Follow-up Control Strategy And Simulation Analysis For Boom System Of Pump Truck

Concrete pump truck has become an essential equipment of construction machinery,which gathered transport and irrigation of concrete in an organic whole. In order toimprove economic benefits, new requirements for truck have been put forward. Theintelligent control technique that included intelligent control for boom system,automatic control for boom end hose and trajectory optimization for boom systemis a key technology for concrete pump truck.A follow-up control method for boom system has been put forward based on thecurrent status and developing trend of intelligent control technique, which is in order tosolve the problem that whole boom system followed the movement of boom end underartificial traction. The control method includes following two aspects: First, two-axisgravitational accelerometer is used to detect azimuthal variation of boom end; Second, anew trajectory planning method based on the stability of pump truck was put forward,which took minimum moving range of barycentre for boom system as optimization goal.The best motion trajectories of boom system were determined by establishing andsolving nonlinear optimization equations which was constrained by kinematicredundancy function. In order to verify the reliability of proposed control method, avirtual prototype model of boom system for follow-up control was built by Matlab,AMESim and Adams, and put the existing optimization methods as contrastoptimization algorithms. At last, co-simulation of several different pouring conditionshas been developed. The result suggests that the new optimization algorithm is effectivein controlling moving range of barycentre for boom system.