Closed loop detection open-loop control method used for intelligent arm frame of concrete pump truck

Abstract

The invention discloses a closed loop detection open-loop control method used for an intelligent arm frame of a concrete pump truck. The control method comprises the following steps of: ensuring measured value of each section arm support angular transducer to be subjected to curve fitting and filtering, utilizing angle values and planning expected value after treatment to carry out closed loop detection, and correcting arm support motion trail of arm supports in real time and adjusting open-loop ride gain; secondly, carrying out reverse solution according to the corrected arm support motion trail, and obtaining angle difference achieved by each section arm support; and finally, combining self-adapting open-loop ride gain to realize open-loop control, and ensuring controlling quantity to output an actuating mechanism of a arm support system. The control method provided by the invention can be used for solving the problem that the control effect is influenced because that the arm support system of the concrete pump truck generates whipping in an operation process and adds interference in a sensor collection signal and the like, closed loop detection improves control accuracy, open-loop control smoothes control output, thereby providing a practical effective control method for automatization operation of the arm support system of the concrete pump truck.

Description

technical field [0001] The invention relates to the field of concrete pump truck control, in particular to a control method for an intelligent boom system of a concrete pump truck. Background technique [0002] The boom system of the concrete pump truck plays a very important role in its construction process. The requirement for the boom system is that it can be extended to the pouring position quickly, smoothly and accurately. However, since the boom system is a set of complex multi-degree-of-freedom redundant structures, there will be a lot of vibration during the operation of the boom or the concrete pumping process, which seriously affects the pouring accuracy; if the sensor will collect interference The angle signal is fed back to the pump truck controller and closed-loop control will cause the control output to oscillate, which is far from meeting the operating requirements of the boom system, and may even damage the relevant components on the pump truck and threaten t...

AI Technical Summary

Problems solved by technology

But the problem is that this vibration suppression cylinder will definitely increase the cost, volume and weight of the pump truck. If the combination of damping vibration and boom motion control will provide a better solution, and the boom system Good control can further improve construction efficiency and precision, and speed up the automation transformation process of pump trucks

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