Combined Motion Design and Control of Multi-Stage Flexible Telescopic Boom Model

摘要

To solve the problem of flexible multi-stage telescopic boom automatic reprint, according to ADAMS flexible body modeling theory, electro-hydraulic proportional position control theory and co-simulation modeling interface technology to establish flexible multi-stage telescopic system model based on virtual prototype. On the basis of model, integrated telescopic boom crane movement characteristics, designed and calculated the movement of the three combined motions. Introduced PID control algorithm and achieving a combination of joint motion by virtual prototype simulation technology. Viewed the results of the end of telescopic boom trajectory and dynamics in the ADAMS processing unit. Verified by experiments and The results show that: the flexible multi-stage telescopic boom system model can achieve a combination of motion control and control is better. The research content provide some reference to improve the crane automatically reprint efficiency and reduce the number of physical prototype tests.