Design And Research On Control System Of Concrete Pump Truck Arm Position

With the rapid development of the construction industry, the demand for construction machinery is increasing, the intelligent construction machinery appear continually. The concrete pump truck as construction machinery is essential, it is necessary that enhancing the accuracy and convenient operation of the system of the pump truck, the control system of the pump truck arm becomes a hot topic in recent years.Firstly, the kinematics of the arm is analyzed, the equations of forward kinematics and inverse kinematics are obtained, the model of kinematic mathematical is established. According to the controlling requirements of the motion of the pump truck arm, the hydraulic control system is designed, the mathematical model of the hydraulic system is established. The hardware and software of the pump truck arm control system is designed, system design, the control system can be divided into the mobile controller and the internal control system of pump by using the embedded structure, the control commands is transmitted by wireless transmission, the sensor data acquisition is received by CAN bus, the hardware and software system is designed. According to the mathematical model of the system, the hydraulic system is simulated by MATLAB/Simulink, two control systems of using multistratum controller and PI controller are simulated and compared.Through the simulating and comparing the different control systems that use different control algorithms,the conclusion is that using PI controller can avoid vibration at the process of the arm movement, and reach the designated position quickly and accurately.