摘要高空作业车是方便工人在高处作业的高空作业机械。由于作业时，工作人员 处于高空，因此对安全性和稳定性有很高的要求。确保高空作业车的高安全性和 稳定性是评价其作业性能很重要的一个指标。

本文论述了高空作业车的国内外研究现状与发展趋势，通过分析高空作业车 的特点和工作原理以及工作要求，对高空作业车的大臂变幅系统进行设计，建立 了高空作业车车臂架控制系统的数学模型，并利用 Matlab 软件包 Simulink 对模 型进行了建模与仿真，应用模糊 PID 方法来实现对臂架的跟随控制，给出了控 制参数、控制算法以及控制规则。

论文对大臂运行中的仰俯、伸缩进行了分析并提出控制方法，计算了伸缩量 和仰俯角度的相关参数，根据计算结果提出了一些优化方案。设计了相关硬件连 接方法，确定了用三菱 PLC 对其进行控制，给出了 PLC 的软件编程，并对软件 和硬件进行调试。69955

毕业论文关键词： 高空作业车 臂架控制系统 模糊控制 PLC

The Design of Electrical Control System of Aerial Working Platform Based on PLC

Abstract The aerial working platform is a kind of advaced and special aloft working machinery.The worker at high altitude when the machinery was working.Because of the aerial working paltform’s special working condition, it requires  hige standards of safety and stability performance.

The situation of domestic and foreign research and the  development  tendency of aerial working platform are introduced in this paper.Understanding of the development of today's overhead working truck  and  technical requirements.Through the analysis of the characteristics and working principle of the work high above the car, and work requirements, big arm luffing system of overhead working truck has carried on the rational design, set up the work high above the car boom control system mathematical model.The simulink module that was a package of Matlab software model had completed themodel and simulation of the mathematical model of the control system.According to the simulation result of the control system,the decision that the fuzzy PID conrtol  algorighm would realize the automatic following control had generated,at last control parameter ,the control algorithm and the control rules for the control system had completed prelimnary.

In this paper, the upward prone, telescopic arm c are analyzed and put forward the control method, to calculate the expansion amount and related parameters of upward leaning Angle, some optimization scheme is presented according to the calculation results.Identified with mitsubishi PLC to control, and designed the related hardware connection method, as well as the PLC software  programming, and debugging of software and hardware.

Key  words:  aerial  working platform telescopic  arm  control  systemfuzzy PID control PLC

目 录

摘要 I

Abstract II

图清单 V

表清单 V

1 绪论 1

1.1 课题背景 1

1.2 高空作业车的发展与研究现状 1

1.3 课题意义与设计内容 2

1.4 本章小结 3

2 大臂升降系统控制方案 4

2.1 高空作业车控制系统功能分析