Research On Active Vibration Control For Boom Of Telescopic Boom Aerial Working Vehicle

Aerial working vehicle,as a kind of equipment for transporting personnel to designated locations and rescuing trapped casualties,is a necessary equipment in modern urban firefighting.Considering the work characteristics of the Aerial working vehicle,it is of great significance to control the vibration in the operation process to ensure the stability and safety.In this paper,a telescopic boom aerial working vehicle is used as the research object.Through the study of the stability of the hydraulic system and the vibration characteristics of the arm frame system,the closed-loop system is constructed based on the adaptive control theory to realize the active control of the boom vibration.The main contents are as follows:Firstly,the relationship between the expansion and contraction angle of the variable amplitude hydraulic cylinder in the luffing system of a telescopic boom aerial working vehicle was studied,and the mathematical model of the variable amplitude hydraulic control system was established for the luffing hydraulic system of the telescopic boom aerial working vehicle.What's more,the open loop transfer function of the variable amplitude hydraulic system is obtained,and the stability of the luffing hydraulic system was verified by Matlab.Secondly,based on the lateral bending vibration equation of the equal cross section beam,the lateral bending vibration equation of the variable cross section beam with end mass variation is deduced,and the boundary condition of the variable cross section beam model is established.The vibration equation of the variable cross section beam model is solved by the variable separation method at the same time,and the vibration state space expression of the variable section beam model is obtained.The jib system of the telescopic boom aerial working vehicle is simplified as a variable cross section beam model with end mass,and the state space expression of the telescopic boom aerial working vehicle is obtained,and the controllability and observability of the jib system of the telescopic boom aerial working vehicle are analyzed.Thirdly,the working conditions of the telescopic boom aerial working vehicle in the actual operation are analyzed,and it is proposed that the sudden change of the boom angle and the load change are two causes of the vibration of the telescopic boom aerial working vehicle during the luffing work.The simulation analysis of the vibration response of the arm head under the change of the boom elevation angle and under different loads are carried out in Simulink.Then,a model reference adaptive damping control method based on the Popov hyperstability theory is proposed for the vibration problem of the telescopic boom aerial working vehicle during the amplitude change process.The model reference adaptive control system based on the Popov hyper-stability theory is designed,and the vibration of the arm frame system is simulated in Simulink.The validity of the model reference adaptive control system based on the Popov hyper-stability theory is proved to be effective for the active control of the boom of the telescopic boom aerial working vehicle.The influence of integral gain and proportional gain on the control system in the model reference adaptive control system is further discussed.Finally,an experimental scheme for the active control of the boom of the telescopic boom aerial working vehicle is established,and a method of using the sensor to obtain the state variables of the boom system is proposed.The boom active vibration control solution which uses the current of the electro-hydraulic as input and the arm head response as output is established at the same time.