CN102707730B - Hydraulic aerial cage operation platform trajectory control device - Google Patents

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 track 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 the special engineered vehicle for transporting staff and using equipment to carry out operation to specified altitude assignment, and operating platform is the device that staff and use equipment are carried aloft in Operation Van.Application of the present invention is the straight-arm high-altitude operation vehicle with telescoping mechanism, and its jib is arranged on respectively the hydraulic oil cylinder driving luffing on turntable and jib by two ends, and jib is flexible drives telescoping mechanism (as rope row, sprocket wheel etc.) to realize by oil cylinder.

High-altitude operation vehicle carries out cleaning up and down glass or installing when object along roof order along skyscraper wall, or while arriving assignment point fast, for making operating platform by expecting orbiting motion, operator needs constantly operate luffing and telescoping handle.To this typical case " open loop " motion control method, just require operator to there is higher operative skill.And only relying on operator's vision, implementation platform is very difficult and very difficult reproduction along desired trajectory.In contrast, " closed loop " of the present invention kinetic control system, utilizes the linear transducer on long angle transducer and the oil cylinder being arranged on jib to detect, via controller computing, realize operating platform accurately along drafting orbiting motion and can reappearing, for example, along wall lifting or mobile along wall top.

Application and the development in engineering machinery of electronics and hydraulic technique applied TRAJECTORY CONTROL in various engineering equipment.At present on the equipment such as concrete mixer, excavator, shovel loader, crawler crane, movable arm tower crane, fork truck, occur realizing by setting track and carried out the control system of operation and applied for many patents.

On high altitude vehicle, utilize controller, the motion control having realized has following aspect:

(1) utilize workbench horizon sensor, carry out the real-time leveling of platform.

(2) utilize the long angle transducer of jib, control jib and stretch and lifting, equipment is operated in safety work interval.Receive after this sensor signal with Time Controller, according to different jib operating modes, the restriction car load speed of travel.

(3) utilize turntable horizon sensor, detect complete machine angle of inclination, limit corresponding mechanism action.

(4) utilize platform load sensor, limit platform load and be no more than rated load, ensure complete machine stability.

Belong to the high altitude vehicle essential equipment of installing conventionally with upper sensor.Controller sensor-lodging, according to the program of establishment, makes corresponding steering order.But above-mentioned motion control is confined to specified point or local restricted action, and the present invention has realized a kind of continuity TRAJECTORY CONTROL.

Following content is and this patent protection similar patent of content and document, but all exists and obviously distinguish and be summarized as follows:

Number of patent application is 201110027467.1, and name is called has introduced the working trajectory control method that adopts six steps to realize a kind of aerial work platform in " a kind of working trajectory control method of aerial work platform ".In this patent, introduce the control components and parts of selecting and used function.In patent algorithm, introduced by multiple sensors collection signal, via controller calculates actual demand length and angle.But there is following technical matters:

(1) the control algolithm insufficient disclosure of patent.Though provided error compensation concept in this patent, utilizing the difference of desired value and state value by controller, the concrete compensation being applied on proportioning valve with pwm signal is set forth upper smudgy.The following four problems of concrete existence: the one,, in this patent, pwm signal is applied on proportioning valve, and proportioning valve is the nonlinear element in whole control, be proportioning valve delivery rate not can with control electric current PWM value proportional relation, so only measure by experiment the minimum and maximum electric current of proportioning valve, adjust in any case pwm signal and can not can not get the control requirement described in literary composition, can not realize error compensation, and then can not realize described control function; The 2nd,, from engineering control theory, at this, only in the position control one type system with degenerative typical valve-controlled cylinder, when the signal after trigonometric function operation is as input command, executive system can produce steady-state error, cannot realize the full remuneration of error; The 3rd,, realizing in the desirable VTOL (vertical take off and landing) and horizontal stretching motion of this patent elaboration, do not have 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 when this patent working.As by the equipment of personnel's lifting work high above the ground, ensure that operator safety is primary.The horizontal rotation action of carrying out in literary composition, only considers working arm revolution, luffing and flexible, and has ignored the revolution control to manned operating platform.While implementing the horizontal rotation of this patent description, according to the horizontal rotation of only having realized working arm arm head described in this patent, in this motion, operating platform produces angle with the horizontal rotation plane of arm head, thereby is positioned at the horizontal rotation that the operating platform of arm support tail end can not carry out deviser's expectation.This controls the possibility of result and causes operating platform and the high-altitude object closing on to bump, and not only causes device damage, even endangers operating personnel's life security, causes security incident.

(3) this patent lacks the integrality of described action control key element.High-altitude operation vehicle jib is often for a few joint jib overlap joints combine.Because overlapping gap between jib deadweight, platform load effect and jib, jib all can produce obvious deflection deformation.Along with jib length increases, deflection deformation can be more remarkable, has a strong impact on the position control effect that this patent is set forth.In this patent, do not relate to deflection deformation, do not propose solution yet.

In document " Motion control of an aerial work platform ", set forth a kind of motion control method of 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 control system components and parts are had relatively high expectations, therefore selected specific high side controller in the document, thereby made this control method cost costliness.This complex calculation control method cannot realize on the general controller of current high-altitude operation vehicle.This patent carries out model simplification, adopts plane analytic geometry to solve, simple and effectively realized TRAJECTORY CONTROL function, can on the general controller of high-altitude operation vehicle at present, realize.

In document " Level luffing control system for crawler crane ", set forth a kind of level luffing control method of crawler crane.The control system that the document proposes is applicable to crawler crane, and its control 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, carry because hanging the larger error four problems that causes different and startup moment of control characteristic with engine speed.

Causing in the problem of swing for solving jib rigidity, document has only adopted the complex correction method of feedforward and feedback, and this patent adopts respectively different bearing calibrations for each link.On for solution linear elements nonlinear problem, document adopts the measure of electric signal control and compensation, and this patent employing is with pressure compensated proportional valve element to solve.Can on this patent objective for implementation, not occur in document latter two problems.

Number of patent application is 06119983.2, and name is called path control and the vibration suppression of in " Articulated ladder or raisable platform position path control and active vibration damping ", having set forth a kind of radial type ascending stair or lifting platform.This patent utilization multiple sensors collection signal is also input to computing in controller, realizes the accuracy in independent mechanism kinematic process, and suppresses to vibrate in motion process.This patent has only realized the stationarity control of independent mechanism action, does not carry out multi mechanism compound action control, can not realize the control of operating platform along particular line track.

Summary of the invention

(1) goal of the invention

The present invention seeks to realize the particular line orbiting motion of high-altitude operation vehicle operating platform VTOL (vertical take off and landing), horizontal extension and 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 mutually switch between normal operations and this intelligent operation., operation control panel upper handle is normal operations function when the normal position of enable button.In the time that needs use TRAJECTORY CONTROL intelligent operation, must first press this button and keep, control panel upper handle is switched to intelligent operation pattern and shields handle normal operations function.

In control panel, be provided with motor learning button, when in the time that enable button is pressed and keep, start this button, controller can be remembered high-altitude operation vehicle kinematic parameter (path, speed) in the intelligent operation time period, and stores.

In control panel, be provided with reproduction movement buttons, when in the time that enable button is pressed and keep, start this button, high-altitude operation vehicle is by the last reproduction motion storing, until this button or enable button are not activated, reproduction action stops.

In Intelligent track control, select two twin shaft ratio handles.Moving up and down of first operating grip represents to carry out VTOL (vertical take off and landing) function as shown in Figure 1, and operating grip side-to-side movement represents to carry out horizontal extension function as shown in Figure 2.The side-to-side movement of second operating grip represents to carry out horizontal rotation function as shown in Figure 3, upper and lower operating function conductively-closed.

B) sensor

For 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 turntable scrambler to detect the angle of revolution that turntable is got off relatively, adopt plateau coding device to detect the angle of revolution of the relative jib of operating platform.Measured value will be delivered to and in Programmable Logic Controller, carry out computing.

C) displaying alarm

Display device can, according to current complete machine state, be selected between the operation area of setting 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 controller steering order.In the time pressing TRAJECTORY CONTROL enable button, pilot lamp flicker.Press TRAJECTORY CONTROL enable button operating grip, while allowing platform move by particular track, pilot lamp constant, hummer sends corresponding voice prompt, demonstrates ideal movements track in 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 is all with pressure compensation, the flow that makes to promote oil cylinder or motor motion is only relevant to main valve aperture, with control main valve electric current approximately linear proportionate relationship, and have nothing to do with driving load.Simultaneous retractable, luffing and three control loops of revolution do not interfere with each other, as shown in Figure 4.

Platform valve group comprises that platform swings and platform leveling loop, the main valve in every loop is all with pressure compensation, the flow that makes to promote leveling cyclinder or rotary actuator motion is only relevant to main valve aperture, with control main valve electric current approximately linear proportionate relationship, and have nothing to do with driving load.Leveling does not simultaneously interfere with each other with swinging two control loops, 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 intelligent operation.In the time starting Intelligent track control, this module receives the long angle transducer signal of jib, determines jib angle and jib length; Receive turntable code device signal, determine rotation of rotary table angle, jib is with respect to the angle of revolution of getting off; Receiving platform code device signal, determines the relative arm support rotation angle of operating platform.

In XY plane, calculate arm support tail end position by controller, and show that as Fig. 6 equipment availability is interval relatively, carry out can VTOL (vertical take off and landing) or the intelligent operation of horizontal extension judge.In the time detecting that arm support tail end is positioned between operation area envelope and adjacent domain thereof, allow vertically to rise or fall in action and level stretch or contract in an action.In the time that operator's driving handle does not allow to move, warning device buzzing warning and complete machine attonity.

In XZ plane, controller calculate jib with respect to the angle of revolution of the positive dirction of getting off and operating platform with respect to the angle of revolution of jib, current arm support and operating platform state parameter are preserved.

The speed priority of Intelligent track operation is lower than the operating speed specifying between operation area.Controller receives in real time the detection signal of this module transmission and compares with setting program.In the time that Intelligent track operation closes between operation area envelope or other restriction points, warning device alert; In the time that Intelligent track operation has approached between operation area envelope or other restriction points, the operation of restriction Intelligent track, warning device buzzing is reported to the police.

F) forward solves module

This module is carried out the computing of perfect condition operating platform motion path track.This module is carried out work after the judgement of coordinate setting module can be carried out Intelligent track operation, receives jib, turntable and operating platform state parameter and lever operated signal that coordinate setting module detects.

When this module arithmetic VTOL (vertical take off and landing) and horizontal extension, taking jib angle as primary input reference quantity, the desirable control signal of amplitude oil cylinder and telescopic oil cylinder action is controlled respectively in output.

When this module arithmetic horizontal rotation, taking rotation of rotary table angle as primary input reference quantity, the desirable control signal of rotation of rotary table motor, amplitude oil cylinder, telescopic oil cylinder and the action of operating platform rotary actuator is controlled respectively in output.

In VTOL (vertical take off and landing) reduced graph as shown in Figure 7, ensure that in motion process, jib OC keeps constant in horizontal X axial projection length, calculate as follows:

$L_E=\frac{L_{E0}\cos ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}{\cos (\mathrm{\θ}-{\mathrm{\θ}}_1)}---\left(1\right)$

$L_L=\sqrt{a^2+b^2-2\mathrm{ab}\cos \mathrm{\θ}}---\left(2\right)$

In horizontal extension reduced graph as shown in Figure 8, ensure that in motion process, jib OC keeps constant in vertical Y axial projection length, calculate as follows:

$L_E=\frac{L_{E0}\sin ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}{\sin (\mathrm{\θ}-{\mathrm{\θ}}_1)}---\left(3\right)$

$L_L=\sqrt{a^2+b^2-2\mathrm{ab}\cos \mathrm{\θ}}---\left(4\right)$

In horizontal rotation reduced graph as shown in Figure 9, ensure that in motion process, the projection of jib OC in XY plane keeps constant, all keep constant along Y-axis projected length C ' D ' with along X-axis projected length OD ', in conjunction with Fig. 7 and Fig. 8, calculate as follows:

α ₀＝θ ₀-θ ₁ (5)

$L_E=L_{E0}\sqrt{{\left(\frac{\cos {\mathrm{\α}}_0\cos {\mathrm{\β}}_0}{\cos \mathrm{\β}}\right)}^2+\sin {{\mathrm{\α}}_0}^2}---\left(6\right)$

$\mathrm{\α}=\arctan \left(\frac{\tan {\mathrm{\α}}_0\cos \mathrm{\β}}{\cos {\mathrm{\β}}_0}\right)---\left(7\right)$

θ＝α-θ ₁ (8)

$L_L=\sqrt{a^2+b^2-2\mathrm{ab}\cos \mathrm{\θ}}---\left(9\right)$

γ＝-β (10)

Utilize sensor by physical length and computational length, angle of revolution compares with calculating angle, and both differences are imported to computing in loops, calculates respectively luffing, flexible, rotation of rotary table and platform oscillation controlling loop departure as follows:

ΔL _E＝L _E′-L _E (II)

$\mathrm{\Δ}{L}_{\mathrm{EG}}=\frac{\mathrm{\Δ}{L}_E}{n}---\left(12\right)$

ΔL _L＝L _L′-L _L (13)

Δβ＝β′-β (14)

Δγ＝γ′-γ (15)

In formula: Δ L _efor jib error in length, L _e' be jib physical length, Δ L _eGfor jib telescopic oil cylinder error in length, n is the ratio of jib length variations amount and jib telescopic oil cylinder length variations amount, Δ L _lfor luffing range of cantilever support oil cylinder error in length, L _l' be luffing range of cantilever support oil cylinder physical length, Δ β is rotation of rotary table angular error, and β ' is rotation of rotary table actual angle, and Δ γ is platform pendulum angle error, and λ ' is the actual pendulum angle of platform.

G) deflection compensation module

This module is calculated the fixing deflection deformation amount of jib because of deadweight and the generation of platform load, and this deflection is joined and controlled in cylinder action signal, the trajectory error that modifying factor deflection deformation produces.Simultaneously in this module, add modifying factor, be used for the distortion that space of slider in modifying factor jib overlap joint, jib crudy produce.In jib deflection deformation sketch 10, this module is calculated under different jib states, luffing range of cantilever support angle deflection compensation amount θ _ω.

Show jib deflection deformation reduced graph according to Figure 10, utilize method of superposition to try to achieve jib flexural deformation and angle compensation value is as follows:

$\mathrm{\ω}=({\mathrm{\λ}}_{\mathrm{\ω}}\frac{\mathrm{\ρg}{L}_E^4}{8\mathrm{EI}}+\frac{\mathrm{mg}{L}_E^3}{3\mathrm{EI}})\sin {\mathrm{\θ}}^2---\left(16\right)$

${\mathrm{\θ}}_{\mathrm{\ω}}\≈\tan {\mathrm{\θ}}_{\mathrm{\ω}}=\frac{\mathrm{\ω}}{L_E}=({\mathrm{\λ}}_{\mathrm{\ω}}\frac{\mathrm{\ρg}{L}_E^3}{8\mathrm{EI}}+\frac{\mathrm{mg}{L}_E^2}{3\mathrm{EI}})\sin {\mathrm{\θ}}^2---\left(17\right)$

H) Speed Setting link

National standard " GB/T9465-2008 high-altitude operation vehicle " regulation, the hoisting of workbench, decline rate must not exceed 0.4m/s, are no more than 0.7m/s in the horizontal linear velocity of maximum magnitude measuring table outermost edge.Now be worth respectively computing system primary input reference quantity-luffing range of cantilever support angle signal θ with above-mentioned two:

In VTOL (vertical take off and landing) reduced graph as shown in Figure 7:

$\tan (\mathrm{\θ}-{\mathrm{\θ}}_1)=\frac{L_y}{L_{E0}\cos ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}---\left(18\right)$

Formula (18) both sides, respectively to time differentiate, are obtained to following formula

${\sec }^2(\mathrm{\θ}-{\mathrm{\θ}}_1)\frac{\mathrm{d\θ}}{\mathrm{dt}}=\frac{\±0.4}{L_{E0}\cos ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}---\left(19\right)$

With starting condition t=0, θ=θ ₁+ α separates the differential equation, asks platform 0.4m/s at the uniform velocity when lifting, and change angle θ is:

$\mathrm{\θ}=\arctan (\tan \left(\mathrm{\α}\right)\±\frac{0.4}{L_{E0}\cos ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}t)+{\mathrm{\θ}}_1---\left(20\right)$

In horizontal extension reduced graph as shown in Figure 8:

$\cot (\mathrm{\θ}-{\mathrm{\θ}}_1)=\frac{L_x}{L_{E0}\sin ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}---\left(21\right)$

Formula (21) both sides, respectively to time differentiate, are obtained to following formula

${\csc }^2(\mathrm{\θ}-{\mathrm{\θ}}_1)\frac{\mathrm{d\θ}}{\mathrm{dt}}=\frac{\±0.7}{L_{E0}\sin ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}---\left(22\right)$

With starting condition t=0, θ=θ ₁+ α separates the differential equation, and while asking platform 0.7m/s at the uniform velocity flexible, change angle θ is:

$\mathrm{\θ}=\mathrm{arccot}(\cot \left(\mathrm{\α}\right)\±\frac{0.7}{L_{E0}\sin ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}t)+{\mathrm{\θ}}_1---\left(23\right)$

In horizontal rotation reduced graph as shown in Figure 9:

$\tan \mathrm{\β}=\frac{L_z}{L_{E0}\cos {\mathrm{\α}}_0\cos {\mathrm{\β}}_0}---\left(24\right)$

Formula (24) both sides, respectively to time differentiate, are obtained to following formula

${\sec }^2\left(\mathrm{\β}\right)\frac{\mathrm{d\β}}{\mathrm{dt}}=\frac{\±0.7}{L_{E0}\cos {\mathrm{\α}}_0\cos {\mathrm{\β}}_0}---\left(25\right)$

With starting condition t=0, β=β ₀separate the differential equation, while asking arm support tail end 0.7m/s at the uniform velocity to turn round, angle of revolution β is:

$\mathrm{\β}=\arctan \left(\frac{\±0.7}{L_{E0}\cos {\mathrm{\α}}_0\cos {\mathrm{\β}}_0}t\right)+{\mathrm{\β}}_0---\left(26\right)$

Now, for keeping the operating platform direction of relatively getting off constant, should reverse constant speed rotation, pendulum angle γ is:

$\mathrm{\γ}=-\mathrm{\β}=-\arctan \left(\frac{\±0.7}{L_{E0}\cos {\mathrm{\α}}_0\cos {\mathrm{\β}}_0}t\right)-{\mathrm{\β}}_0---\left(27\right)$

I) algorithm optimization module

In the present Intelligent track close loop control circuit of this module body, amplitude oil cylinder, telescopic oil cylinder, rotation of rotary table motor, the action of platform rotary actuator are the closed-loop control system with position feedback, the response performance of its control system and stability can affect this Intelligent track control effect, be related to comfortableness and the security of operator on platform, directly affect the practicality of Based Intelligent Control.By adding control algolithm, realize TRAJECTORY CONTROL be swift in motion, steadily, eliminate steady-state error, ensure TRAJECTORY CONTROL superperformance.

I.1 negative feedback adds the complex correction of feedforward: respectively by the measured value of amplitude oil cylinder, telescopic oil cylinder, rotation of rotary table motor, platform rotary actuator and the comparison of controller operation values, as shown in formula (11), (12), (13), (14), (15).Add signal input feedforward path, system that composition feedovers and FEEDBACK CONTROL combines, greatly reduces steady-state error, forms complex correction simultaneously;

I.2PID controlling unit: add PID between control signal and main valve, utilize its ratio, integration, the differential action;

I.3 in flexible loop, add the pid control algorithm with dead band.

Jib is flexible drives telescoping mechanism to drive by jib telescopic oil cylinder conventionally.And the length-diameter ratio of telescopic oil cylinder and cylinder diameter larger than all, so the response frequency of telescoping mechanism is lower, thereby increased control difficulty.

Vertically hoisting in pattern, in the time that luffing range of cantilever support passes through horizontal level, jib length can become elongation from shortening.In vertical drop mode, in the time that luffing range of cantilever support passes through horizontal level, jib length can become shortening from extending.Jib more closes on horizontal level, and jib length variations amount is less, requires higher to position control accuracy.And for valve control asymmetrical cylinder, because quick commutation can cause pressure jump, cause " implosion " or " outer quick-fried " of fluid, thereby can not work reposefully in the time of commutation.

Commutate fast in the time that luffing range of cantilever support passes through level for fear of telescoping mechanism, eliminate due to the caused vibration of commutation action fast, the control accuracy that rationally dips, adopts the PID with dead band to control, as shown in figure 11 simultaneously.As shown in figure 12, it is as follows that it controls formula to pid control algorithm FB(flow block) with dead band:

In formula, dead band e ₀be an adjustable parameter, concrete numerical value can be determined by field experiment according to concrete equipment.

Derive according to each modular algorithm in TRAJECTORY CONTROL assembly, Linear track control system flow shows as Figure 13.

J) Programmable Logic Controller

High-altitude operation vehicle generally adopts electrohydraulic control system at present, and in system, Programmable Logic Controller is made logic judgement according to the command signal of operating personnel's input, controls solenoid valve and realizes car load motion control.Can receive various sensing datas analytic operation with Time Controller, make corresponding judgement.Programmable Logic Controller receives the signal being produced by the TRAJECTORY CONTROL module that coordinate setting, forward solve, deflection compensation, Speed Setting and algorithm optimization five parts forms, and utilizing programmes realizes each modular algorithm in TRAJECTORY CONTROL assembly.Figure 14 is data transitive graph between Programmable Logic Controller and high altitude vehicle topworks, sensing device.

In the time carrying out VTOL (vertical take off and landing) or horizontal extension, taking luffing range of cantilever support angle as unified input variable, produce simultaneously and control the function of current on the solenoid valve and warning device in luffing, flexible hydraulic loop, its control algorithm is as shown in figure 15.

In the time carrying out horizontal rotation, taking rotation of rotary table angle as unified input variable, produce simultaneously and control the function of current and swing on the solenoid valve and warning device in hydraulic loop to luffing, flexible, rotation of rotary table and operating platform, its control algorithm is as shown in figure 16.

(3) beneficial effect

Adopt this kind of 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.

Brief description of the drawings

Fig. 1 is high-altitude operation vehicle VTOL (vertical take off and landing) schematic diagram.

Fig. 2 is high-altitude operation vehicle horizontal extension schematic diagram.

Fig. 3 is high-altitude operation vehicle horizontal rotation schematic diagram.

Fig. 4 is turntable valve group hydraulic schematic diagram.

Fig. 5 is platform valve group hydraulic schematic diagram.

Fig. 6 is high altitude vehicle operation interval graph.

Fig. 7 is VTOL (vertical take off and landing) reduced graph.

Fig. 8 is horizontal extension reduced graph.

Fig. 9 is horizontal rotation reduced graph.

Figure 10 is jib deflection deformation reduced graph.

Figure 11 is the PID control system figure with dead band.

Figure 12 is the pid control algorithm flow chart with dead band.

Figure 13 is tracking control system process flow diagram.

Figure 14 is tracking control system data transitive graphs.

Figure 15 is VTOL (vertical take off and landing) and horizontal extension control algorithm figure.

Figure 16 is horizontal rotation control algorithm figure.

Description of reference numerals is as follows:

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, to connect one, two of jib and save arms); 5. jib assembly; 6. long angle transducer; 7. workbench.

L _elength after-jib is flexible, i.e. the OC ' of Fig. 7 and Fig. 8, the OC in Fig. 9 ";

L _e0-jib original state length, i.e. OC in Fig. 7, Fig. 8 and Fig. 9;

CP-operating platform axis simplified schematic;

θ ₀when-original state, the angle of jib and OA;

θ ₁angle between-OA and X-axis positive dirction;

α ₀when-original state, the angle between jib OC and XZ plane;

β ₀when-original state, the angle of jib OC between XZ plane inner projection OD and X-axis positive dirction;

γ ₀when-original state, operating platform axis CP and the jib OC angle between XZ plane inner projection;

After θ-jib is flexible, the angle of jib and OA;

L _lafter-jib is flexible, amplitude oil cylinder length, i.e. AB ' in Fig. 7 and Fig. 8;

After α-jib is flexible, the angle between jib OC and XZ plane;

After β-jib is flexible, the angle of jib OC between XZ plane inner projection OD and X-axis positive dirction;

After γ-jib is flexible, operating platform axis CP and the jib OC angle between XZ plane inner projection;

Distance between a-amplitude oil cylinder root hinge and jib root hinge, i.e. OA in Fig. 7 and Fig. 8;

Distance between b-amplitude oil cylinder end hinge and jib root hinge, i.e. OB in Fig. 7 and Fig. 8;

L _x-jib end C point is apart from the displacement of Y direction motion;

Ly-jib end C point is apart from the displacement of X-direction motion;

Lz-jib end C point is apart from the displacement of Z-direction motion;

ω-jib end maximum defluxion;

λ _ω-modifying factor;

ρ-jib Line mass-density;

E-jib elasticity modulus of materials;

I-jib equivalent section moment of inertia;

M-platform assembly quality;

θ ₂the angle of-jib and X-axis line;

θ _ω-luffing range of cantilever support angle deflection compensation amount.

Embodiment

Below in conjunction with drawings and Examples, the present invention is described in detail.

The high-altitude operation vehicle track control device of the present embodiment comprises following components:

1. operating mechanism

1.1 Self-resetting TRAJECTORY CONTROL enable button: disconnect circuit under normality, now equipment is normal normal operations control.In the time that this button is pressed, enable Intelligent track control, shield normal normal operations control simultaneously.

1.2 3 rocker switch are used as motor learning button and reproduction movement buttons.Self-resetting TRAJECTORY CONTROL enable button be pressed and the prerequisite that keeps under, rocker switch is upper to be pressed, and starts motor learning function, controller can be remembered high-altitude operation vehicle kinematic parameter (path, speed) in the intelligent operation time period, and stores.Reset TRAJECTORY CONTROL enable button be pressed and the prerequisite that keeps under, rocker switch, in normal position, stops memory, previously the kinematic parameter of memory was saved simultaneously.Self-resetting TRAJECTORY CONTROL enable button be pressed and the prerequisite that keeps under, rocker switch is the next to be pressed, and starts reproduction motor function, and high-altitude operation vehicle is by the last reproduction motion storing, until this rocker switch is not activated in the next or enable button, reproduction action stops.

1.3 twin shaft ratio handles: when normal normal operations, the driving handle up and down of first operating grip is that amplitude-variation hoisting and luffing decline, left and right driving handle is that jib stretches out with jib and retracts.The side-to-side movement of second operating grip represents to carry out common rotation of rotary table merit.In the time that Self-resetting TRAJECTORY CONTROL enable button is pressed, moving up and down of first operating grip represents to carry out VTOL (vertical take off and landing) function as shown in Figure 1, and operating grip side-to-side movement represents to carry out horizontal extension function as shown in Figure 2.The side-to-side movement of second operating grip represents to carry out horizontal rotation function as shown in Figure 3, upper and lower operating function conductively-closed.

2. show and warning device

2.1 display screens: according to current complete machine state, automatically select between the operation area of setting, highlight on display screen, be beneficial to the clear and definite scope of work of operating personnel.Press Self-resetting TRAJECTORY CONTROL enable button operating grip, while allowing platform move by particular track, in display screen, demonstrate ideal movements track.

2.2 hummers: press Self-resetting TRAJECTORY CONTROL enable button operating grip, while allowing platform move by particular track, hummer sends corresponding voice prompt.

2.3 yellow indicator lamps: in the time pressing Self-resetting TRAJECTORY CONTROL enable button, yellow indicator lamp flicker.Press Self-resetting TRAJECTORY CONTROL enable button operating grip, while allowing platform move by particular track, yellow indicator lamp constant.

3. pick-up unit

3.1 long angle transducers: select long angle transducer to measure jib length and jib angle, jib length and jib telescopic oil cylinder stroke exist proportionate relationship.In this embodiment, jib telescopic oil cylinder range is 8m, and jib angular range is-12 °～80 °.Select effective measurement length 11.5m, the long angle transducer of 320 ° of effectively taking measurement of an angle, its respectively corresponding output current value scope be 4-20mA.

3.2 linear transducers: this sensor measurement luffing range of cantilever support oil cylinder length.In this embodiment, amplitude oil cylinder stroke is 1.9m, selects the linear transducer of effective measurement length 2.5m, and its corresponding output current scope is 4-20mA.

3.3 scramblers: this scrambler is common to measures rotation of rotary table angle and operating platform pendulum angle.This embodiment intermediate station can carry out continuous 360 ° of revolutions, selects multi-turn absolute value encoder, and its corresponding output current scope is 4-20mA.Operating platform can carry out the swing of each 90 ° around, selects individual pen absolute value encoder, 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, normally closed when power-off, and its delivery outlet flow, is not subject to system works pressure influence, increases with controlling electric current in 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

In embodiment, when pressing after Self-resetting TRAJECTORY CONTROL enable button, coordinate setting module is being accepted after sensor signal, and first coordinate setting module detects current principal arm state and judge whether to allow to carry out intelligent operation.With between operation area shown in Fig. 6, make the following judgment:

1), when jib current state is positioned at envelope I between operation area and when neighbouring, can in operation area, carry out level and stretch out with vertical and hoist, but not allow to carry out level retraction and vertical landing;

2), when jib current state is positioned at envelope II between operation area and when neighbouring, can in operation area, carry out that level is stretched out and vertical landing, but the level that do not allow to carry out is retracted and is hoisted with vertical;

3) when jib current state is positioned at envelope III between operation area and when neighbouring, can carry out level retraction and vertical landing in operation area, but the level that do not allow to carry out is stretched out with vertical and is hoisted;

4), when jib current state is positioned at envelope IV between operation area and when neighbouring, can in operation area, carry out level and stretch out with vertical and hoist, but not allow to carry out level retraction and vertical landing;

5) in the time that jib current state is positioned at all envelopes inside between operation area, can in operation area, expect that Intelligent track operates.

In the present embodiment, jib is the box section with telescoping mechanism, and jib root is hinged on turntable, and jib middle part connects amplitude oil cylinder, the platform of jib end bearing certain mass.

Respectively vertically hoisting in three kinds of original states of equipment checking TRAJECTORY CONTROL, level retracts and horizontal rotation performance.

In vertically hoisting, original state is that jib and X-axis angle are 0 °, and jib initial length is 15m, now jib is projected as 15m in X-axis, when end state, jib and X-axis angle are 61.79 °, and it is 31.76m that jib stretches out rear length, and now jib is projected as 15.01m in X-axis.Illustrate at platform and hoist in process, better kept vertical effect.

In level is retracted, original state is that jib and X-axis angle are 60 °, and jib initial length is 26.0m, now jib is projected as 22.52m in Y-axis, when end state, jib and X-axis angle are 76.77 °, and after jib retraction, length is 23.11m, and now jib is projected as 22.5m in Y-axis.Illustrate in platform retraction process, better kept horizontal effect.

In horizontal rotation, original state is jib 25 ° of XZ plane inner projection and X positive dirction angles, the angle of jib and XZ plane is 45 °, jib initial length is 20.0m, operating platform and jib angle are-25 °. now jib is in XY axial projection, being 14.14m along Y-axis projected length, is 12.82m along X-axis projected length.When end state, jib is in XZ plane inner projection and X positive dirction angle-25 °, and now the angle of jib and XZ plane is 45.07 °, and jib length is 20.04m, and operating platform and jib angle are 25 °.Illustrate in platform turning course, better kept horizontal effect.

Brief summary, this track control device has following characteristics:

1. make full use of device on former high altitude vehicle equipment, do not have too many additional devices to purchase;

2. be provided with normal operations and intelligent operation switching device shifter, be convenient to switch between two kinds of operator schemes, and non-interference;

In VTOL (vertical take off and landing) and horizontal extension taking luffing range of cantilever support angle as unified input quantity, carry out the synchro control of amplitude oil cylinder and telescopic oil cylinder, can reach higher control accuracy, and the control loop of two oil cylinders is without interaction;

In horizontal rotation taking rotation of rotary table angle as unified input quantity, carry out the synchro control of rotary motor, rotary actuator, amplitude oil cylinder and telescopic oil cylinder, can reach higher control accuracy, and the control loop of four is without interaction;

5. in the position control system of each mechanism, adopted respectively different algorithms to proofread and correct, thereby effectively realized quick and stable response, reached TRAJECTORY CONTROL and want;

6. add deflection deformation compensation capable of regulating compensating factor, make to control the jib that track adapts to different collapsing lengths;

7. have simple to operately, reduce skill level requirement to operating personnel, reduce workman's working strength;

8. owing to can stablizing and reappear track action, can obviously save the working time, increase work efficiency, thereby reduce equipment operating cost, and significantly strengthen the competitive power at similar market of equipment.

Above content is the further description of the present invention being done in conjunction with optimal technical scheme, can not assert that the concrete enforcement of invention only limits to these explanations.Concerning general technical staff of the technical field of the invention, not departing under the prerequisite of design of the present invention, can also make simple deduction and replacement, all should be considered as protection scope of the present invention.

Claims (1)

1. a high-altitude operation vehicle operating platform track control device, is characterized in that, described high-altitude operation vehicle operating platform track control device comprises following part:

A. operating mechanism

Described operating mechanism part is the control panel that is provided with function button and operating grip;

Described function button comprises enable button, motor learning button and reproduction movement buttons;

Described enable button, for mutually switching between normal operations and intelligent operation; , on operation control panel, operating grip is normal operations function when the normal position of enable button; In the time that needs use TRAJECTORY CONTROL intelligent operation, must first press enable button and keep, on control panel, operating grip is switched to intelligent operation pattern masking operation handle normal operations function;

Described motor learning button, when in the time that enable button is pressed and keep, starts motor learning button, high-altitude operation vehicle kinematic parameter in the Programmable Logic Controller memory intelligent operation time period, and store;

Described reproduction movement buttons, when in the time that enable button is pressed and keep, starts reproduction movement buttons, and high-altitude operation vehicle is by the last reproduction motion storing, until reproduction movement buttons or enable button are not activated, reproduction action stops;

While using TRAJECTORY CONTROL intelligent operation, select two twin shaft ratio handles; Moving up and down of the first operating grip represents to carry out VTOL (vertical take off and landing) function, and the first operating grip side-to-side movement represents to carry out horizontal extension function; The side-to-side movement of the second operating grip represents to carry out horizontal rotation function, upper and lower operating function conductively-closed;

B. pick-up unit

Described pick-up unit adopts long angle transducer to detect the angle of revolution that jib length detects the relative angle of revolution of getting off of turntable with jib angle, employing linear transducer detection amplitude oil cylinder length, employing turntable scrambler, adopts the relative jib of plateau coding device detection operating platform; Each measured value will be delivered to and in Programmable Logic Controller, carry out computing;

C. show and warning device

Described display device, according to current complete machine state, is selected between the operation area of setting automatically, highlights on display screen, is beneficial to the clear and definite scope of work of operating personnel;

Described warning device is made up of pilot lamp and hummer, makes corresponding actions according to controller steering order; In the time pressing TRAJECTORY CONTROL enable button, pilot lamp flicker; Press TRAJECTORY CONTROL enable button operating grip, while allowing platform move by particular track, pilot lamp constant, hummer sends corresponding voice prompt, demonstrates ideal movements track in display device;

D. be with pressure compensated hydraulic loop

The described 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 is all with pressure compensation, the flow that makes to promote oil cylinder or motor motion is only relevant to main valve aperture, with control main valve electric current approximately linear proportionate relationship, and have nothing to do with driving load; Simultaneous retractable, luffing and three control loops of revolution do not interfere with each other; Platform valve group comprises that platform swings and platform leveling loop, the main valve in every loop is all with pressure compensation, the flow that makes to promote leveling cyclinder or rotary actuator motion is only relevant to main valve aperture, with control main valve electric current approximately linear proportionate relationship, and have nothing to do with driving load; Two control loops of leveling simultaneously and swing do not interfere with each other;

E. coordinate setting module

Described coordinate setting module detects current principal arm state and judges whether to allow to carry out intelligent operation; In the time starting Intelligent track control, coordinate setting module receives long angle transducer signal, determines jib angle and jib length; Receive turntable code device signal, determine rotation of rotary table angle, jib is with respect to the angle of revolution of getting off; Receiving platform code device signal, determines the relative arm support rotation angle of operating platform;

In XY plane, calculate arm support tail end position by Programmable Logic Controller, interval relatively with equipment availability, can carry out VTOL (vertical take off and landing) or the intelligent operation judgement of horizontal extension; In the time detecting that arm support tail end is positioned between operation area envelope and adjacent domain thereof, allow vertically to rise or fall in action and level stretch or contract in an action; In the time that operator's driving handle does not allow to move, warning device buzzing warning and complete machine attonity;

In XZ plane, Programmable Logic Controller calculate jib with respect to the angle of revolution of the positive dirction of getting off and operating platform with respect to the angle of revolution of jib, current arm support and operating platform state parameter are preserved;

The speed priority of Intelligent track operation is lower than the operating speed specifying between operation area; Controller receives in real time the detection signal of this module transmission and compares with setting program; In the time that Intelligent track operation closes between operation area envelope or other restriction points, warning device alert; In the time that Intelligent track operation has approached between operation area envelope or other restriction points, the operation of restriction Intelligent track, warning device buzzing is reported to the police;

F. forward solves module

Described forward solves module and carries out operating platform motion path track computing under perfect condition; After the judgement of coordinate setting module can be carried out Intelligent track operation, carry out work, receive jib, turntable and operating platform state parameter and lever operated signal that coordinate setting module detects;

When forward solves module arithmetic VTOL (vertical take off and landing) and horizontal extension, taking jib angle as primary input reference quantity, the desirable control signal of amplitude oil cylinder and telescopic oil cylinder action is controlled respectively in output;

When forward solves module arithmetic horizontal rotation, taking rotation of rotary table angle as primary input reference quantity, the desirable control signal of rotation of rotary table motor, amplitude oil cylinder, telescopic oil cylinder and the action of operating platform rotary actuator is controlled respectively in output; In service in VTOL (vertical take off and landing), ensure that in motion process, jib OC keeps constant in horizontal X axial projection length, calculate as follows:

$L_E=\frac{L_{E0}\cos ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}{\cos (\mathrm{\θ}-{\mathrm{\θ}}_1)}---\left(1\right)$

$L_L=\sqrt{a^2+b^2-2\mathrm{ab}\cos \mathrm{\θ}}---\left(2\right)$

In service at horizontal extension, ensure that in motion process, jib OC keeps constant in vertical Y axial projection length, calculate as follows:

$L_E=\frac{L_{E0}\sin ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}{\sin (\mathrm{\θ}-{\mathrm{\θ}}_1)}---\left(3\right)$

$L_L=\sqrt{a^2+b^2-2\mathrm{ab}\cos \mathrm{\θ}}---\left(4\right)$

In service at horizontal rotation, ensure that in motion process, the projection of jib OC in XY plane keeps constant, all keep constant along Y-axis projected length C ' D ' with along X-axis projected length OD ', calculate as follows:

α ₀＝θ ₀-θ ₁ (5)

$L_E=L_{E0}\sqrt{{\left(\frac{{\cos \mathrm{\α}}_0\cos {\mathrm{\β}}_0}{\cos \mathrm{\β}}\right)}^2+{{\sin \mathrm{\α}}_0}^2}---\left(6\right)$

$\mathrm{\α}=\arctan \left(\frac{{\tan \mathrm{\α}}_0\cos \mathrm{\β}}{{\cos \mathrm{\β}}_0}\right)---\left(7\right)$

θ＝α-θ ₁ (8)

$L_L=\sqrt{a^2+b^2-2\mathrm{ab}\cos \mathrm{\θ}}---\left(9\right)$

γ＝-β (10)

Utilize sensor by physical length and computational length, angle of revolution compares with calculating angle, and both differences are imported to computing in loops, calculates respectively luffing, flexible, rotation of rotary table and platform oscillation controlling loop departure as follows:

ΔL _E＝L _E′-L _E (11)

${\mathrm{\ΔL}}_{\mathrm{EG}}=\frac{{\mathrm{\ΔL}}_E}{n}---\left(12\right)$

ΔL _L＝LL′-L _L (13)

Δβ＝β-β (14)

Δγ＝γ′-γ (15)

In formula: Δ L _efor jib error in length, L _e' be jib physical length, Δ L _eGfor jib telescopic oil cylinder error in length, n is the ratio of jib length variations amount and jib telescopic oil cylinder length variations amount, Δ L _lfor luffing range of cantilever support oil cylinder error in length, L _l' be luffing range of cantilever support oil cylinder physical length, Δ β is rotation of rotary table angular error, and β ' is rotation of rotary table actual angle, and Δ γ is platform pendulum angle error, and λ ' is the actual pendulum angle of platform;

G. deflection compensation module

Described deflection compensation module is calculated the fixing deflection deformation amount of jib because of deadweight and the generation of platform load, and this deflection is joined and controlled in cylinder action signal, the trajectory error that modifying factor deflection deformation produces; Simultaneously in deflection compensation module, add modifying factor, be used for the distortion that space of slider in modifying factor jib overlap joint, jib crudy produce; In jib deflection deformation, deflection compensation module is calculated under different jib states, luffing range of cantilever support angle deflection compensation amount θ _ω;

Utilize method of superposition to try to achieve jib flexural deformation and angle compensation value is as follows:

$\mathrm{\ω}=({\mathrm{\λ}}_{\mathrm{\ω}}\frac{{\mathrm{\ρgL}}_E^4}{8\mathrm{EI}}+\frac{{\mathrm{mgL}}_E^3}{3\mathrm{EI}})\sin {\mathrm{\θ}}_2---\left(16\right)$

${\mathrm{\θ}}_{\mathrm{\ω}}\≈{\tan \mathrm{\θ}}_{\mathrm{\ω}}=\frac{\mathrm{\ω}}{L_E}=({\mathrm{\λ}}_{\mathrm{\ω}}\frac{{\mathrm{\ρgL}}_E^3}{8\mathrm{EI}}+\frac{{\mathrm{mgL}}_E^2}{3\mathrm{EI}})\sin {\mathrm{\θ}}_2---\left(17\right)$

H. Speed Setting module

Described 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, and computing system primary input reference quantity-luffing range of cantilever support angle signal θ:

In VTOL (vertical take off and landing):

$\tan (\mathrm{\θ}-{\mathrm{\θ}}_1)=\frac{L_y}{L_{E0}\cos ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}---\left(18\right)$

Formula (18) both sides, respectively to time differentiate, are obtained to following formula

${\sec }^2(\mathrm{\θ}-{\mathrm{\θ}}_1)\frac{\mathrm{d\θ}}{\mathrm{dt}}=\frac{\±0.4}{L_{E0}\cos ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}---\left(19\right)$

With starting condition t=0, θ=θ ₁+ α separates the differential equation, asks platform 0.4m/s at the uniform velocity when lifting, and change angle θ is:

$\mathrm{\θ}=\arctan (\tan \left(\mathrm{\α}\right)\±\frac{0.4}{L_{E0}\cos ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}t)+{\mathrm{\θ}}_1---\left(20\right)$

In horizontal extension:

$\cot (\mathrm{\θ}-{\mathrm{\θ}}_1)=\frac{L_x}{L_{E0}\sin ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}---\left(21\right)$

Formula (21) both sides, respectively to time differentiate, are obtained to following formula

${\csc }^2(\mathrm{\θ}-{\mathrm{\θ}}_1)\frac{\mathrm{d\θ}}{\mathrm{dt}}=\frac{\±0.7}{L_{E0}\sin ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}---\left(22\right)$

With starting condition t=0, θ=θ ₁+ α separates the differential equation, and while asking platform 0.7m/s at the uniform velocity flexible, change angle θ is:

$\mathrm{\θ}=\mathrm{arccot}(\cot \left(\mathrm{\α}\right)\±\frac{0.7}{L_{E0}\sin ({\mathrm{\θ}}_0-{\mathrm{\θ}}_1)}t)+{\mathrm{\θ}}_1---\left(23\right)$

In horizontal rotation:

$\tan \mathrm{\β}=\frac{L_Z}{L_{E0}\cos {\mathrm{\α}}_0\cos {\mathrm{\β}}_0}---\left(24\right)$

Formula (24) both sides, respectively to time differentiate, are obtained to following formula

${\sec }^2\left(\mathrm{\β}\right)\frac{\mathrm{d\β}}{\mathrm{dt}}=\frac{\±0.7}{L_{E0}\cos {\mathrm{\α}}_0\cos {\mathrm{\β}}_0}---\left(25\right)$

With starting condition t=0, β=β ₀separate the differential equation, while asking arm support tail end 0.7m/s at the uniform velocity to turn round, angle of revolution β is:

$\mathrm{\β}=\arctan \left(\frac{\±0.7}{L_{E0}\cos {\mathrm{\α}}_0\cos {\mathrm{\β}}_0}t\right)+{\mathrm{\β}}_0---\left(26\right)$

Now, for keeping the operating platform direction of relatively getting off constant, should reverse constant speed rotation, pendulum angle γ is:

$\mathrm{\γ}=-\mathrm{\β}=-\arctan \left(\frac{\±0.7}{L_{E0}\cos {\mathrm{\α}}_0\cos {\mathrm{\β}}_0}t\right)-{\mathrm{\β}}_0---\left(27\right)$

I. algorithm optimization module

Described algorithm optimization module comprises: negative feedback adds the complex correction, PID controlling unit of feedforward, in flexible loop, adds pid control algorithm three parts with dead band;

I1. negative feedback adds the complex correction of feedforward: respectively by the measured value of amplitude oil cylinder, telescopic oil cylinder, rotation of rotary table motor, platform rotary actuator and the comparison of controller operation values, 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 reduce steady-state error, form complex correction;

I2.PID controlling unit: add PID between control signal and main valve, utilize its ratio, integration, the differential action;

I3. in flexible loop, add the pid control algorithm with dead band;

Vertically hoisting in pattern, in the time that luffing range of cantilever support passes through horizontal level, jib length can become elongation from shortening; In vertical drop mode, in the time that luffing range of cantilever support passes through horizontal level, jib length can become shortening from extending; Jib more closes on horizontal level, and jib length variations amount is less, requires higher to position control accuracy; And for valve control asymmetrical cylinder, because quick commutation can cause pressure jump, cause " implosion " or " outer quick-fried " of fluid, thereby can not work reposefully in the time of commutation; For addressing these problems, select the PID control method with dead band;

It is as follows that PID with dead band controls formula:

In formula (28), dead band e ₀be an adjustable parameter, concrete numerical value can be determined by field experiment according to concrete equipment;

J. Programmable Logic Controller

Programmable Logic Controller receives by coordinate setting module, forward and solves the signal that TRAJECTORY CONTROL module that module, deflection compensation module, Speed Setting module and algorithm optimization module five parts forms produces, and utilizing programmes realizes each modular algorithm in TRAJECTORY CONTROL assembly;

In the time carrying out VTOL (vertical take off and landing) or horizontal extension, taking luffing range of cantilever support angle as unified input variable, produce simultaneously and control the function of current on the solenoid valve and warning device in luffing, flexible hydraulic loop;

In the time carrying out horizontal rotation, taking rotation of rotary table angle as unified input variable, produce simultaneously and control the function of current and swing on the solenoid valve and warning device in hydraulic loop to luffing, flexible, rotation of rotary table and operating platform;

In above-mentioned formula (1)～(28), L _efor jib flexible rear length, i.e. OC ', OC "; L _e0for jib original state length, i.e. OC; θ ₀during for original state, the angle of jib and OA; θ is after jib stretches, the angle of jib and OA; θ ₁for the angle between OA and X-axis positive dirction; L _lfor jib flexible after, amplitude oil cylinder length, i.e. AB '; A is distance, i.e. OA between amplitude oil cylinder root hinge and jib root hinge; B is distance, i.e. OB between amplitude oil cylinder end hinge and jib root hinge; CP is operating platform axis simplified schematic; α ₀during for original state, the angle between jib OC and XZ plane; α is after jib stretches, the angle between jib OC and XZ plane; β is after jib stretches, the angle of jib OC between XZ plane inner projection OD and X-axis positive dirction; β ₀during for original state, the angle of jib OC between XZ plane inner projection OD and X-axis positive dirction; γ is after jib stretches, operating platform axis CP and the jib OC angle between XZ plane inner projection; γ ₀during for original state, operating platform axis CP and the jib OC angle between XZ plane inner projection; L _xfor jib end C point is apart from the displacement of Y direction motion; L _yfor jib end C point is apart from the displacement of X-direction motion; L _zfor jib end C point is apart from the displacement of Z-direction motion; ω is jib end maximum defluxion; λ _ωfor modifying factor; ρ is jib Line mass-density; E is jib elasticity modulus of materials; I is jib equivalent section moment of inertia; M is platform assembly quality; θ ₂for the angle of jib and X-axis line; θ _ωfor luffing range of cantilever support angle deflection compensation amount.