Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Pose control method and system of slip-form paver in step-by-step slip-form construction process
The invention discloses a pose control method and system of a slip form paver in a stepping slip form construction process, and the method comprises the steps: firstly constructing a forward/inverse kinematics equation of the slip form paver, then obtaining a positioning conversion parameter from a geographic coordinate system to an engineering coordinate system, and compensating an RTK positioning coordinate by using a total station; and the positioning precision in the horizontal direction and the elevation direction is improved. Then, in a sliding mode working procedure stage, a pose matrix of the mold at different transverse thrust joint adjusting points in a sliding mode machine coordinate system in the sliding mode process can be accurately calculated and obtained, and transverse thrust joint values at the different transverse thrust joint adjusting points are solved and obtained in combination with an inverse kinematics equation; fine and precise control of the mold transverse pushing executing mechanism in the sliding mode working procedure stage is achieved, and the pose control precision of the mold in the sliding mode working procedure stage is greatly improved. In the stepping process stage, precise control over the chassis executing mechanism in the stepping process stage is achieved, and the pose control precision of the sliding mode machine in the stepping process stage is improved.
本发明公开了一种滑模摊铺机在步进式滑模施工过程中的位姿控制方法及系统，该方法先构建滑模机的正/逆运动学方程，再获取地理坐标系到工程坐标系之间的定位转换参数，并利用全站仪对RTK定位坐标进行补偿，提高了水平方向和高程方向的定位精度。然后，在滑模工序阶段，可以精准计算得到滑模过程中不同横推关节调节点处模具在滑模机坐标系下的位姿矩阵，并结合逆运动学方程求解得到不同横推关节调节点处的横推关节值，实现了模具横推执行机构在滑模工序阶段的精细化和精准化控制，大大提高了模具在滑模工序阶段的位姿控制精度。在步进工序阶段，实现了底盘执行机构在步进工序阶段的精准化控制，提高了滑模机在步进工序阶段的位姿控制精度。
Pose control method and system of slip-form paver in step-by-step slip-form construction process
The invention discloses a pose control method and system of a slip form paver in a stepping slip form construction process, and the method comprises the steps: firstly constructing a forward/inverse kinematics equation of the slip form paver, then obtaining a positioning conversion parameter from a geographic coordinate system to an engineering coordinate system, and compensating an RTK positioning coordinate by using a total station; and the positioning precision in the horizontal direction and the elevation direction is improved. Then, in a sliding mode working procedure stage, a pose matrix of the mold at different transverse thrust joint adjusting points in a sliding mode machine coordinate system in the sliding mode process can be accurately calculated and obtained, and transverse thrust joint values at the different transverse thrust joint adjusting points are solved and obtained in combination with an inverse kinematics equation; fine and precise control of the mold transverse pushing executing mechanism in the sliding mode working procedure stage is achieved, and the pose control precision of the mold in the sliding mode working procedure stage is greatly improved. In the stepping process stage, precise control over the chassis executing mechanism in the stepping process stage is achieved, and the pose control precision of the sliding mode machine in the stepping process stage is improved.
本发明公开了一种滑模摊铺机在步进式滑模施工过程中的位姿控制方法及系统，该方法先构建滑模机的正/逆运动学方程，再获取地理坐标系到工程坐标系之间的定位转换参数，并利用全站仪对RTK定位坐标进行补偿，提高了水平方向和高程方向的定位精度。然后，在滑模工序阶段，可以精准计算得到滑模过程中不同横推关节调节点处模具在滑模机坐标系下的位姿矩阵，并结合逆运动学方程求解得到不同横推关节调节点处的横推关节值，实现了模具横推执行机构在滑模工序阶段的精细化和精准化控制，大大提高了模具在滑模工序阶段的位姿控制精度。在步进工序阶段，实现了底盘执行机构在步进工序阶段的精准化控制，提高了滑模机在步进工序阶段的位姿控制精度。
Pose control method and system of slip-form paver in step-by-step slip-form construction process
滑模摊铺机在步进式滑模施工过程中的位姿控制方法及系统
LI JIANHUA (Autor:in) / HENGYANG (Autor:in) / LI ZHENGGUANG (Autor:in)
12.07.2024
Patent
Elektronische Ressource
Chinesisch