Paper presented at the 23rd Annual Southern African Transport Conference 12 - 15 July 2004 "Getting recognition for the importance of transport", CSIR International Convention Centre, Pretoria, South Africa.
Abstract: By analyzing the kinematic characteristics of lifting booms system (LBS) of aerial work platform (AWP) about its working process, this paper provided a differential forward incremental PID (DFI-PID) controller to improve its control accuracy. Based on operating principles and structural parameters of LBS, three mathematical models were established: the mechanical motion system of each lifting booms, the mechanical-hydraulic coupling system and the electro-hydraulic proportional system. Meanwhile, a model of LBS was built up based on the electro-hydraulic proportion of AMES. A joint simulation was conducted by integrating the differential forward incremental PID (DFI-PID) controller into AMES (working as a major simulation environment) through certain software interface. Then, a DFI-PID closed-loop controller was designed to analyze the effect of the PID controller on LBS. The result showed that compared with the conventional PID controller, the DFI-PID closed-loop controller had better steady and higher robustness towards command changes and load disturbance. Besides, the validity of joint simulations was also proved.
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We would like to submit the enclosed manuscript entitled “Kinematic Analysis of Lifting Booms System for Aerial Work Platform Based on Differential Forward Incremental PID controller”, which we wish to be considered for publication in your journal. No conflict of interest exits in the submission of this manuscript, and manuscript is approved by all authors for publication. I would like to declare on behalf of my co-authors that the work described was original research that has not been published previously, and not under consideration for publication elsewhere, in whole or in part. All the authors listed have approved the manuscript that is enclosed.
In this work, an algorithm of the DFI-PID controller was established, in which two advantages of incremental PID and differential forward PID was highlighted, respectively. Including modeling and dynamic simulation to analyze the effect of the DFI-PID. I hope this paper is suitable for the journal.
We deeply appreciate your consideration of our manuscript, and we look forward to receiving comments from the reviewers. If you have any queries, please don’t hesitate to contact me at the address below.
Thank you and best regards.