Research On Trajectory Control Of Telescopic Boom Aerial Work Platform For Hull Spray Painting

Aerial Work Platform has been widely used in many areas of industrial production as a kind of construction machinery to elevate people and equipment to specified working position. For higher requirement of working efficiency and quality, low intelligence, as a defect of Aerial Work Platform, has been a key problem. In this paper, telescopic boom aerial work platform, which has been widely applied in ship building field, is taken as research project, proposing two spray painting methods, adopting robotics modeling idea and trajectory strategy, and makes simulation and analysis for the two spray painting method at last. All of these not only highly improve the intelligent degree of telescopic boom aerial work platform, but also lay a foundation for the constantly enhancing of construction machinery in this aspect.The main wok of this paper is as follows:(1) According to construction of telescopic boom, the coordinates are established by using D-H method, and then the direct and inverse kinematic problems are solved.(2) Two intelligent methods of spray painting, fixed-point spray painting and continuous spray painting along hull’s contour, are proposed and the trace tracking for the motion of telescopic boom’s top is completed.(3) The electro-hydraulic proportional position control system is modeled in the method of transfer function, whose relative stability is analyzed by using the method of frequency domain analysis.(4) The modeling method of control signal in MATLAB/Simulink is introduced. The trajectory control system of intelligent spray painting is modeled and the correction link made of PID and feedforward compensation is designed. At last, the simulation and analysis for the two spray painting method are done.