本文關(guān)鍵詞： 拉格朗日方程 奇異攝動(dòng)理論 模糊PID控制 最優(yōu)控制 輸入整形器　出處：《電子科技大學(xué)》2013年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：折疊式高空作業(yè)車(chē)是一種用來(lái)運(yùn)送工作人員和使用工具、材料等到達(dá)空中指定位置進(jìn)行各種安裝、維修等作業(yè)的專(zhuān)用高空作業(yè)機(jī)械，廣泛應(yīng)用于各個(gè)行業(yè)。隨著經(jīng)濟(jì)和科技的迅猛發(fā)展，人們對(duì)高空作業(yè)車(chē)的高作業(yè)效率、高安全性的性能要求越來(lái)越高，不斷發(fā)展輕量化、高速度和高精度的高空作業(yè)車(chē)應(yīng)用于消防、搶險(xiǎn)、搶修等需要高機(jī)動(dòng)性的緊急場(chǎng)所。傳統(tǒng)的局限于臂桿剛性范圍的研究沒(méi)有考慮到高空作業(yè)車(chē)作業(yè)臂柔性變形對(duì)整個(gè)系統(tǒng)動(dòng)態(tài)性能的影響，已不能滿(mǎn)足具有輕量化柔性臂的高空作業(yè)車(chē)系統(tǒng)性能的要求，人們已將高空作業(yè)車(chē)動(dòng)力學(xué)與控制研究方向轉(zhuǎn)向了輕量化柔性臂的高空作業(yè)車(chē)系統(tǒng)。 本文基于拉格朗日原理推導(dǎo)了折疊式高空作業(yè)車(chē)臂架的動(dòng)力學(xué)微分方程，緊接分析了造成柔性作業(yè)臂強(qiáng)耦合和非線(xiàn)性動(dòng)力學(xué)特性的主要因素，并對(duì)作業(yè)臂一些重要結(jié)構(gòu)參數(shù)多動(dòng)力學(xué)的影響做了仿真對(duì)比分析，然后根據(jù)振動(dòng)特性的不同，分兩部分設(shè)計(jì)系統(tǒng)：一部分是系統(tǒng)作業(yè)臂的定位和消振的控制設(shè)計(jì)；另一部分是系統(tǒng)工作平臺(tái)的消擺的控制設(shè)計(jì)。 針對(duì)第一部分系統(tǒng)作業(yè)臂的定位和消振的控制設(shè)計(jì)，本文基于奇異攝動(dòng)理論將作業(yè)臂柔性多體動(dòng)力學(xué)方程的剛性坐標(biāo)和彈性坐標(biāo)耦合項(xiàng)解耦，分解成作業(yè)臂剛性轉(zhuǎn)角慢變系統(tǒng)和彈性變形快變系統(tǒng)兩個(gè)子系統(tǒng)，然后研究了兩個(gè)子系統(tǒng)的控制方法，，并設(shè)計(jì)出用于強(qiáng)耦合、非線(xiàn)性及不確定性的柔性作業(yè)臂慢變剛體運(yùn)動(dòng)的模糊PID控制來(lái)跟蹤控制作業(yè)臂末端軌跡，設(shè)計(jì)出用于經(jīng)變換后呈線(xiàn)性的柔性作業(yè)臂快變彈性運(yùn)動(dòng)的線(xiàn)性二次型最優(yōu)控制來(lái)抑制作業(yè)臂彈性振動(dòng)。 針對(duì)第二部分系統(tǒng)作業(yè)臂的定位和消振的控制設(shè)計(jì)，本文將作業(yè)平臺(tái)的擺動(dòng)視為由驅(qū)動(dòng)力矩作用于一個(gè)近似剛性系統(tǒng)而產(chǎn)生的大幅低頻振蕩，針對(duì)該類(lèi)型的振動(dòng)，在不影響系統(tǒng)結(jié)構(gòu)、硬件和穩(wěn)定性的前提下，設(shè)計(jì)了外循環(huán)輸入整形器控制策略，抑制了工作平臺(tái)的殘留振蕩。仿真表明，外循環(huán)輸入整形器控制系統(tǒng)具有非常好的伺服性能，有效地抑制了工作平臺(tái)的擺動(dòng)。
[Abstract]:A folding aerial work vehicle is a special aerial work machine used to transport staff, use tools, materials, etc. to a designated position in the air for various installation, maintenance, etc. Widely used in various industries. With the rapid development of economy and science and technology, people have higher and higher performance requirements for high efficiency and high safety of aerial work vehicles, and continue to develop lightweight, High-speed and high-precision aerial vehicles are used for fire fighting and emergency rescue. The traditional research on rigid range of arm rod does not take into account the influence of flexible deformation on the dynamic performance of the whole system. The performance of aerial vehicle with lightweight flexible arm has not been satisfied, so the research direction of dynamics and control of aerial vehicle has been turned to the system with lightweight flexible arm. Based on the Lagrangian principle, the dynamic differential equations of the folding aerial vehicle boom are derived in this paper. The main factors that cause the strong coupling and nonlinear dynamic characteristics of the flexible working arm are analyzed immediately. The effects of several important structural parameters on the dynamics of the working arm are compared and analyzed. According to the different vibration characteristics, the system is designed in two parts: one is the positioning of the working arm and the other is the control design of the vibration suppression; The other part is the control design of the system working platform. In view of the control design of positioning and damping of the working arm of the first part of the system, the coupling terms of rigid coordinate and elastic coordinate of flexible multi-body dynamic equation of the working arm are decoupled based on singular perturbation theory. It is decomposed into two subsystems: the rigid rotation angle slowly variable system and the elastic deformation fast variable system. Then, the control methods of the two subsystems are studied, and the two subsystems are designed for strong coupling. The nonlinear and uncertain fuzzy PID control of the slow variable rigid body motion of the flexible manipulator is used to track the trajectory of the end of the control arm. A linear quadratic optimal control is designed to suppress the elastic vibration of flexible manipulators. For the second part of the design of the positioning and vibration control of the operating arm, this paper regards the swing of the platform as a large low frequency oscillation caused by the driving moment acting on an approximate rigid system, aiming at this type of vibration. Without affecting the structure, hardware and stability of the system, the control strategy of the external loop input shaper is designed to suppress the residual oscillation of the working platform. The simulation results show that the control system of the external loop input shaper has very good servo performance. The swing of the working platform is effectively restrained.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類(lèi)號(hào)】：TH22

【參考文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前2條

1 馬溢清;柔性連桿機(jī)械手的神經(jīng)模糊控制[D];哈爾濱工程大學(xué);2003年

2 韓猛;柔性臂的動(dòng)力學(xué)及其軌跡控制[D];蘭州理工大學(xué);2008年

本文編號(hào)：1534989