Research On Electro-hydraulic Leveling System Of Hybrid ARM Aerial Work Platform

With the development of ships,buildings,ports and other industries,the application of aerial work vehicles is more and more extensive,and the work platform leveling technology is about normal performance and safety.It is one of the key technologies for aerial work vehicles.Developed countries such as the United Kingdom,the United States,and Japan have developed a number of aerial work vehicles with high operations and high safety performance.But the technical level of aerial work machinery in China is low.The large height,especially the mixing arm aerial work leveling technology needs to be improved.This paper takes the hybrid arm aerial work platform electro-hydraulic leveling system as the research object.The research on the leveling of the hybrid boom aerial work platform was carried out,and the electro-hydraulic leveling scheme of the hybrid boom aerial work platform was designed.Three levels of equalization methods,such as active leveling system,driven leveling system,and master-slave composite leveling system,are proposed.The stability and leveling performance of each system were analyzed.Analyze the effects of load,pipe parameters,and gain parameter changes on the performance of the leveling system.Get the law of performance change of leveling system.Provide a reference for the design and performance analysis of the aerial work platform leveling system.The main contents are as follows:Completed the design of the leveling scheme for the hybrid boom aerial work platform.According to the working principle of the aerial work platform,the structure of the hybrid boom aerial work platform is designed.It is pointed out that the leveling system needs to meet the leveling requirements of large output angle,stability,fast response,and high precision.Considering the boom structure of the hybrid boom aerial work vehicle,the leveling scheme of the working platform is proposed.The design of the electro-hydraulic leveling system for the aerial work platform was carried out.Designed the leveling hydraulic system and analyzed its working principle.The main hydraulic components were then calculated and selected.For the structure and leveling characteristics of the electro-hydraulic proportional leveling mechanism.Based on the analysis of the hydraulic system of the working platform and the electro-hydraulic levelingsystem,the electro-hydraulic leveling system of the working platform of the aerial work vehicle is proposed.Designed a work platform leveling control system.depending on the leveling method.The active leveling control system,the driven leveling control system and the master-slave composite leveling control system are designed respectively.The steady-state characteristics of the work platform leveling system were analyzed.Using classical control theory to establish the transfer function of the main components in the system.Then establish the mathematical model of active,driven and master-slave composite leveling system.Active leveling system,slave leveling system,and master-slave composite leveling system.Judging the relative stability of each leveling system.The steady state characteristics of the work platform leveling system are obtained.The dynamic characteristics analysis of the work platform leveling system was carried out.For active leveling systems,driven leveling systems and master-slave composite leveling systems.The leveling dynamic performance of three leveling systems is analyzed.The effects of load variation,pipeline parameters,gain coefficient and other parameters on the dynamic performance of the work platform leveling system are analyzed.This paper designs an electro-hydraulic leveling scheme for aerial work platforms.Proposed and analyzed the active leveling system,the driven leveling system and the master-slave composite leveling system.Study the factors affecting the leveling system.Related results provide useful guidance for the design and performance analysis of large height hybrid boom aerial work platforms.