Control and deformation compensation method for intelligent arm supports of concrete pump truck

Abstract

The invention discloses a control and deformation compensation method for intelligent arm supports of a concrete pump truck. The method includes the specific steps: (1) giving an operation amount through a wireless remote controller transmitter by an operator and receiving the operation amount by a remote controller to obtain coordinate variations delta x, delta y and delta z of endpoints of the arm supports; (2) converting coordinates by an intelligent operation algorithm to obtain target angles beta of the arm supports and towers; (3) mounting ground absolute tilt angle sensors a1-a8 at arm heads and arm tails of intelligent arms of the concrete pump truck respectively and measuring tilt angles of the towers by a ground absolute tilt angle sensor a0; and (4) setting measured values of the ground absolute tilt angle sensors as ai, and calculating controlled quantities of the arm supports of the concrete pump truck and equivalent relative included angles of the arm supports according to the measured values ai of the ground absolute tilt angle sensors, wherein the equivalent relative included angles include the relative included angle beta i between each two adjacent arm supports and arm support deformation compensation angles delta i. The method has the advantage that intelligence of the pump truck and track control precision of tail ends of the arm supports can be improved.

Description

technical field [0001] The invention relates to a method for controlling an intelligent arm frame of a concrete pump truck and its deformation compensation, and belongs to the technical field of engineering machinery. Background technique [0002] As a common equipment in building construction, concrete pump truck has the characteristics of long boom length and serious deformation. At present, the control of the boom of the pump truck is single-degree-of-freedom manual control, which has a low level of automation and intelligence, and the pouring efficiency and pouring accuracy cannot meet the construction requirements. Moreover, the cloth hose needs 2 to 3 workers to drag, and it is very laborious to move. In order to further improve construction efficiency and improve construction safety, intelligent boom control systems have emerged in recent years. However, in intelligent control, the deformation of the boom seriously affects the accurate positioning of the end point o...

AI Technical Summary

Problems solved by technology

However, in intelligent control, the deformation of the boom seriously affects the accurate positioning of the end point of the boom

[0003] In the prior art, when measuring the relative movement between the booms, the intelligent boom control system of the pump truck often installs an encoder on the rotation axis of the adjacent boom or uses a cylinder displacement sensor to measure the displacement of the driving cylinder and calculates it indirectly. There are the following disadvantages: (1) installation, commissioning and replacement are troublesome, and maintainability is poor; (2) the influence of vehicle body tilt and boom deformation cannot be considered, which brings great errors to the precise control of the end

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