【摘要】 混凝土泵车臂架系统的随动控制是为了解决臂架末端布料管在操作人员的牵引下朝某个任意方向移动时,整个臂架系统而随之移动的控制问题。提出了根据所测得的臂架末端移动方位,确定臂架伸缩及回转量的计算方法;针对臂架随动控制所可能导致的稳定性问题,提出了一种以臂架重心移动范围最小为目标的臂架移动轨迹的最优规划方法,并与其他轨迹规划方法通过仿真进行了分析对比;构建了基于Matlab,AMESim,Adams的臂架系统随动控制的联合仿真模型,并以臂架末端完成水平面内的矩形轨迹移动为例进行仿真分析,验证了所提出的臂架系统轨迹规划方案的合理性。更多还原

【Abstract】 Follow-up control for concrete pump truck was for the problem that whole boom system followed the movement of boom end under artificial traction.The computing methods of expansion and rotation amount were based on moving direction of boom end.In view of the stability of truck for follow-up control,a new trajectory optimization method which took minimum moving range of barycentre for boom system as the optimization goal was put forward,and compared with other trajectory optimization algorithms through simulation.A virtual prototype model of boom system for follow-up control was built by Matlab,AMESim and Adams.At last through data interfaces of Matlab,AMESim and Adams,co-simulation of follow-up control for boom system was successfully accomplished.This co-simulation has verified the reasonability of the trajectory optimization method for boom system.更多还原