Study Of Aerial Work Platform Control System And Optimization The Hinge Point

As a particular engineering machine of high safety、flexbility、efficiency,aerial work platform have widespread used in all walks of life and have a widedevelop prospect.By means of the key technology comparing to abroad,civiltechnology far backward particularly in automatic control.this thesis hasstudied and designed the control system of GTB30meters Self-propelledstraight arm aerial work platform and the leveling hinge point based on smartoptimization algorithm. Main content of this research includes the followingaspects:(1)Aeri work platform structure and principle was analysis, the wholecontrol system consist of three subsystems of turntable、 platform.Thecontroller of EPEC was replaced by the lowcost Cylindro as the core controllerunit,the date exchange of by means of three subsystems communicated basedon CAN-bus.Each action connected with I/O of control unit have provided witheach subsystems,the principle of shift switch and power supply switch wereanalysed.(2)International standard programme language IEC6113-3and Codesys2.3environment were used in software section. Arbitration redundant algorithm ofactions and dealing with median sensor were designed.Safety control was dealwith module and ensured the safety of operate personnel.(3)8bits min-controller MC9S08DZ60of Freescale was take to the corecontroller of monitoring communication system, MSCAN module deal with themessage, PCA82C250of Philips was taken to the CAN transmit-receiveimplement between on the CAN-bus and MC9S08DZ60.The application ofCANopen protocol in aerial work platform was analysed,message transferredwith PDO and monited the message online.The design can full satisfy therequirements of the aerial work platform and the capacity of control andcommunication was very good.(4)Considering the facts that optimization of the hinge point of leveling ofaerial work platform,a multu-objective optimization mathematical model wasestablished of using the parameters of three linkage of leveling as designvariables and the smallest error of leveling as the objective function,accordingto the principle of cylinder of synchronization and reverse. Fuzzy sets were adopted by fitness function parameters and used the strategy of eliting,theimproved genetic algorithm was applied to solve the model. The Overalloptimal solution was reached by collective search of the improved geneticalgorithm stability and convergence.Besides,the algorithm improved theevolution of speed and the accuracy.The feasibility and validity of thealgorithm was verified by the result of optimization and simulation of backsubstitution.