Design and implementation of landing double rocker arm angle control system

In the process of UHV tower formation, the hoisting position of components of different heights is different and the hoisting position is judged by the naked eye, which leads to low construction efficiency. A set of landing double rocker arm swing arm angle control system is developed. The system mainly includes calculation of the expected inclination of the landing pole rocker arm based on the geometric structure of the tower, the constant voltage frequency ratio control model of the three-phase asynchronous motor, the dynamics model of the first-order speed transmission and the dynamics model of the second-order Angle of the output end of the rocker arm. Finally, the simulation and field test of the inclination control system show that the inclination control system can adjust the angle accurately and smoothly, and has certain disturbance resistance. At the same time, the field measured inclination adjustment time is also reduced by about two minutes, improving the construction efficiency.