Track Programming And Controlling Of Folding Boom Aerial Working Platform

Aerial working platform is a kind of construction machine that take people and accessory equipment to the specified locatioa Aerial working platform has been widely used in infrastructure construction as well as everyday life. Along with the labor safety being paid more attention and increasing of labor cost, research on further improving operation efficiency, realizing automatic control of aerial working platform has aroused widespread concern of scholars home and aboard. Trajectory planning and control of aerial working platform is the basis for automation control. This paper take folding boom aerial working platform as research project, folding boom kinematic model has been established though robotics theory for trajectory tracking. This paper established the mathematical model of hydraulic control system. To improve precision and velocity of hydraulic control system, fuzzy PID controller has been developed in MATLAB/Simulink environment, and its control effect has been simulated.Specifically, the main work of this paper include the following four aspects:(1) Introduced the functions and features of folding boom aerial working platform. Folding boom kinematic model has been established. The basic equation has been obtained by D-H method and forward kinematics problem has been solved by this way. Through the geometric method, inverse problem of boom system has been solved.(2) Introduced the concept of trajectory planning and planning strategies. The specific method of folding boom trajectory has been introduced. When the track of working platform has been determined, by the calculation result mentioned above, two of the main transformer oil cylinder movement curve has been presented in the situation of horizontal movement and vertical movement of working platform This curve provides a very important reference for automated control of commonly used operation conditions of aerial working platform.(3) Boom control system mathematical model is established by the method of transfer function Stability of control system has been analyzed by Bode model and dynamic performance has been analyzed by the input of step signal(4) Introduced the principle of PID control and parameter setting method, PID control has been adopted and its control effect has been simulated. To improve the control effect, fuzzy PID control has been put forward. The principle of PID control and parameter setting method has been introduced. To optimize the arm frame hydraulic system, fuzzy PID controller has been developed in the MATLAB/Simulink environment and its control effect has been simulated.