Concrete pump truck and cantilever crane control method and device

Abstract

The invention discloses a cantilever crane control method. The cantilever crane control method comprises the following steps: step 1, a mathematical model is established according to the current position of a cantilever crane to the next target position, and a target constraint function is established based on the principles of minimum movement amount and movement stability of each arm; step 2, an actuating signal of a remote controller, a current state angle signal of each arm and a current rotation angle signal of the cantilever crane are obtained; step 3, the movement angle of each arm and the target rotation angle of the cantilever crane are obtained through calculation; step 4, whether the movement range of the cantilever crane is exceeded is judged; step 5, the movement of the cantilever crane is stopped if the movement range of the cantilever crane is exceeded, and the cantilever crane is controlled to move if otherwise. The invention further provides a concrete pump truck and a cantilever crane control device. By means of the cantilever crane control method, the cantilever crane is small in movement amount, good in stability and continuity, high in accuracy and wide in operating range.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a concrete pump truck and a boom control method and control device. Background technique [0002] The concrete pump truck boom is generally composed of 4-section arms, 5-section arms, and 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-mentioned control methods, a variety of more intelligent control methods have been developed, and the current kinematics reverse solution method has been able to pass the motion equation a...

AI Technical Summary

Problems solved by technology

Although this simplifies the algorithm, it will lead to sudden changes in the movement of the two adjusted arms, discontinuity in the movement of the boom, and poor stability in the movement of the boom

If the boom encounters obstacles, the boom cannot be controlled, etc.

In addition, each section of the arm is driven by a hydraulic cylinder. During the actual movement of the boom, the relationship between the expansion and contraction of the hydraulic cylinder and the angle change of each section is not an equal linear function, but a nonlinear function. Therefore, even if the hydraulic cylinder is small The displacement action of the arm will also cause a large change in the angle of the joint arm, resulting in the problem of sudden instability

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