针对多节点结构的爬架在运行中同步控制精度易受外部扰动的问题,提出一种基于滑模变结构的偏差耦合控制方法.首先,对爬架位置测量方法进行研究和分析,建立爬架动力学模型;其次,运用模糊PID(proportion integral differential)控制算法来提高偏差耦合的控制精度,并将模糊控制与滑模控制结合,设计一种模糊滑模位移控制器来消除抖动,以此来提高各节点之间的同步控制性能;最后,通过MATLAB/Simulink进行仿真和实验进行验证.仿真和实验结果表明:与传统偏差耦合结构相比,所提方法在受到干扰的情况下各节点之间的误差分别降低68.2％、73.5％、78.2％,具有更佳的同步精度,而且具有良好的鲁棒性.
Position Synchronization Control of Multi-node Aerial Working Platform
In order to solve the problem that the synchronous control accuracy of the climbing frame with multi-node structure is susceptible to external disturbance during operation,a deviation coupling control method based on sliding mode variable structure was proposed.Secondly,the fuzzy PID(proportion integral differential)control algorithm was used to improve the control accuracy of devi-ation coupling,and a fuzzy sliding mode displacement controller was designed to eliminate jitter by combining fuzzy control and sliding mode control,so as to improve the synchronous control performance between nodes.Finally,MATLAB/Simulink was used for simula-tion and experimental verification.Simulation and experimental results show that compared with the traditional deviation coupling struc-ture,the errors between nodes in the proposed method are reduced by 68.2％,73.5％and 78.2％respectively under the condition of interference,which has better synchronization accuracy and good robustness.
万方数据
维普
