Oriented And Real-time Trajectory Generation And Control Of Aerial Work Vehicle Link Mechanism

Construction Machinery is a measure of a country’s degree of mechanization of the flag, which is widely used in architecture, sculpture, mining, utilities, municipal construction and other infrastructure construction and industrial production,including loaders, truck, truck and other large machinery. Instead of human beings under heavy and dangerous work environment, it is a critical part for national technology development. However, there are many uncertainties in the actual production depending on the operation of skilled and experienced workers. From this point, I hope that we can ameliorate the controlling conditions through technology innovation, and only in this way can people get a better and safer job environment by a simple operation.The basic structures of construction machinery, from the agency for science, are the work plane linkage and hydraulic cylinder system thereof. So I aim at planar linkages to solve these problems.At first, considering the robotics and our aerial work platform, I used D-H modeling method to establish planar linkages’ kinematics mathematical model and to solve it. And I used MAYLAB to simulate the corresponding. I selected the Geometry of planar linkages mechanism inverse kinematics analysis, simulation analysis with MATLAB inverse kinematics. With the joint angle to give the end converter position and orientation and cylinder length.Secondly, I pictured the three-dimensional SolidWorks model and have got the dynamic analysis of planar linkages. From that I could get the working device and related kinetic parameters. I calculated the driving force and driving torque, and combined with the Adams dynamic simulation analysis of planar linkages through the kinetic model based on Lagrange function.Thirdly, I have analyzed and researched the three interpolation algorithm and the path of the three polynomial interpolation algorithm in the direction of the application of the. I selected the cubic polynomial algorithm of joint space interpolation to plan the trajectory. According to the constraints of planar linkages mechanism kinematics and dynamics has given, I have got the function relations between the joint angle and the time by controlling the time to track immediate updating.Last but not least, I studied the transfer function of the control system, and have got the Bode diagram controlling system in MATLAB. Then I verified the stability of the controlling system. Analyzing the theoretical basis of modern control strategy, I selected PID control algorithm. Through trial and error method I have got the proper control parameters, and then I used Matlab / Simulink to establish the linkage control system with PID controlling model. According to the obtained parameters of PID controller I designed my controller.Finally, I analyzed and simulated research of this study case in the content, and imaged the interpolation function to verify the feasibility of the trajectory planning; I have got hydraulic drive and control system simulation image through MATLAB and AMESim co-simulation. The experimental study was carried out on the aerial vehicle prototype, and the feasibility of the theoretical analysis was verified.