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

Abstract

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

CLC Number:

TH213.6

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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