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链传动机构可作为高空作业平台电液比例调平系统,针对链条的横向振动对系统动态性能的影响,提出了采用不必基于模型的单神经元自适应PID和干扰观测器相结合的控制策略。通过设置干扰观测器加快了链条振动扰动的消除,单神经元PID的控制作用使系统输出能够更快地跟踪系统输入。以某型54 m高空作业平台调平系统为例,综合考虑长管道、阀控非对称缸等因素建立了系统模型。仿真结果表明,采用闭环控制器相对常规PID控制系统鲁棒性增强。
In view of the influence of the transverse vibration of the chain on the dynamic performance of the system, the chain transmission mechanism can be used as the electro-hydraulic proportional leveling system for the aerial work platform. A control strategy combining the single-neuron-based adaptive PID without disturbance model and the disturbance observer is proposed. By setting the disturbance observer to speed up the chain vibration disturbance elimination, single neuron PID control allows the system output to track the system input more quickly. Taking a type of 54 m aerial platform leveling system as an example, the system model is established by considering factors such as long pipelines and valve controlled asymmetric cylinders. The simulation results show that the closed-loop controller is more robust than the conventional PID control system.