and adjacent domain thereof, allow vertically to rise or fall in action and level stretch or contract in an action; When operator's driving handle does not allow to move, alarm buzzing warning and complete machine attonity;
In the XZ plane, Programmable Logic Controller calculates the angle of revolution and operating platform angle of revolution with respect to jib of jib with respect to the positive dirction of getting off, with current arm support and the preservation of operating platform state parameter;
The speed priority of intelligence track operation is lower than the operating speed of stipulating between the operation area; Controller receives the detection signal of this module transmission in real time and compares with setting program; When the operation of intelligent track closes between the operation area envelope or other restriction point, the warning device alert; Between the operation of intelligent track is near the operation area, when envelope or other restriction point, limit intelligent track operation, the warning device buzzing is reported to the police;
F. forward is found the solution module
Said forward is found the solution module and is carried out operation platform motion path locus computing under the perfect condition; Can carry out carrying out work after the intelligent track operation in the judgement of coordinate setting module, receive the detected jib of coordinate setting module, turntable and operating platform state parameter and lever operated signal;
Forward is found the solution module arithmetic VTOL (vertical take off and landing) and level when flexible, is the primary input reference quantity with the jib angle, and the desirable control signal that amplitude oil cylinder and telescopic oil cylinder move is controlled in output respectively;
When forward is found the solution the module arithmetic horizontal rotation, be the primary input reference quantity with the turntable angle of revolution, the desirable control signal of turntable rotary motor, amplitude oil cylinder, telescopic oil cylinder and the action of operating platform rotary actuator is controlled in output respectively;
In service at VTOL (vertical take off and landing), guarantee that jib OC keeps constant in horizontal X axial projection length in the motion process, calculate as follows:
(1)
(2)
In horizontal stretching operation, guarantee that jib OC keeps constant in vertical Y axial projection length in the motion process, calculate as follows:
(3)
(4)
In service at horizontal rotation; Guarantee that the projection of jib OC in the XY plane keeps constant in the motion process; Promptly all keep constant, calculate as follows along Y axial projection length with along X axial projection length :
(5)
(6)
(7)
(8)
(9)
(10)
Utilize sensor with physical length and computational length, the angle of revolution compares with calculating angle, and both differences are imported computing in loops, and it is following to calculate luffing, flexible, turntable revolution and platform swing control loop departure respectively:
(11)
(12)
(13)
(14)
(15)
In the formula: is the jib error in length; is the jib physical length; is jib telescopic oil cylinder error in length; is the ratio of jib length variations amount and jib telescopic oil cylinder length variations amount; is jib amplitude oil cylinder error in length; is jib amplitude oil cylinder physical length; is turntable angle of revolution error; is turntable revolution actual angle; is platform pendulum angle error, and is the actual pendulum angle of platform;
G. deflection compensation module
Said deflection compensation module is calculated the fixedly deflection deformation amount of jib because of deadweight and platform loading generation, and this deflection is joined in the control cylinder action signal trajectory error that the modifying factor deflection deformation produces; Simultaneously in the deflection compensation module, add modifying factor, be used for the distortion that space of slider in the modifying factor jib overlap joint, jib crudy produce; In the jib deflection deformation; The deflection compensation module is calculated under the different jib states, jib change angle deflection compensation amount ;
Utilize method of superposition to try to achieve jib flexural deformation and the angle compensation value is following:
(16)
(17)
H. speed setting module
Said speed setting module is according to the threshold value 0.4m/s of the hoisting of workbench, decline rate; At the horizontal linear velocity threshold value 0.7m/s of maximum magnitude measuring table outermost edge, computing system primary input reference quantity-jib change angle signal :
In VTOL (vertical take off and landing):
(18)
Formula (18) both sides respectively to the time differentiate, are got following formula
(19)
With starting condition ; separates the differential equation; Ask platform 0.4 when at the uniform velocity going up and down, change angle is:
(20)
In level is flexible:
(21)
Formula (21) both sides respectively to the time differentiate, are got following formula
(22)
With starting condition ; separates the differential equation; When asking platform 0.7 at the uniform velocity flexible, change angle is:
(23)
In horizontal rotation:
(24)
Formula (24) both sides respectively to the time differentiate, are got following formula
(25)
With starting condition ; separates the differential equation; Ask terminal 0.7 of jibwhen at the uniform velocity turning round, angle of revolution is:
(26)
At this moment; For keeping the operating platform direction of getting off relatively constant; Should reverse constant speed rotate, pendulum angle is:
(27)
I. algorithm optimization module
Said algorithm optimization module comprises: negative feedback adds the complex correction, PID controlling unit of feedforward, in flexible loop, adds pid control algorithm three parts in band dead band;
I1. negative feedback adds the complex correction of feedforward: measured value and the controller operation values with amplitude oil cylinder, telescopic oil cylinder, turntable rotary motor, platform rotary actuator compares respectively; Utilize formula (11), formula (12), formula (13), formula (14), formula (15); Add signal input feedforward path simultaneously; System that composition feedovers and FEEDBACK CONTROL combines greatly reduces steady-state error, forms complex correction;
I2.PID controlling unit: between control signal and main valve, add PID, utilize its ratio, integration, the differential action;
I3. the pid control algorithm that in flexible loop, adds the band dead band;
In the pattern that vertically hoists, when the jib luffing passed through horizontal level, jib length can become elongation from shortening; In vertical drop mode, when the jib luffing passed through horizontal level, jib length can become shortening from elongation; Jib closes on horizontal level more, and jib length variations amount is more little, then requires high more to position control accuracy; And for valve control asymmetrical cylinder,, cause " implosion " or " outer quick-fried " of fluid, thereby when switching-over, can not work reposefully because switching-over can cause pressure jump fast; For addressing these problems, select the PID control method in band dead band for use;
The PID control formula in band dead band is following:
(28)
In the formula (28); Dead band is an adjustable parameter, and concrete numerical value can be confirmed by field experiment according to concrete equipment;
J. Programmable Logic Controller
Programmable Logic Controller receives by coordinate setting module, forward and finds the solution the signal that TRAJECTORY CONTROL module that module, deflection compensation module, speed setting module and algorithm optimization module four parts form produces, and utilizes each modular algorithm in the programming realization TRAJECTORY CONTROL assembly;
When carrying out VTOL (vertical take off and landing) or level when flexible, be unified input variable with the jib change angle, produce simultaneously on the solenoid valve and warning device that Control current affacts luffing, flexible hydraulic loop;
When carrying out horizontal rotation, be unified input variable with the turntable angle of revolution, produce simultaneously on the solenoid valve and warning device that Control current affacts luffing, flexible, turntable revolution and operating platform swing hydraulic loop.
CN201210097291.1A 2012-04-05 2012-04-05 Hydraulic aerial cage operation platform trajectory control device CN102707730B (en)

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