Research On High-precision Automatic Hoisting Method For Storage, Transportation And Dispatch

Box-launching technology improves the maneuverability of Rocket launching platform,but the existing hoisting operation of the launching box is mainly completed by manpower,it has low efficiency and low positioning accuracy.In order to solve this problem,the automatic hoisting system of launching box is designed,the content in this system include the trajectory planning of the lifting arm and the controller of the electro-hydraulic servo system.In this paper,a fuzzy neural network PID control method of electro-hydraulic servo system is proposed to realize high precision automatic hoisting.The main work of this paper focuses on the following aspects.Firstly,the basic composition of automatic hoisting system is introduced,the overall architecture of the system is designed,including the selection of hardware components,the structure of the software,the selection of the hydraulic components and the design of the hydraulic schematic diagram.Then the transfer function of the automatic hoisting electro-hydraulic servo system of launching box is established,including the elevation and azimuth of electro-hydraulic servo system.The transfer function of valve control cylinder and valve control motor is established for the two systems respectively,and the parameters are selected to further define the mathematical model.At the same time,the error of the system and the factors affecting the precision of the system are analyzed.The hoisting operation is analyzed,D-H method is carried out to model the forward kinematics of the lifting arm,and the position of the end of the arm is obtained.Also,the joint angles of the lifting arm are obtained through inverse kinematics.The method of five-degree polynomial interpolation is used for trajectory planning of the lifting arm in joint space,and the feasibility is verified by simulation.Finally,the controlling strategy of automatic hoisting electro-hydraulic servo system is studied.The characteristics of PID control,fuzzy control and RBF neural network control are analyzed,in view of the nonlinear factors and load interference in automatic hoisting electro-hydraulic servo system,fuzzy neural network PID controller is designed.The gradient descent method and momentum factor are introduced to optimize network connection weight and the center,width of Gauss membership functions,so as to achieve the purpose of tuning PID parameters online.Then the model is built by using Matlab,the controlling algorithm is simulated,and the effectiveness of the designed controller is verified.