Research On Development And Control Strategy Of Virtual Prototype Based On SimulationX Aerial Work Platform

Aerial work platform is an important construction equipment and plays its role in electricity, communications, transportation, fire protection, shipbuilding and other areas. With the continuous expansion of aerial work platforms application, the requirement of aerial work platform is becoming higher. In order to solve the issue of big investment, time-consuming and poor design accuracy in traditional methods, this paper develops Aerial work platform prototype with environment of software SimulationX, which provides a convenient and reliable simulation platform for characteristics analysis of hydraulic system, research of control strategy and tracking control of work platform.Taking the self-propelled aerial work platforms of 10V02002 as research object, this paper mainly conclude the following tasks:(1) Complete the development of model aerial work platforms virtual prototyping. According to its mechanical structure, aerial work platform is divided into bodywork, luffing mechanism, telescopic mechanism, leveling mechanism and workbench. Under the SimulationX, using SolidWorks to build the saddle and the work bucket and import their three-dimensional model,pitching mechanism and leveling mechanism rotating joint connection,telescopic mechanism of telescopic joints and various degrees of freedom of the hydraulic system modeling problems are solved, completed the development of virtual prototype of aerial work platform.(2) Research on the operating characteristics of the pitch hydraulic system and the hydraulic system of the high altitude operation platform. The pitch hydraulic system and telescopic hydraulic system first in the open loop control mode are given hydraulic valves of different sizes and different direction control signal, and then in the closed-loop control mode given ladder round trip signal, to observe and analyze the hydraulic response of the system. Then the reverse operation characteristics of the hydraulic system is analyzed theoretically, and concluded that the operating characteristics of pitchhydraulic system have little difference between the positive and negative direction, but the operating characteristics of telescopic hydraulic system have much difference between positive and negative.(3) The improvement of the tracking performance of hydraulic system is realized by using position feedback and feedforward compensation control strategy. Aiming at the hydraulic system is working in the opposite direction tracking characteristics, this paper which is based on the closed-loop hydraulic control system using the feedforward compensation control strategy to make the aerial work platform hydraulic system tracking performance is improved obviously.(4) Achieve the trajectory control of work platform. Taking the work platform running by the acceleration- constant speed- deceleration as example in the vertical direction, according to the inverse operation relationship between the trajectory of the working bucket and the running trajectory of the hydraulic cylinder and the piston of the hydraulic cylinder, the working bucket trajectory is obtained. The simulation analysis of the working bucket movement speed, displacement and acceleration, working bucket actual running trajectory and the expected trajectory basically consistent, realize the working bucket running trajectory control.