Research On Automatic Lifting Motion Control Of Street Lamp Cleaning Platform

Road lighting fixtures are an important infrastructure to ensure smooth traffic and safe driving.Affected by environmental factors such as haze,rain,car exhaust,and dust,a layer of adhesive stains is easily formed on the surface of the street lamp,which not only affects the illumination of the street lamp,but also affects the heat dissipation of the lamp,which in turn adversely affects the quality and service life of the street lamp.influences.The cleaning of street lights,especially the lampshades,belongs to the category of aerial work.In this paper,the automatic lifting motion control of the street lamp cleaning platform is carried out to provide a powerful platform support for the end cleaning device.The main research contents are as follows:(1)The overall scheme design of street lamp cleaning platform lifting control.Analyze the structural parameters and installation environment of the street lamp,put forward the lifting requirements of the cleaning platform,and design the overall research plan,including the boom lifting structure of the cleaning platform,the electro-hydraulic servo control system of the boom lifting and the lifting control scheme and process.(2)Kinematics modeling and analysis of the cleaning platform robot arm.The mechanical arm of the cleaning platform is equivalent to a 6-degree-of-freedom robot system.The arm system is simplified to a link coordinate system that conforms to the DH standard.The kinematics modeling and kinematics forward and inverse solutions are solved,and the end of the mechanism can be completed.To reach the spatial range of solutions.The MATLAB/Robotics Toolbox is used to establish the simulation model of the boom system in the D-H coordinate system to verify the rationality and effectiveness of the forward and reverse solutions and the end working range.(3)Modeling and analysis of the electro-hydraulic control system of the cleaning platform.The kinematics models of three luffing mechanism and four-link luffing mechanism were established to analyze the movement law between the boom lifting angle and the luffing cylinder,and then the control relationship between the boom lifting angle and the servo valve input signal was obtained.The transfer function method was used to establish the mathematical model of the cleaning platform control system.The stability of the electro-hydraulic control system was analyzed with the help of Bode charts.The PID controller was designed to further improve the dynamic performance of the control system.(4)Trajectory planning during the lifting of the cleaning platform.Analyze commonly used trajectory planning methods and establish a simulation model of the lifting platform boom system of the cleaning platform in Robotics Toolbox.Under the premise of determining the trajectory of the cleaning platform,carry out the analysis of the lifting trajectory of the boom system,and use the cubic polynomial interpolation method and the fifth-degree polynomial interpolation method in the joint space planning method to carry out trajectory interpolation planning,and complete the directional lift respectively.Trajectory planning at the time and trajectory planning under the complete lifting path,study the planning characteristics under different working conditions,and summarize the suitable planning methods to provide a basis for the realization of automatic motion control of the cleaning platform under common lifting conditions.