TAILIEUCHUNG - Motion Control 2009 Part 4

Tham khảo tài liệu 'motion control 2009 part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 5 Motion Synthesis and Coordinated Control in the Multi-Axle-Driving-Vehicle Yunhua Li and Liman Yang Beijing University of Aeronautics and Astronautics China 1. Introduction Multi-axle-Driving-vehicle is a kind of the mobile robot and it also belongs to the construction machinery which generally has heavy load-capacity and huge size. As shown in and both hoisting-girder transporter and DCY900 transportation vehicle are multi-axle-driving vehicles. In order to decrease the ground-contacting pressure the ground-clearance of the vehicle chassis and the size of the tyre and to increase the loadingcapacity and the passing performance of the vehicle the multi-axle driving and independently controlled steer axles are employed and also distributed electro-hydraulic proportional control is applied to the heavy type of vehicles. Such a large-scale vehicle has to deal with the complex motion control problem. The controlled output motions of multiple axles should meet certain matching condition or corresponding relationship so as to make the whole vehicle to realize the expected contouring motion trace. For example all the powered steer axles have to be coordinately controlled in real time in order to achieve smooth and accurate steering motion without slipping and sliding. Besides the steering function the steer axles are also designed to automatically level the vehicle body when it moves in an uneven terrain. It follows that the motion synthesis and coordinated control methods should concurrently cope with the tasks and motions of multiple subsystems. Conventionally coordinated control of a simple mechatronics system is realized through a centralized control scheme in which each of the actuators is directly linked to the controller through cable in a point-to-point manner. However for a complex multi-tasking mechatronic system with a large number of subsystems and actuators such a control scheme is impractical. This is especially true for a large-scale .

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