The invention relates to the field of high-altitude operation equipment and automatic control, and discloses a control system and method for a self-walking insulating lifting platform, and the system comprises a posture sensing module which is used for collecting the inclination angle and angular velocity information of the platform in real time; the dynamic modeling module is used for establishing a multi-degree-of-freedom dynamic model of the platform; the optimal control module is used for calculating optimal control input through objective function optimization; and the robust control module is used for realizing anti-interference leveling of the platform under an external disturbance condition based on a sliding mode control algorithm and in combination with adaptive gain adjustment. The method comprises the steps of obtaining real-time attitude information of a platform, establishing a multi-degree-of-freedom dynamic model, defining a weighted objective function and solving optimal control input, calculating control input based on a sliding mode control algorithm, and adjusting the positions of platform supporting legs to achieve a stable leveling state. According to the invention, the leveling precision and the anti-interference capability of the platform are improved, and the method is suitable for safe and stable operation under various complex terrain conditions.
本申请涉及高空作业设备及自动控制领域,公开了一种自行走绝缘升降平台的控制系统及方法,该系统包括:姿态感知模块,用于实时采集平台的倾斜角度和角速度信息;动态建模模块,用于建立平台的多自由度动态模型;最优控制模块,通过目标函数优化计算最优控制输入;鲁棒控制模块,基于滑模控制算法并结合自适应增益调整,实现平台在外部扰动条件下的抗干扰调平。该方法包括步骤:获取平台的实时姿态信息,建立多自由度动态模型,定义加权目标函数并求解最优控制输入,基于滑模控制算法计算控制输入,调整平台支腿位置以实现稳定调平状态。本发明提高了平台的调平精度和抗干扰能力,适用于多种复杂地形条件下的安全稳定操作。
Control system and method of self-walking insulating lifting platform
一种自行走绝缘升降平台的控制系统及方法
2025-02-21
Patent
Electronic Resource
Chinese
IPC: | 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
Self-walking insulating lifting platform capable of adapting to various road sections
European Patent Office | 2025
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