Research On Straight Trajectory Control Of Telescopic Boom Aerial Work Platform

Aerial work platform has widely used in infrastructure construction. The weakness of common operation results in lower efficiency and requires high operating skills. Based on the characteristic, this paper designs an intelligent straight trajectory control system. This system takes the platform as the control object and synchronously controls circuit of luffing, telescope, slew and swing to make the platform moving along the required path precisely, such as vertical-lift, horizontal-telescope and horizontal-slew.The vehicle which the control system applied has been described in detail. The design principles and requirement are present. This control system consists of five models and their functions are expounded. The data flow chart of straight trajectory control system is plotted.This control system belongs to the typical electro-hydraulic proportional position control system, which involves multiple mechanism movements. Synchronous control strategy has adopted which uses primary signal controls all the hydraulic actuators. Based on the simplified model, the algorithms in each function blocks are computed. So the mathematic model of valve-controlled cylinder and valve-controlled motor are derived, and the key performance parameters are analyzed.According to national standards, the performance indicators of straight trajectory are worked out. Combined with an actual product development, the driving load and the parameters of component in each circuit are calculated to obtain the actual transfer functions of hydraulic circuits. By adding the feedforward loop in the system, a complex rectification system that combined feedforward control with feedback control is built. This can reduce the steady-state errors when input signal is ramp function.The physical simulation and control model are respectively established in ADAMS and MATLAB/Simulink. In order to solve the problem caused by signal action cylinder’s fast reversing, the "dead band+retract" loop are added in control model. Based on the above research, the straight trajectory control system on aerial work platform is built by using co-simulation. This paper simulates the function of vertical-lift, horizontal-telescope and horizontal-slew by using the co-simulation model. All the results meet the performance requirements. In summary, this paper successfully designs a straight trajectory control system on aerial work platform which is simple and quick in operation and reproduce required path precisely. So it can significantly save the working time, improve operating efficiency, reduce the operation cost, enhance the competitiveness in the market and have the obvious application prospect.