CN-121974275-A - Leveling control method, device and equipment for aerial working platform and storage medium

CN121974275ACN 121974275 ACN121974275 ACN 121974275ACN-121974275-A

Abstract

The application discloses a leveling control method, device and equipment for an aerial working platform and a storage medium, and relates to the technical field of aerial working platforms. The method comprises the steps of obtaining state parameters of the aerial work platform at the current moment, determining control input parameters corresponding to the state parameters based on a predictive control model, determining disturbance parameters corresponding to the state parameters based on an extended state observation model, enabling the disturbance parameters to represent disturbance conditions of the aerial work platform under the state parameters, correcting the control input parameters based on the disturbance parameters, and leveling the aerial work platform based on the corrected control input parameters, wherein good balance between anti-interference performance and control accuracy is achieved.

Inventors

WANG SHUNZHOU
SHEN YUQIANG
QI HENG
LI ZEHAO

Assignees

湖南中联重科智能高空作业机械有限公司

Dates

Publication Date: 20260505
Application Date: 20251230

Claims (10)

1. A method for controlling leveling of an aerial work platform, the method comprising: acquiring state parameters of the aerial working platform at the current moment; determining control input parameters corresponding to the state parameters based on a predictive control model; Determining disturbance parameters corresponding to the state parameters based on an expanded state observation model, wherein the disturbance parameters represent disturbance conditions of the aerial working platform under the state parameters; and correcting the control input parameters based on the disturbance parameters, and leveling the aerial work platform based on the corrected control input parameters.
2. The method for controlling leveling of an aerial working platform according to claim 1, wherein determining the control input parameter corresponding to the state parameter based on the predictive control model comprises: Constructing a first change state of the aerial working platform under a natural condition and a second change state of the aerial working platform under a control condition, and summarizing the first change state and the second change state to obtain the prediction control model; And under the condition that the cost function corresponding to the predictive control model is minimized, determining the control input parameters based on the predictive control model.
3. The method according to claim 2, wherein said constructing a first state of change of said aerial platform under natural conditions and a second state of change of said aerial platform under control conditions comprises: Constructing the first change state of the aerial working platform under natural conditions based on a system output matrix, a system state transition matrix and the state parameters; Constructing the second change state of the aerial working platform under the control condition based on the system output matrix, the system state transition matrix, the control input matrix and the undetermined control input parameters; the system output matrix, the system state transition matrix and the control input matrix are iteratively changed based on a transfer function.
4. The method for leveling control of an aerial work platform according to claim 2, wherein, in a case where a cost function corresponding to the predictive control model is minimized, before determining the control input parameter based on the predictive control model, further comprises: and constructing the cost function corresponding to the predictive control model based on the error term, the control increment term, the terminal state term and the corresponding weight matrix of the predictive control model.
5. The method for controlling leveling of an aerial working platform according to claim 1, wherein determining the disturbance parameter corresponding to the state parameter based on the extended state observation model comprises: Acquiring state estimation corresponding to the state parameters; And calculating a deviation value between the state parameter and the state estimation, and weighting the deviation value based on an observer gain matrix to obtain the disturbance parameter.
6. The method for leveling control of an aerial work platform according to claim 1, wherein the correcting the control input parameter based on the disturbance parameter comprises: and weighting the disturbance parameters based on feedforward coefficients, and correcting the control input parameters based on the weighted disturbance parameters.
7. The method for leveling control of an aerial work platform according to claim 1, wherein the obtaining the state parameter of the aerial work platform at the current time comprises: acquiring output parameters of the aerial working platform at the current moment through an angle sensor; And determining the state parameters corresponding to the output parameters based on a state space model.
8. A leveling control device for an aerial work platform, comprising: The state parameter acquisition module is used for acquiring state parameters of the aerial working platform at the current moment; the control input parameter determining module is used for determining control input parameters corresponding to the state parameters based on a predictive control model; The disturbance parameter determining module is used for determining disturbance parameters corresponding to the state parameters based on an expanded state observation model, and the disturbance parameters represent disturbance conditions of the aerial working platform under the state parameters; And the control input parameter correction module is used for correcting the control input parameters based on the disturbance parameters and leveling the aerial work platform based on the corrected control input parameters.
9. A leveling control device for an aerial work platform, comprising: a memory configured to store instructions; A processor configured to invoke the instructions from the memory and when executing the instructions enable the leveling control method of an aerial work platform according to any one of claims 1 to 7.
10. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform a method of leveling a aerial work platform according to any of claims 1 to 7.

Description

Leveling control method, device and equipment for aerial working platform and storage medium Technical Field The application relates to the technical field of aerial work platforms, in particular to a leveling control method, device and equipment for an aerial work platform and a storage medium. Background When the aerial work platform is lifted, the included angle between the arm support and the horizontal plane can be changed due to the expansion and the amplitude variation of the arm support, so that the included angle between the aerial work platform and the horizontal plane is changed, and the aerial work platform needs to be automatically leveled at the moment. At present, a PID algorithm is often adopted for automatic leveling, and the basic flow is that a target value is firstly set, then the error between the current value and the target value is calculated, then the output values of three links of proportion (P), integral (I) and derivative (D) are respectively calculated (P item corresponds to the current error, I item corresponds to the error accumulation, D item corresponds to the error change rate), and finally the three are added to obtain a control quantity, and the control quantity is output to an executing mechanism for leveling. However, PID control is simple in structure, but in the presence of external disturbances, it is often difficult to achieve a good balance between disturbance rejection and accurate control. Disclosure of Invention The embodiment of the application aims to provide a leveling control method, device and equipment for an aerial working platform and a storage medium, aiming at realizing good balance between anti-interference performance and control precision. In order to achieve the above object, a first aspect of the present application provides a leveling control method for an aerial working platform, the method comprising: acquiring state parameters of the aerial working platform at the current moment; Determining control input parameters corresponding to the state parameters based on the predictive control model; Determining disturbance parameters corresponding to the state parameters based on the extended state observation model, wherein the disturbance parameters represent disturbance conditions of the aerial working platform under the state parameters; And correcting the control input parameters based on the disturbance parameters, and leveling the aerial work platform based on the corrected control input parameters. The method comprises the steps of constructing a first change state of an aerial working platform under a natural condition and a second change state of the aerial working platform under a control condition, summarizing the first change state and the second change state to obtain a predictive control model, and determining the control input parameters based on the predictive control model under the condition that a cost function corresponding to the predictive control model is minimized. The method for constructing the first change state of the aerial work platform under the natural condition and the second change state of the aerial work platform under the control condition comprises the steps of constructing the first change state of the aerial work platform under the natural condition based on a system output matrix, a system state transition matrix and state parameters, constructing the second change state of the aerial work platform under the control condition based on the system output matrix, the system state transition matrix, a control input matrix and undetermined control input parameters, and iteratively changing the system output matrix, the system state transition matrix and the control input matrix based on transfer functions. In the embodiment of the application, under the condition that the cost function corresponding to the predictive control model is minimized, before the control input parameters are determined based on the predictive control model, the method further comprises the step of constructing the cost function corresponding to the predictive control model based on an error term, a control increment term, a terminal state term and a corresponding weight matrix of the predictive control model. In the embodiment of the application, the disturbance parameters corresponding to the state parameters are determined based on the extended state observation model, and the method comprises the steps of obtaining state estimation corresponding to the state parameters, calculating deviation values between the state parameters and the state estimation, and weighting the deviation values based on an observer gain matrix to obtain the disturbance parameters. In the embodiment of the application, the control input parameters are corrected based on the disturbance parameters, which comprises the steps of weighting the disturbance parameters based on the feedforward coefficients and correcting the control input parameters based on the weigh