吊盘稳车机构调平控制策略研究与实验验证

针对吊盘稳车机构在运行过程中吊盘倾斜和钢丝绳张力分布不均匀的问题，基于吊盘稳车机构逆向运动学模型设计了吊盘姿态调平和钢丝绳张力均衡控制器。该控制器以吊盘位姿和钢丝绳张力作为反馈信息，通过调节4台稳车电机的运行速度实现吊盘在升降过程中姿态调平和张力均衡的目的。控制器的控制性能通过吊盘提升和下放调平控制实验进行检验和验证，实验结果表明：在提升和下放过程中，控制器能够在很短的时间内调平吊盘姿态，均衡钢丝绳张力分布。

Auto-leveling control for sinking winch mechanism and experimental validation

During the motion of sinking winch mechanism,the platform is prone to tilt and the tension distribution of the cables is not even,which endangers the workers on the platform.An auto-leveling controller was proposed to make the platform keep level and the tension distribution become more even based on the inverse kinematics of sinking winch mechanism.This controller took the pose of the platform and the tensions of cables as the inputs,and outputs the speed variation of the motors to adjust the orientation of the platform and tensions of cables.Two experiments for lifting up and lowering down the platform were performed to validate the performance of the controller.And the experimental results demonstrate that the controller can level the platform and even the tension distribution of the cables effectively.