Kinematics Simulation And Control Of The Aerial Working Platform

With the development of the city high-rise,the tasks of the city fire fighting and working aloft are becoming increasingly conspicuous, an aerial working platform is the essential equipment in the modern city fire department, the development direction of aerial working platform is larger. The complex structure of vehicle is due to its height increasing, which causes to complex kinematics of boom deployment and platform. Kinematic analysis of vehicle is the foundation of dynamics analysis, therefore the research of forward and inverse kinematic about aerial working platform laid a foundation for mechanical analysis of vehicle.Kinematics of vehicle booms includes luffing boom and telescoping boom that are controlled by cylinder telescoping,therefore it is very important of relationship between the telescoping cylinder and the rotation of the boom.This relationship shows obviously nonlinearity because the complex mechanism. A great deal of work about the structural design of booms has been done in many documents, but this relationship and kinematics control of the booms have not been done.Based on the practice, kinematics simulation and the control of the vehicle are performed by the following research in this paper.1. There luffing mechanism kinematics are analysed in the boom eyetem of the aerial working platform:luffing prefix figure-eights dual cylinders mechanism, luffing folding boom mechanism, luffing three pivot-point mechanism. The mapping relation between the telescoping cylinder and the rotation of booms is obtained, so the control of booms are performed.2. The influence on luffing booms of assembling tolerance and unequal variations of stretching of hydraulic cylinders are fully considered in the figure-eights dual-cylinders luffing mechanism by taking practical situation,and further by analyzing how to control those errors to reduce the harmful influence.3. The parameters of real boom motions are obtained by computing inverse kinematic platform, so the function of automatic boom deployment are performed.4. Platform motion should be smooth in order to improve comfort.A method for trajectory planning based on acceleration combined sine function is adopted in this paper. This method not only reduces the maxsum of velocity and acceleration but also shorten the runing time. Therefore the platform could move stably, and vibration and impac are avoided, and work efficiency is greatly raised.5. Based on the calculation in this paper, the simulation software is developed to analyze kinematics of the aerial working platform with hybrid booms. The simulation of vehicle boom deployment is done using this software, and the results of analysis show the correctness and effectiveness of the methods in this paper.The automation makes up the shortcomings of traditional manual control and improve its precision and efficiency in working process by the kinematics study of vehicle mechanism,.