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2010 International Conference on Computer Application and System Modeling (ICCASM 2010)
AbstractOutrigger system is one of the most important parts Mathwork corporation of America is adopted for the model
in all of aerial work platforms. In this article, the mathematical building and the simulation of the system in the paper [4-9].
model of the outrigger system has been established, and the This paper is organized as follows: Section 2 presents the
stability has been analyzed by using MATLAB. According to structure and working principle of the outrigger hydraulic
the operating principle of outrigger hydraulic system of aerial system of aerial work platform. Section 3 presents the
work platform, the simulation model of outrigger hydraulic mathematical model of the system, which is useful to learn
system of aerial work platform has been established by using how structural factors influence the dynamic performance of
SIMULINK. The main parameters of the model were set and the system. At the same time, the stability of the system is
then, the simulation results were analyzed, which show that the
also analyzed in this section 4 by using MATLAB. Through
system is stable and the dynamic performance of system will be
improved, when PID controller were equipped. Besides, the
simulation, we can sure that the system is stable. Section 5
performance of system will be also improved with the decrease presents a simulation mode by using SIMULINK based on
of internal leakage coefficient and amplifier gain coefficient. an actual system. Section 6 presents the simulation results of
the system. Through simulation, the dynamic performance of
Key words-Aerial Work Platform; outrigger system; the system is analyzed, at the same time, the dynamic
SimulinkPID performance of the system, which is improved is also
analyzed. Section 7 contains a summary of the work.
I. INTRODUCTION II. STRUCTURE AND WORKING PRINCIPLE OF
Aerial work platforms arose in the late-1970s of the 20th OUTRIGGER HYDRAULIC SYSTEM
century in China, which has a history of 40 years. In recent Outrigger hydraulic system is one of the important
years, with the development of the machining industry in systems in the hydraulic systems of aerial work platform,
China, Aerial work platforms have formed an integrated whose structure and working parameters will have a direct
system about product research and manufacturing system, impact on the stability of the aerial work platform and its
but there still exist a large gap in technology and quality hydraulic system is shown in Fig.1. The system is mainly
compared with some foreign countries [1-2]. In the high- composed of a pump, directional control valves, four
altitude aerial vehicles, the stability of vehicle lifting hydraulic locks and four hydraulic cylinders. In the system, a
mechanism is a necessary condition to achieve safety driving force is provided by the prime motor and the
operation. The hydraulic system is one of the most important mechanical energy is changed into hydraulic power by the
parts in all parts of the aerial work platform, and the pump, which is provided sufficient pressure oil to drive
outrigger hydraulic cylinder and the variance range hydraulic outrigger cylinders of aerial work platform to operate
cylinder, which play an important role on the operation ascending and downing of the outrigger system.
safety of machinery, are the main stress components in actual
practice of ascending and lifting. The structure and working
1-pump; 2-filter; 3- two position three way directional control valve; Where, A1 is the effective area of hydraulic cylinders
4,11-Pressure relief valve; 5,6- three position three way directional control
valve; 7,9-hydraulic lock; 8,10-hydraulic cylinder. piston at the non-rod chamber; A2 is the effective area of
As the restriction of the tires supporting ability of the hydraulic cylinders piston at the rod chamber; x p is the
aerial work platform, the outriggers must be put down during
work, where the tires of the aerial work platform have a displacement of hydraulic cylinders piston; Ci p is the
distance to the ground. At this moment, it forms a fixed internal leakage coefficient of hydraulic cylinder; C e p is the
working platform.
The hydraulic pump, which was driven by the prime external leakage coefficient of hydraulic cylinder; e is the
motor, output pressure oil and the working pressure system bulk modulus of hydraulic fluid; V01 is the initial volume of
can be adjusted by pressure relief valve of the pump. The
pressure oil will cause hydraulic cylinders working by the the hydraulic cylinders chamber which the oil flow into;
control of hydraulic valve. The pressure oil flows from the V02 is the initial volume of the hydraulic cylinders chamber
pump to the left position of two position three way which the oil flow out; Vt is the total volume of compression;
directional control valve 3 and then pass the left position of
three position three way directional control valves 5 and 6 p1 is the pressure of the non-rod chamber; p2 is the
and at last arrives the cavity of the hydraulic cylinders 8 and pressure of the rod chamber; pL is the pressure ,it can be
10 to achieve the movement of the outrigger system. In other described by
words, outriggers were put out to support the total mass of
the aerial work platform. When the piston-rods moved the pL = p1 p2 (4)
right place, the position of three position three way Ctp is the total leakage coefficient of hydraulic cylinder,
directional control valves changed to the middle position,
and then, the hydraulic cylinders can be locked in place. At it can be described by
the same time, the hydraulic lock legs 7 and 9 can be Cep
guaranteed the reliable lock to prevent the occurrence of Ctp = Cip + (5)
2
phenomenon which should not exist at work, or is that the According to the equation 3, the Laplace transform
piston-rods of the outrigger cylinders fell over naturally. expressions of the flow rate equation of hydraulic cylinder
When the working at heights is completed, we need to draw can be described by
back the legs of the aerial work platform. At this time we A + A2 1
must change the position of control valves 5 and 6 to the QL = 1 sX P + Ctp PL + (V01sPL + V02 sPL ) (6)
right position. The oil flow back the tank. 2 4 e
The dynamic characteristics of hydraulic power units are
III. BUILDING OF MATHEMATICAL MODELS affected by the load. Load force generally included inertial
The hydraulic system of outrigger system is constituted force, viscous damping force, elastic force and any external
by a pump, valves and four hydraulic cylinders. Because of load force.
the same of the hydraulic cylinders and the valves, we can The balance equation of the hydraulic cylinder can be
consider that there is only one cylinder in this system, where defined as follows
we can also ignore some non-essential components. In other d 2 xp dx p
words, the system is simplified to a valve-controlled cylinder A1 p1 A2 p2 = mt 2
+ Bp (7)
system. In order to determine how structural factors dt dt
influence the dynamic performance of the system, the Where, mt is the total mass of the aerial work platform;
mathematical model of the system is required.
The flow rate equation of the valve can be defined as
B p is the stiffness nonlinear coefficient.
follows: According to the equation 5, the Laplace transform
qL = K q xV K C ( p1 p2 ) 1 expressions of the balance equation of hydraulic cylinder can
be described by
Where, K q is the flow coefficient of the valve; xV is the ( A1 A2 ) PL = mt s 2 X P + B p sX P (8)
displacement of main valve core; K C is the pressure
coefficient of the flow; IV. ANALYSIS OF STABILITY OF SYSTEM
According to the equation 1, the Laplace transform In the system, the valve-controlled cylinder system is the
expressions of the flow rate equation can be described by key component whose opening mode determines the stability
QL = K q X V K C PL (2) of the outrigger hydraulic system.
According to Equations 2, 6 and 8, the flow rate equation
The flow rate equation of the hydraulic cylinder can be can be written as
defined as follows
A1 + A2 dxp 1 dp dp
qL = +Ct p pL + V01 L +V02 L (3)
2 dt 4e dt dt
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2010 International Conference on Computer Application and System Modeling (ICCASM 2010)
XP(s) A1A2
= (11)
XV(s) (V01+V02)mt 3 Kcemt (V01+V02)BP 2 KceBP (A1+A2)/2
s +( + )s +( + )s
4e(A1A2)2 (A1A2)2 4e(A1A2)2 (A1A2)2 A1A2
The system parameters are listed in table 1. By using
MATLAB, it is easy to get the bode diagram, which is
shown in Fig.2.
Table1. Parameters of system
Parameter Value Unit
Kq 0.124 m3/(sA) -1
Kc 1.010-11 m5/(Ns) -1 Figure 3. Simulation model of system
-3
A1 3.1210 m2
-4
A2 6.1610 m2
e 1.2109 Pa VI. RESULTS AND ANALYSIS
Cip 6.310-11 m3/(s.Pa) In the running operation, the time of simulation is 1s, we
-13
Cep 1.010 m3/(s.Pa) can get some results.
3
Bp 1.210 N.m-1.s-1 (1) To consider the gain coefficient of the amplifier of
mt 1500 kg the system
In general, if the phase margin over 40, the amplitude When the gain coefficient of the amplifier of the system
margin over 8dB, the system will be stable. Fig 2 shows that is 5 (K = 5), the displacement of the hydraulic cylinder, the
phase margin of the system is 40.1 and the amplitude velocity of the hydraulic cylinder and the acceleration of the
margin is 26.7dB. Therefore the system is stable. hydraulic cylinder are shown in Fig 4.
Bode Diagram
Gm = 26.7 dB (at 232 rad/sec) , Pm = 40.1 deg (at 43.5 rad/sec)
50
0
M agnitude (dB)
-50
-100
(a) Displacement of hydraulic cylinder (b) Velocity of hydraulic cylinder
-150
-200
-90
-135
Phas e (deg)
-180
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