Study on locomotion simulation of the bridge detection vehicle arm based on the flexible multi body dynamics and electro hydraulic proportional control system

Based on flexible multi-body dynamics theory and Lagrange's equation the mechanical system dynamics model of the three-arm bridge detected vehicles boom is set up. Through the numerical solution of dynamic simulation in combination with analysis software, it is proved that the differential equations of the bridge detection vehicle arm can accurately describe all kinds of the dynamic characteristics of the bridge detection vehicle dynamics by using of the flexible multi-body dynamics. The analysis of the ending of the locus and drive characteristic of the bridge detection vehicle also shows that it's very necessary to consider the impact on the flexible distortion when studying the system of the light-long-arm bridge detection vehicle arm system. On this basis, the control strategy of PI self-tuning fuzzy is presented in this paper. Matlab7.1 simulation results show that the dynamic characteristics of the electro-hydraulic position control system of the bridge detection vehicle can meet the requirements by use of this control method.