Research On Trajectory Control Technology Of Concerte Pump Arm Frame Based On Arm Frame Denaturalization Compensation

Concrete pump truck is an indispensable engineering equipment in the modern construction industry.At present,most of the concrete pump truck operation is achieved by operating lever to control the movement of single arm section casting,While the traditional control method of the hydraulic system has been unable to meet the increasingly complex and harsh working conditions for its time-consuming and laborious.In order to achieve more precise and efficient concrete pouring,the automation technology of concrete pump truck needs to be continuously upgraded.The precise control of the arm frame in concrete pump truck has become one of the research hotspots in the boom system of concrete pump truck.Because the boom of concrete pump truck is a multi-degree of freedom and high flexible cantilever structure,this paper takes the boom system of concrete pump truck as research object,and considering the deformation of concrete pump truck system caused by the deviation control.Combined with the example of four-arm concrete pump truck,the main research contents are summarized as follows:(1)Expounding the mathematical foundation of kinematics analysis,including the description of position vector and position,the homogeneous coordinate and transformation equation,and then the D-H matrix method is described.Based on the D-H matrix method,the positive kinematics model of the concrete pump arm system is established.Based on the structural features of the concrete pump boom system,a geometric method for inverse kinematics is proposed.Finally,a mathematical model of the rotation angle between the hydraulic cylinder stroke and the boom section is established,which provides a solid theoretical basis for the following.(2)Based on the deformation theory and the finite element thought of concrete pump boom system,the deformation compensation scheme of the arm frame system of the concrete pump was proposed truck based on the BP neural network.First,the ANSYS finite element simulation is used to establish the track motion process of concrete pump truck to get the data model of the deformation of the arm frame system,then using the BP neural network technology to establish deformation compensation algorithm,and the deformation law of the arm frame is obtained after training.Finally,simulation and prediction are carried out to verify the stability and error size of the deformation compensation algorithm.(3)In order to study the problem of the terminal motion control of the arm frame system in the concrete pump truck,the basic theory of the control strategy in the concrete pump arm system was analyzed firstly,and according to the control principle,the paper has analyzed the dynamic equation and track expression of the concrete pump truck boom system.On this basis,a PID control model and a PID control model are established based on RBF neural net-work,Then the arm deformation compensation is taken into consideration in the control system,a control model is established based on the trajectory of the arm system of concrete pump truck.Finally,using MATLAB and its associated software to simulate the model,it analyzes the response process and the error,and realizes the trajectory intelligence control of the concrete pump arm system.