The invention relates to the field of risk control of high-altitude special equipment, in particular to an automatic leveling control method and system for an aerial work platform. In the lifting process of the working platform, a platform inclination angle, a main arm platform included angle and a main arm lifting angle are collected in real time, and a platform inclination angle calculation value is calculated by utilizing the main arm platform included angle and the main arm lifting angle according to the geometrical relationship among the three angles when the working platform is horizontal; and the difference value between the calculated value of the inclination angle of the platform and the collected inclination angle of the platform is used as a measurement value of the oscillation degree of the working platform and is used as a feedback parameter of a closed-loop control algorithm, and automatic leveling of the aerial work platform is achieved through closed-loop control. According to the scheme, oscillation errors caused by single detection depending on a platform tilt angle sensor can be avoided, and the leveling control effect is improved.
本发明涉及属于高空特种设备风险控制领域,尤其涉及一种高空作业平台自动调平控制方法及控制系统。在作业平台升降过程中,实时采集平台倾角、主臂平台夹角以及主臂升降角度,根据三个角度在作业平台水平时之间的几何关系,利用主臂平台夹角和主臂升降角度计算出平台倾角计算值,将平台倾角计算值和采集获得的平台倾角之间的差值作为作业平台震荡程度的度量值,并作为闭环控制算法的反馈参数,通过闭环控制实现高空作业平台自动调平。该方案能够避免依靠平台倾角传感器单一检测引起的震荡误差,提高调平控制的效果。
Automatic leveling control method and control system for aerial work platform
一种高空作业平台自动调平控制方法及控制系统
06.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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