The Development And Reaserch On Intelligent Electro-Hydraulic Control Technology Of Concrete Pump Truck Boom

The concrete pump truck as an primary engineering machinery, widespread applied to machinery construction process that include the industry, the civil construction, the transportation, the water conservation electric power project, farmland transformation, mine excavation as well as modernization military engineering and so on. Statistics have indicated, in the project construction has 60% above concrete pouring task is approximately completes by the concrete pump truck. Therefore, for saves the labor force, reduces the arduous physical labor, enhances the labor productivity, speeds up the construction speed, assure the project quality and reduces the cost, uses the mechanical construction is the basic measure. Along with the rapid development of economy, the requirements for the mechanical construction are increasingly.Under the present condition, the use of concrete pump truck mainly by the manual control, the operator mainly use the remote controller to operate pump truck various hydraulic actuators. Under the influence of proficiency, the operation level of the operator directly influent the precision of casting, together with long time repeated operation will easily cause fatigue, those all will further affect the casting precision and work productivity. Therefore, In order to improve the casting efficiency, to improve the working environment and alleviate labor intensity of the operator, automatic casting operation has become the domestic and foreign research hotspot. Usually casting working environment is more complex, severe, especially in special casting assignments and in buildings around more, casting site narrow, Based on safety and placing quality consideration, realize intelligent automatic casting assignment appears very necessary.In this article firstly analyze the kinematics of the concrete pump truck boom system, then combine the actual casting condition and operation process, make use of robot principle to complete trajectory planning analysis and inverse solution algorithm design of concrete pump truck boom system. Raise the trajectory planning method of pump truck boom system under the different casting conditions. On this basis, proposed electro—hydraulic control overall scheme of intelligent pump truck boom that can adapt to many conditions to realize automatic casting task. And designed a control procedures that can used for control pump truck boom automatically perform casting task. According to the results of trajectory planning and inverse solution algorithm design, make use of MATLAB mathematical calculation capacity and through reverse solution program worked out different working conditions boom system joint variables. And take the results of reverse solution applied to pump truck intelligent control experiments by intelligent control procedures to verify its feasibility. The results of experiments has been verified the correctness and feasibility of the inverse solution algorithm and trajectory planning, will laid a foundation for the industrial application of intelligent control technology of concrete pump truck.