中文摘要：

液压多级缸在换级时,易产生较大的液压冲击,为保证举升系统的稳定性,同时获得举升过程的快速性,在分级规划时,首先,提出采用加速和减速阶段比例为3：7的三种非对称组合正弦函数来拟合起竖臂的位姿变化规律,并建立轨迹规划模型,然后运用模式搜索法求解最优时间,仿真得到多级液压缸的运行轨迹和负载冲击情况。最后通过仿真结果对比,表明提出的轨迹规划方法是有效的,且不同分段的非对称组合正弦函数对于举升系统有明显的影响。

英文摘要：

The great hydraulic impact was caused by stage change of hydraulic multistage cylinder. In order toensure the stability of the lifting system and obtain the rapid of the lifiing process, firstly,three kinds of the asymmetry combined sine function, whose ratio of acceleration to deceleration was 3 to 7, were proposed to fit the posture variety regulationof the erecting arm in stage planning. A nd the trajectory planning was established. Then pattern search was given to solve the optimal time and running track and load impact ofihemultistage hydraulic cylinder were gained by simulation. Finally, by comparing with the simulation result, it was proved that the trajectory planning method was feasible, and different section of the asymmetric combined sine function hadanobvious impact on the lifting system.