直臂高空作业车船体喷涂轨迹控制研究与仿真

系统仿真学报 ›› 2016, Vol. 28 ›› Issue (2): 404-409.

直臂高空作业车船体喷涂轨迹控制研究与仿真

王欣¹, 高凌翀¹, 黄兆秋², 肖宇晨¹

1.大连理工大学机械工程学院,大连 116023;
2.大连船舶重工集团海洋工程有限公司,大连 116001

收稿日期:2014-09-19 修回日期:2014-10-28 出版日期:2016-02-08 发布日期:2020-08-17
作者简介:王欣(1972-),女,天津,博士,副教授,研究方向为重型装备现代设计理论与方法,复杂结构CAD与智能计算,结构损伤与剩余寿命评估。
基金资助:
辽宁省高等创新团队支持计划(LT2014001); 中央高校基本科研业务专项(DUT14ZD221)

Research and Simulation on Trajectory Control of Telescopic Boom Aerial Work Platform for Hull Spray Painting

Wang Xin¹, Gao Lingchong¹, Huang Zhaoqiu², Xiao Yuchen¹

1. School of Mechanical Engineering, Dalian University of Technology, Dalian 116023, China;
2. Dalian Shipbuilding Industry Offshore Co., LTD, Dalian 116001, China

Received:2014-09-19 Revised:2014-10-28 Online:2016-02-08 Published:2020-08-17

摘要/Abstract

摘要： 以直臂高空作业车为研究对象,以其在船舶喷涂作业方面的应用为研究背景。提出了一种“船体轮廓连续喷涂”智能喷涂方式,建立了臂架末端位置向量与驱动空间向量之间的映射关系。针对船体轮廓连续喷涂模式,设计一种路径规划策略,实现在已知路径条件下得到驱动空间各变量的变化规律。根据电液比例位置控制系统的传递函数,在Simulink环境下建立船体轮廓连续喷涂轨迹控制系统模型,设计了由PID控制器及前馈补偿器共同构成的校正环节,并针对轨迹规划方案进行了仿真分析,得到的仿真结果反映了控制系统针对轨迹控制信号良好的跟随性。

关键词: 直臂高空作业车, 轨迹控制, PID, 前馈补偿

Abstract: Telescopic boom aerial work platform, which has been widely applied in ship building field, is taken as research object. An intelligent method of spray painting, continuous spray painting along hull's contour was proposed. Correspondence between position vector of boom's top and drive-space vector was established. A path planning strategy of continuous spray painting was designed, and the variation of driving-space vector was acquired when the path was known. The trajectory control system of intelligent spray painting was modeled in Simulink environment based on the transfer function of electro-hydraulic proportional position control system. The correction link made of PID controller and feed-forward compensation was designed. The simulation and analysis of the spray painting method were completed. The good following behavior of control system according to the trajectory control signal was revealed in the simulation result.

Key words: telescopic boom aerial work platform, trajectory control, PID, feed-forward compensation

中图分类号:

TH213.6

王欣, 高凌翀, 黄兆秋, 肖宇晨. 直臂高空作业车船体喷涂轨迹控制研究与仿真[J]. 系统仿真学报, 2016, 28(2): 404-409.

Wang Xin, Gao Lingchong, Huang Zhaoqiu, Xiao Yuchen. Research and Simulation on Trajectory Control of Telescopic Boom Aerial Work Platform for Hull Spray Painting[J]. Journal of System Simulation, 2016, 28(2): 404-409.

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