| Zhang Cuihong (张翠红),Cao Xuepeng,Jiao Shengjie,Yang Bin,Wang Guanhong,Zhou Zhaoqiang.[J].高技术通讯(英文),2017,23(3):322~329 |
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| A leveling mechanism for the platform based on booms-constraint control of aerial vehicle |
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| DOI：10.3772/j.issn.1006-6748.2017.03.014 |
| 中文关键词: |
| 英文关键词: mixed-booms aerial vehicle (MAV), platform leveling, booms-constraint control, model simulating |
| 基金项目: |
| Author Name | Affiliation | | Zhang Cuihong (张翠红) | | | Cao Xuepeng | | | Jiao Shengjie | | | Yang Bin | | | Wang Guanhong | | | Zhou Zhaoqiang | |
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| 中文摘要: |
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| 英文摘要: |
| In order to achieve an automatic leveling function for work platforms of aerial vehicles with mixed-booms (MAV) in full elevating domain, an auto-leveling mechanism for the platform is proposed based on a control method of booms-constraint, where mixed-boom structures and elevating characteristics are considered. Three models of constraint strategies include non-constraint model, elevating constraint model and lowering constraint model, which is designed to meet the leveling requirements in full working extent. Through the hydro-mechatronic unified modeling, a virtual prototype model is set up based on the auto-leveling mechanism, and leveling performances of the platform are studied during booms elevating to the maximum working height and extent. Simulation results show that the control method of booms-constraint can realize auto-leveling of the platform under two typical working conditions, meanwhile a leveling deviation appears at the constrained point, but the platform inclination is adjusted in the permissible range. The control method does not only restrict booms’ freedom elevating to a certain extent, but also impacts the booms extending to the maximum working range. Experimental results verify that the auto-leveling mechanism based on booms-constraint control is valid and rational, which provides an effective technology approach for development of the platform leveling of MAV. |
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