Control System Modeling And Hoisting Tarjectory Planning Research For An Onboard Craning Manipulator

Onboard craning manipulator is a kind of automated machinery device whichrealizes cargo lifting, rotating through the hydraulic lifting and telescopic system,mounted on trucks, generally composed by lifting beam, turntable, frame, legs and otherparts. It is a set of hoisting and transport in a body, meanwhile, has the advantages ofmultiple functions, high efficiency, large action range and so on characteristics. Becauseof widely engineering application field, such as outdoor lifting, rescue operations andrailway, port, warehouse, construction sites and other places of work, the onboard craningmanipulator has been attracted by more and more people in recent years.At present, systems of onboard craning manipulator are composed of hydraulicdriving system and the manipulator system. People mostly accomplish cargo handling andsuch complex tasks by controlling the operation levers. With the continuous developmentof social economy, the efficiency and accuracy of the task requirements increasing, thetraditional manual operation has been unable to meet the requirements of the times. In thetraditional operation process, there are the following shortcomings, the operation accuracycan’t be guaranteed, the working efficiency is not too low, security incidents can occurwhen people are tired. In such circumstances，in order to achieve high efficiency andprecise automatic control, there is an urgent need for a capable automatic assemblymanipulator to replace human work.This paper studies the onboard craning manipulator transferring motion and controlissues. Based on the physical structure of the manipulator, there are many aspects beingstudied, like the forward kinematic, the inverse kinematic and the trajectory planning ofhoisting motion. For the control problem, the researches are establishing the dynamicsmodel of the system, meanwhile, and studying the trajectory tracking control. Thefollowing is the main contents of the full text:According to the structure of the onboard craning manipulator, the kinematicanalysis method is based on the study of the model of onboard craning manipulator.Homogeneous transformation matrix method is introduced to derive forward kinematicsequation, and lifting posture constraints is based to simplify the kinematics equation. Dueto the coupling among the joints of the manipulator, the use of traditional variablesseparation method can not get the kinematics inverse solution, so the geometric methodand chaotic particle swarm optimization algorithm are used to analyze the inversekinematic problem. Based on the planar inverse kinematics problem of the onboardcraning manipulator, by setting the constraints of the pitch and telescopic joints, using thegeometric method, the only kinematics solution can be got. The inverse kinematics problem of multiple degrees of freedom in space is put forward and the chaotic particleswarm optimization algorithm is design. Through the rational design of fitness function,one global optimal solution of the inverse kinematics is obtained. The simulation resultsshow that the two inverse kinematics algorithms are effective.The lifting task of the onboard craning manipulator is a periodic trajectory amongfour certain locations. Movement cycle is divided into multiple sub-processes. Take asub-process as the example, the process of trajectory planning is studied. The liftingprocess is composed of the level of handling and vertical grab. Accuracy requirement ofthe path planning of the level process is not strict, so that trajectory planning isaccomplished by five polynomial interpolation in joint space. In the view of the highaccuracy requirement of grasping, the path is accomplished by the S velocity planning,and the corresponding joint angles is calculated with six polynomial interpolation, toachieve high precision in linear track. The whole process of trajectory planning methodsis proposed by the appropriate design on the actual engineering requirements.Through deep analysis of basic structure of onboard craning manipulator, it showsthat the system is a complex model with nonlinearity and strongly coupling. In order tofacilitate the dynamic analysis of onboard craning manipulator, this paper is using theLagrange method to establish the dynamic model of the system. The established model isan ideal model which bases on reasonable assumptions. Due to the system parameteruncertainties and external disturbances of practical engineering problems, an adaptivesliding mode control based on saturated function strategy is proposed by designingsystems sliding surface and the adaptive update rate. The constructed Lyapunov functionproves the system asymptotic stability, and numerical simulations show the effectivenessof the proposed control strategy.The conclusion and the perspective of future research are given at the end of thepaper.