Concrete pump truck and cantilever crane control method

Abstract

The invention discloses a cantilever crane control method. The cantilever crane control method comprises the steps that an actuating signal of a remote controller, a current state angle signal of each arm and a rotation angle signal of a cantilever crane are obtained in real time; the movement of the tail end of the cantilever crane is planned. The cantilever crane control method further comprises the step of prediction control. According to the prediction control, according to the target moving direction of the tail end of the cantilever crane, the coordinate value of the tail end point of the cantilever crane is calculated, if the tail end point of the cantilever crane deviates from the target moving direction, the tail end of the cantilever crane is planned for the second time, and a next target point is output through secondary planning. The invention further provides a concrete pump truck. According to the cantilever crane control method, due to the fact that the tail end of the cantilever crane is planned for the second time under the condition that the tail end of the cantilever crane deviates from the target moving direction, the cantilever crane is no longer controlled to move according to an originally planned scheme, it is guaranteed that the tail end point of the cantilever crane always moves towards the target point, the possibility that the cantilever crane stretches and contracts repeatedly and alternately is lowered, and the tail end of the cantilever crane is made to move stably.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a concrete pump truck and a method for controlling a boom. Background technique [0002] The concrete pump truck boom is generally composed of 4-section arms, 5-section arms or 6-section arms hinged to each other, and the concrete is transported to the target pouring point through the boom. For the control of the jib, the usual control method is that the operator uses the remote control to control each section of the arm separately, that is, the attitude control of each section of the arm, so that the whole of the jib moves from the initial attitude to the target attitude. This method of operation More complex and less efficient. [0003] In view of the deficiencies in the above control methods, the current boom intelligent control method calculates the value of each degree of freedom through the equation of motion and various matrix transformations according to the coordina...

AI Technical Summary

Problems solved by technology

[0006] In view of this, the present invention proposes a control method for the concrete pump truck and the boom, so as to reduce the problem of the jib end moving unsteadily due to repeated alternate actions of boom extension and shortening during the boom movement process

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