高空作业平台广义预测自适应控制及联合仿真  

Generalized predictive adaptive control and combination of simulation of aerial work platform

作　　者：李帅[1] 魏建华[1] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室,杭州310027

出　　处：《计算机应用研究》2009年第10期3830-3832,共3页Application Research of Computers

基　　金：2004-2006新世纪优秀人才支持计划资助项目

摘　　要：为减少工程车辆控制系统开发周期和成本,以某型54m高空作业平台电液比例调平系统为研究对象,利用ADAMS软件建立作业机构多体动力学模型;采用AMESim软件建立电液比例调平系统模型;通过MAT-LAB/Simulink设计,采用改进的广义预测自适应控制的闭环控制器;以AMESim作为主仿真环境,通过软件接口将多体动力学模型和控制系统模型集成到AMESim中进行联合仿真。仿真结果表明,闭环控制器较常规PID控制器具有良好的动态特性,对模型失配和负载扰动表现出更强的适应性和鲁棒性,同时也证明了联合仿真的有效性。This paper presented the design of controller for aerial work platform electro-hydraulic proportional leveling system. First, established the operation organization multi-body dynamic model by using ADAMS; designed the hydraulic model by using AMESim; then, presented the closed-loop .controller using the improved generalized predictive adaptive control through MATLAB ／Simulink. Took the AMESim as the main simulation environment, imported the multi-body dynamic model and controller model into AMESim by software interfaces. Simulation results prove that comparing with the conventional PID controller the closed-loop controller has better dynamic performance, as well as better adaptability and higher robustness while the mathema-tie model or the system load disturbance.

关 键 词：高空作业平台 广义预测自适应控制 受控自回归滑动平均模型 联合仿真 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]