| Concrete pump truck is a kind of construction machinery which can transport concrete to the construction place, and it plays an important role in the progress of urbanization. With the increase of efficiency about the construction of the pump truck for meeting engineering construction, some intelligent functions have been applied, such as the boom end run in trajectory and fold or unfold of the boom system automatically. In the practical application of intelligent trajectory about the pump truck, there exist two problems: movement disorders caused by flow saturation and the boom vibration caused by transport concrete. These problems hinder the promotion and application of intelligent technology on the pump truck seriously.Based on the control strategy of intelligent trajectory, this topic puts forward the corresponding optimization strategy to solve the movement disorders and the vibration of the boom.First of all, through adding a flow feedback loop on the original control strategy to avoid the movement disorders, in which calculate the total flow according to the rotation angle of the boom and regulate the run speed of trajectory using fuzzy PID when the required flow rate is too large, so the boom system can be coordinated movement.Secondly, based on cubic B-spline curve, this topic filters the angle of the booms in real time to reduce the high frequency in the compensation signal, which can reduce the unnecessary vibration caused by the lack of control strategy.The Simulation and experiment show that the control strategy based on the flow matching can avoid the movement disorders caused by flow saturation effectively, and the vibration of the boom system reduces by 60% to 80% with the filter method based on cubic B-spline curve in the simulate situation of transporting concrete. |
