Research on Obstacle Avoidance Control Method of Autonomous Insulated Platform Lifting and Lowering Process
To improve the stability of the autonomous insulated platform in the lifting and lowering process,the obstacle avoidance control method for the lifting and lowering process has been researched.Firstly,from the structural point of view to analyze,the two main structures of the control system are the AM600-CPU1608TP type programmable logic controller(PLC)and servo motor.The two cooperate with each other to complete the obstacle avoidance control.To maintain the smooth operation of the control system,the operating state of the servo motor is constrained to ensure that the current pulsation coefficient is kept below 0.67 to keep the servo drive in a smooth state.Based on this,the artificial potential field function in the lifting and lowering process is calculated through primary and secondary leveling,the posture and trajectory of the insulated lifting and lowering platform are adjusted,and a compensation function is established to make up for the unstable flutter in the lifting and lowering process,so that the position of obstacles is judged and the obstacle avoidance control is realized.The test results show that the method can effectively complete the lifting and lowering obstacle avoidance task of the insulated platform,with the advantages of small obstacle avoidance error,good leveling performance in the process of obstacle avoidance,and stable lifting and lowering state of the insulated platform.The method has good control effect.
Insulated platformLifting and lowering operationObstacle avoidance controlSafe areaProgrammable logic controller(PLC)
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