Arm support control method and system

Abstract

The invention discloses an arm support control method and system. The arm support control method includes the steps: a, acquiring a kinematical equation of the included angle of an arm support and displacement of an oil cylinder and a kinematical equation of displacement of the oil cylinder and the included angle of the arm support; b, acquiring the dynamic relationship between the angular speed of the included angle of the arm support and the speed of the oil cylinder and the dynamic relationship between the speed of the oil cylinder and the angular speed of the included angle of the arm support according to the two kinematical equations; c, presetting a smooth control strategy according to the dynamic relationship between the angular speed of the included angle of the arm support and the speed of the oil cylinder and the dynamic relationship between the speed of the oil cylinder and the angular speed of the included angle of the arm support; d, acquiring the optimal movement speed and movement time of the oil cylinder according to the current included angle of the arm support, a control input signal and the smooth control strategy; e, controlling the oil cylinder to act according to the movement speed and the movement time of the oil cylinder. By implementing the arm support control method, control continuity and smoothness of the arm support in the operation process can be effectively improved, dependence of the control process of the arm support on operators is reduced, and labor cost is reduced while pumping mechanical operating performances are improved.

Description

technical field [0001] The invention relates to the technical field of mechanical arm control, in particular to a method and system for controlling a boom. Background technique [0002] Pumping machinery such as concrete pump trucks is a mechanical device that uses pressure to continuously transport concrete along pipelines. It is generally composed of a walking device, a pumping device and a boom device. Among them, the boom device is composed of multi-section booms connected sequentially. The bottom end of the first boom is hinged to the turntable, and an oil cylinder (which can be called Boom oil cylinder), used to adjust the angle between the first section of the boom and the turntable and the angle between the two connected booms (can be called the angle of the boom); in order to facilitate the adjustment of the angle of the boom, in some adjacent A multi-link mechanism is used between the two booms, and the change of the link mechanism is adjusted by the boom cylinder...

AI Technical Summary

Problems solved by technology

[0005] However, since the entire jib device includes connected multi-section jibs, which have strong nonlinearity, under certain jib attitudes, a small vibration generated in the front section of the jib, when transmitted to the end jib via the multi-section jib, It will cause severe shocks, and with the different attitudes of the jib, the nonlinear properties of the entire jib device are also different, so it is extremely difficult to precisely control the position of the end of the jib and adapt to most attitudes

[0006] At present, the control method through the cooperation of the operator and the remote control device is conducive to the operator's intuitive judgment. However, in order to ensure that the entire boom movement must have greater continuity and stability, the operator needs to have corresponding experience accumulation and control. It requires a great deal of energy. Different operators have different control levels, which will make the same equipment have different operating efficiencies. In addition, if the control is unstable, it will easily lead to boom damage and construction waste.

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