高空作业车轨迹控制设计研究

针对折叠伸缩混合臂高空作业车提出了作业轨迹控制方案,实现了工作平台升降及水平直线运动时的轨迹自动控制.由两号折叠伸缩臂和飞臂组成的混合式高空作业车,工作平台轨迹控制是冗余自由度问题,其臂节变幅角度与伸长量有范围限制要求.基于一阶逆运动学数值算法设计出了工作平台直线运动轨迹闭环控制方案,针对范围受限控制变量设定了缓冲带,避免了控制率失效,实现了高空作业车作业轨迹的自动控制.

Study of control trajectory design for aerial working platform vehicle

A control trajectory of the folding telescopic arm of the aerial working platform vehicle is proposed.The aerial working platform can move in the straight line automatically by the control of the scheme.The control trajectory is a problem of redundant DOFs that the aerial working platform vehicle consists of two telescopic booms and a fly jib.The arm′s luffing angle and elongation have a restricted range.The design of the trajectory closed-loop control scheme is made based on inverse kinematics first-order numerical algorithm.By setting the buffer zone for the limited control variables,the failure of the control scheme is avoided so that the automatic trajectory control for the aerial working platform vehicle is realized.