伸缩臂高空作业车直线轨迹控制系统研究

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The simulation of straight trajectory control of vertical-lift and extend-horizontal on aerial work platform with telescopic boom has been researched with the motivation of improving productivity and safety. The control system was consisted of a microcomput- er-based controller, sensors and hydraulic actuators. The control algorithm was combined of PID, feedback and feedforward control, and static deflection compensation was added. The good control performance of this algorithm is verified by co-simulation and math- ematic modeling.为了提高直臂伸缩式高空作业车的作业效率和安全性，对其垂直升降和水平移动的直线轨迹控制系统进行仿真研究。该控制系统包括控制器、传感器和执行元件。其控制环节包括PID、负反馈和前馈，并加入了静态挠度补偿。通过搭建数学模型并进行联合仿真验证了其良好的控制性能。