军用桥梁运动轨迹规划与自动控制技术

为了弥补某型冲击桥传统人工作业控制精度差等缺点,进行桥梁运动轨迹规划与自动控制技术研究。首先基于轨迹规划目标策略,建立桥垮空间运动轨迹模型,并进行数值分析。然后建立关节角与控制油缸关系模型,将桥垮姿态转换为放桥油缸与展桥油缸的协同控制行程;最后通过电控软件编程控制油缸按照规划行程运动,完成桥梁自动控制作业。研究结果表明:轨迹规划与自动控制技术能够满足桥梁防碰撞要求,并提高作业平顺性、架设速度及安全性。

Motion Trajectory Planning and Automatic Control Technology of Military Bridge

In order to make up for the shortcomings as low control accuracy of traditional manual operation of a certain type military impact bridge, study the motion trajectory planning and automatic control technology of the bridge. First the space trajectory model of the bridge was built based on trajectory planning target, and the numerical analysis was carried out.Then the relational model of joint angle and control cylinder was established, and the bridge attitude was converted to co-control stroke of bridge cylinder for place and extend. Finally cylinder was controlled to motion according to the planning stroke with the help of the software programming of the electric control system, so as to complete the automatic control operation of the bridge. The results show that the trajectory planning and automatic control technology can meet the requirement of anti collision, and improve the smoothness, speed and safety of the bridge erection operation.