Modeling and simulation of folding-boom aerial platform vehicle based on the flexible multi-body dynamics

Hu, Haidong; Li, En; Zhao, Xiaoguang; Liang, Zize; Wang, Yu

doi:10.1109/icicip.2010.5565257

Cited by 11 publications

(15 citation statements)

References 4 publications

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“…Aerial work platform has been more and more applied for aerial installation or maintenance as a kind of construction vehicle which can hoist the staffs and equipments to the appointed location in the aerial [1] . Normally, aerial work equipment is installed on the vehicle chassis.…”

Section: Introductionmentioning

confidence: 99%

Design of a Hydraulic-Cylinder-Pressure-based Anti-overturning Module for Aerial Work Platforms

Liang

et al. 2011

2011 Fourth International Conference on Intelligent Computation Technology and Automation

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This paper is devoted to the research and development of an anti-overturning module for the secure operation of the aerial work platforms with composite booms structure, as well as in prevention of accidental overturning. The methodology adopted in this paper is based on the hydraulic cylinder pressure detection, which is used to calculate the force that hydraulic cylinder exerts on booms through pressure sensors, in order to deduce the overturning moment. Compared to the regularly used method such as Gaussian integration, theoretical analysis, cutting method and numerical computation, the method of hydraulic cylinder pressure detection requires less calculation and is much suitable for practical application . This paper is primarily concerned with the design of the framework and overall structure of the hydraulic-cylinder-pressure-based antioverturning module, as well as the development of embedded control system based on ARM & μC/OS-II.

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Section: Introductionmentioning

confidence: 99%

Design of a Hydraulic-Cylinder-Pressure-based Anti-overturning Module for Aerial Work Platforms

Liang

et al. 2011

2011 Fourth International Conference on Intelligent Computation Technology and Automation

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“…Therefore, the derived control law (5) can make 1 z and 2 z converge to zero exponentially asymptotically according to Lyapunov stability theorem. That is to say, the trajectory of work platform can follow the desired trajectory without vibration.…”

Section: T R T R T R T R T R T R T R Tmentioning

confidence: 99%

“…From paper [4], it is concluded that for the dynamics model (2), the control law is designed as (3), then the trajectory tracking error of work platform will converge to zero by choosing suitable design constant 1 k and 2 k .…”

Section: T R T R T R T R T R T R T R Tmentioning

confidence: 99%

“…Folding-boom aerial platform vehicle is a kind of device which can lift people to the height for installation or maintenance [1], the scheme of which is shown in Figure.1.…”

Section: I、introductionmentioning

confidence: 99%

“…Therefore, in the literature [1], the beams are seen as flexible and the dynamics equations of the arm system of folding-boom aerial platform vehicle are set up based on flexible multi-body dynamics theory and Lagrange's equation. The establishment of the model lays foundation of the research of steady movement and accurate positioning of work platform.…”

Section: I、introductionmentioning

confidence: 99%

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Design of Neural Network-based Backstepping Controller for the Folding-Boom Aerial Platform Vehicle

Hu¹,

Ren²,

Liu³

2015

Proceedings of the 2015 International Conference on Mechatronics, Electronic, Industrial and Control Engineering

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Abstract-In this paper, the robust trajectory tracking problem is addressed for the work platform of folding-boom aerial platform vehicle in the presence of uncertainties and disturbances. The control objective is to make the work platform move along a desired reference trajectory and make the vibration inhibit at the same time. Since neural network system can approximate any nonlinear function with arbitrary accuracy over a compact set in the light of the universal approximation theorem, a neural network-based backstepping controller, which composed of backstepping control and neural network, is proposed for the trajectory tracking control of the work platform in the case of modeling uncertainties and disturbances. According to Lyapunov stability theorem, the stability and convergence of the overall system can be guaranteed by the derived control law. In addition, simulation results demonstrate that the proposed controller is effective for suppressing the vibration and reducing trajectory tracking error of the work platform. Keywords-aerial platform vehicle; model uncertainties; trajectory tracking control; backstepping controller; neural network I、INTRODUCTIONFolding-boom aerial platform vehicle is a kind of device which can lift people to the height for installation or maintenance [1], the scheme of which is shown in Figure.1.As it requires vey high safety, both the stability of movement and the accuracy of positioning of work platform should be guaranteed.Since the light-long beam is widely used in the arm system, the influence of elastic deformations of beam should be considered. Therefore, in the literature [1], the beams are seen as flexible and the dynamics equations of the arm system of folding-boom aerial platform vehicle are set up based on flexible multi-body dynamics theory and Lagrange's equation. The establishment of the model lays foundation of the research of steady movement and accurate positioning of work platform.Due to the robust performance, integrator backstepping control has been applied to many nonlinear systems successfully, such as single link flexible manipulator [2] and multiple link rigid manipulator [3], etc. In addition, in [4], the backstepping control scheme has been used for the control of work platform of folding-boom aerial platform vehicle effectively. However, this method can only be used for the accurate dynamic model of the arm system of folding boom aerial platform vehicle.In fact, there exist various uncertainties due to external disturbances and approximation of the modeling [5,6]. As a result, a robust adaptive control scheme is developed for a class of uncertain nonlinear systems by the combination of backstepping control method and fuzzy control method in [7]. Moreover, as neural network can be used to approximate any nonlinear function over a compact set with arbitrary accuracy [8], it has attracted a wide spread attention. In [9,10], the combination of backstepping design and neural network has been used in the control of uncertain nonlinear systems.In this paper,...

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The Tricycle Mobile Robot Movement Simulation

2018

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The analytical model of three wheels mobile robot as the control object is worked out with use of the theoretical mechanics. Model includes two parts, part which describes longitudinal acceleration and dynamics of maneuvers on the azimuth angle and part which describes transverse oscillations of trunk relatively to the ground. For description of acceleration characteristics and maneuvering on the azimuth angle robot is considered as the trunk with installed two direct current motors at the base of the isosceles triangle and absolutely passive wheel installed in the vertex of the isosceles triangle. For description of transverse oscillations robot is considered as rigid trunk placed on viscose-elastic supports, and every support moves on its own land trajectory. It is shown that the result obtained may be used both for direct synthesis of mobile robot control system, and for evaluation of Nyquist frequency of sensors signal digitizing, which minimize information losses in mobile robot digital control system.

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Modeling and simulation of folding-boom aerial platform vehicle based on the flexible multi-body dynamics

Cited by 11 publications

References 4 publications

Design of a Hydraulic-Cylinder-Pressure-based Anti-overturning Module for Aerial Work Platforms

Design of a Hydraulic-Cylinder-Pressure-based Anti-overturning Module for Aerial Work Platforms

Design of Neural Network-based Backstepping Controller for the Folding-Boom Aerial Platform Vehicle

The Tricycle Mobile Robot Movement Simulation

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