ARM-based Electrical Control System Research For Aerial Working Platform

As the brain of aerial work platform(AWP), electrical control system mainly has the funtion of protection and monitoring. Its performance and functionality has an important effect on the quality of the AWP. In order to reduce the platform unsafety problems existing in operation, it is necessary to design a more safe and reliable electric control system. Based on analyzing the structure, performance and hydraulic system of aerial work platform, a ARM-based embedded electrical control system of aerial work platform is developed in this thesis according to its usage, motion control and constraint logic. The main contents are as follows:(1) Mechanical structure, function and constraints relationship between actions of the AWP are analyzed firstly. Then the preciple of the AWP hydraulic control system is studied, and hydraulic circuits, such as driving and steering of walking, leg movements, rotary devices, large telescopic boom, luffing boom, luffing arm, rotating basket, and basket level of regulation, are dealt with respectively. On the above basis, control objects and processes of the AWP are settled down.(2) By investigating the AWP control requirements, the control system are designed as two parts in the view of safe working, one is for the AWP safety detection and control, another is for operation constraint and protection, In addition, we further refine the requirements of motion control for every component to ensure the feasibility and reliability of the design.(3) A detection and control distributed system using ARM controller and CAN bus is developed. The system is designed with 3 sub-systems according to the requirements of safety operation and the AWP performance, which includes basket controller, remote controller and master controller. These three sub-systems communicate via CAN bus. Moreover, hardware circuits of 3 controllers, input/output channel interface circuit and CAN bus interface circuit are also dealt with in the thesis. On the other hand, As for the system software, applications for the AWP control are developed on the frame of the embedded operating systemμC/OS-Ⅱ. the developed software satisfies safety requirements of the AWP well.(4) An ARM-based recorder is developed for the AWP working which can make real-time recording for the AWP condition and give a special recording once fault occurs. The recorder can provide some useful references for the AWP condition monitoring and fault diagnosis.