ARAÇÜSTÜ HİDROLİK İŞ PLATFORMLARININ SEPET DENGELEME KONTROLÜ

Öz

Bu çalışmada mobil hidrolik insan platformunun sepet uzvunun her durumunda yatayla paralel olmasının sağlanması konusunda çalışılmıştır. Mobil hidrolik insan platformunu temsil edebilecek gerçekçi modeli oluşturularak, sistemin matematiksel modeli oluşturulmuştur. Geliştirilen kontrolcü ile sistemdeki sepeti uzvunun yatayla paralel olarak durmasının aktif kontrolü sağlanmıştır. Geliştirilen kontrolcü PID (Oransal, Türevsel ve İntegral) tabanlıdır. Geliştirilen kontrol sisteminin performansının değerlendirilmesi amacıyla bilgisayar simülasyonları yapılmıştır. Bilgisayar simülasyonları MATLAB/Simulink yazılımı ile yapılmıştır.

Anahtar Kelimeler

• Mobil hidrolik platform, İnsan platformu, Matematiksel model, Simulink Modelleme

Cage Levelling Control of Truck-Mounted Hydraulic Aerial Work Platforms

Öz

In this study, cage levelling control of truck-mounted hydraulic aerial work platforms ineach case the platform has been studied in ensuring that parallel to the horizontal. The mathematicalmodel belonging to the system was derived by making realistic model which can represent truckmounted hydraulic aerial work platforms. With developed controller, cage’s active control was suppliedfor standing parallel to horizontal. Developed controller is based on PID (proportional, integral andderivative). Computer simulations were made to evaluate the developed control system performance.Computer simulations were derived by using MATLAB/Simulink software.

Anahtar Kelimeler

• Aerial working platform, Human platform, Cage levelling

Kaynakça

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4. Yuan Q., Lew J., Piyabongkarn D.,“ Motion Control of an Aerial Work Platform”, 2009 American Control Conference Hyatt Regency Riverfront, St. Louis, MO, USA, 10-12 June 2009.
5. Hootsmans N.A.M., Dubowsky S., MO P.Z., “The Experimental Performance of a Mobile Manipulator Control Algorithm”, Proceeding of the 1992 IEEE Internatonal Conference on Robotics and Automation Nice, France, Cambridge, MA 02139 USA, 1948-1954, May 1992
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