模糊控制在云梯消防车垂直升降系统中的应用研究  

Research on Application of Fuzzy Control in Vertical Lifting System of Aerial Ladder Fire Fighting Vehicle

作　　者：仝瑶瑶 高志刚 张静宇 李鑫 Tong Yaoyao;Gao Zhigang;Zhang Jingyu

机构地区：[1]江苏师范大学科文学院电气与智能制造学院 [2]徐工消防安全装备有限公司

出　　处：《工程机械》2024年第10期119-124,I0022,共7页Construction Machinery and Equipment

基　　金：国家重点研发计划(2021YFC3001705)。

摘　　要：针对云梯消防车工作平台接近墙面进行垂直升降救援时,人为操作臂架伸缩变幅动作易发生碰撞事故,同时需要反复多次操作才能实现,救援效率低的问题,设计了基于模糊控制的垂直升降系统,通过人机交互显示系统输入工作平台上升或者下降距离参数,并将距离参数传递到控制器中,控制器实时计算幅度误差和幅度误差变化率,并通过查询模糊控制规则表得出伸缩阀电流,执行机构通过液压执行元件驱动臂架结构完成相应的动作,保证在升降过程中幅度变化尽可能小,提高了救援效率。In view of the problems of easy collision accidents caused by manual operation of telescopic and luffing movements of the boom and low rescue efficiency caused by demand for many times of operation when the work platform of an aerial ladder fire fighting vehicle approaches the wall for vertical lifting and rescue,a vertical lifting system based on fuzzy control is designed,which inputs the upward and downward distance parameters of the work platform through a human-computer interaction display system and transmits the distance parameters to the controller.The controller calculates the range error and range error change rate in real time and derives the current of the telescopic valve by querying the fuzzy control rules.The actuator drives the boom structure to complete the cor responding actions through the hydraulic actuating element to ensure that the range change in the lifting and lowering process is as small as possible,which improves the rescue efficiency.

关 键 词：模糊控制 云梯消防车 工作平台 垂直升降 

分 类 号：U469.68[机械工程—车辆工程]