Development and first test of an attitude and load coupling adjustment chassis for aerial working platforms

Nie, Zhenqi; Wang, Huiheng; Lü, Bin; Zhang, Fan; Wang, Ming-Bo; Wu, Zhenhua; Gang, Xianyue; Li, Lijun

doi:10.1080/15397734.2023.2168693

Cited by 2 publications

(1 citation statement)

References 16 publications

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“…Particularly, Qiang and Hongxia 25 used the Fuzzy decoupling leveling control to implement leveling for a four-hydraulic-legged platform, but took 12 iterations to achieve the target levelness. While Nie et al 26 of our team adopted the geometry and load coupling control for a four-legged aerial working platform, and achieved the synchronous 0.01° leveling accuracy and 2% load deviation within 30 s. Control schemes that cope well with different ground profiles and hardness, different leg touchdown conditions, and especially with a greater number of legs, have yet to be investigated.…”

Section: Introductionmentioning

confidence: 99%

Experimental comparison of leveling control schemes for the hyperstatic-leg support platform

Wu,

Zhang,

Nie

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Leveling control for the platform with four or more legs is the technical mainstay in outrigger leveling of truck cranes, height and leveling control of vehicles, etc. Due to the “implicated coupling” between the platform and legs, the addition of one leg will cause a significant increase in leveling time, severe oscillations in leveling process, deterioration in accuracy and stability, and even leveling failure. For evaluating and selecting an appropriate leveling control scheme, in terms of leveling theory, three control schemes based on the dominant point chasing principle, That is, lowest-point regulation, cyclic regulation, and synchronous regulation, are studied, in which the virtual leg compensation is carefully considered. More importantly, coupling control schemes of independent geometry leveling (GCC), and synchronous geometry leveling and load uniforming (G&LCC), are proposed relying on linearized coupling models established by our team. In terms of verification, considering the elastic deformation reality, electro-mechanical bench tests are conducted for a six-elastic leg support elastic platform. Results confirm that the synchronous regulation has advantages from speed, stability, and safety. And the G&LCC scheme by synchronous regulation has obvious advantages in terms of leveling accuracy, speed, load controllability, and process convergence, and is of good application value for accurate, fast, and reliable leveling of hyperstatic-leg support platforms.

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Section: Introductionmentioning

confidence: 99%

Experimental comparison of leveling control schemes for the hyperstatic-leg support platform

Wu,

Zhang,

Nie

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Height-posture and load coupling control methodology of URAPM and its application in active suspension control of multi-axle vehicles

Wu,

Zhang,

Cai

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Unidirectional redundant actuated parallel mechanism (URAPM) is the physical prototype of active suspension system, truck crane outrigger system, etc. As the number of adjustment mechanisms (AMs) increases to more than three, the difficulty of height-posture control of the upper component (UC) increases considerably. The AMs load control is also tough but highly underappreciated, which in turn causes height-posture disturbance. In this work, a convenient height-posture and bearing load coupling control methodology and its application in the active suspension system are presented. Firstly, by characterizing the force-deformation coupling relationship of the URAPM, a basic geometry and load coupling control model is proposed. And for the desired bearing load control, different optimal load allocation algorithms are developed and evaluated. Secondly, coupling control models for the flexible load control under stationary height-posture, and the flexible height-posture control under balancing load are constructed respectively. Finally, bench tests based on a six-legged URAPM (equivalent to a three-axle active suspension vehicle) validate the proposed method can achieve high precision, high convergence, and most attractively, the height-posture and load coupling adjustment with few iterations, thus demonstrating its good application prospect in low-speed off-road maneuvering of multi-axle vehicles and other related fields.

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Development and first test of an attitude and load coupling adjustment chassis for aerial working platforms

Cited by 2 publications

References 16 publications

Experimental comparison of leveling control schemes for the hyperstatic-leg support platform

Experimental comparison of leveling control schemes for the hyperstatic-leg support platform

Height-posture and load coupling control methodology of URAPM and its application in active suspension control of multi-axle vehicles

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