Concrete pump truck Lagrange dynamics modeling method based on DH parameters

A technology for concrete pump trucks and dynamic modeling, which is applied in the fields of electrical digital data processing, special data processing applications, instruments, etc., and can solve problems such as complex methods, complex and long formulas

Active Publication Date: 2021-05-11
EZHOU INST OF IND TECH HUAZHONG UNIV OF SCI & TECH +1
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Problems solved by technology

[0003] In the establishment of the dynamic equation of the boom system of the concrete pump truck, the existing methods for establishing the dynamic equation are relatively complicated, especially in solving the tota

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  • Concrete pump truck Lagrange dynamics modeling method based on DH parameters
  • Concrete pump truck Lagrange dynamics modeling method based on DH parameters
  • Concrete pump truck Lagrange dynamics modeling method based on DH parameters

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Embodiment Construction

[0060] The embodiment of the present invention provides a Lagrangian dynamics modeling method of concrete pump truck based on DH parameters, which can conveniently and quickly obtain the Lagrangian function of the boom system of the concrete pump truck and the dynamic equation of the boom system ; and only need to use the gyroscope sensor to get the linear position of each boom, no need to add additional linear sensors, saving costs, and the matrix processing of the computer pair is also very convenient, get the concrete pump truck boom system After the dynamic equation is obtained, the vibration of the boom system of the concrete pump truck can be analyzed and suppressed, thereby improving the service life and safety of the concrete pump truck.

[0061] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and not necessarily Used to describe a specif...

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Abstract

The invention provides a concrete pump truck Lagrange dynamics modeling method based on DH parametes. The method comprises the following steps of: establishing a DH coordinate system of a concrete pump truck arm support system by adopting a DH method, and calculating to obtain a DH parameter, a connecting rod length a, a connecting rod offset distance d, a rotating angle alpha and a joint angle theta of the concrete pump truck arm support system; obtaining a coordinate vector of the mass center of each connecting rod relative to the base coordinate system according to the rotation transformation matrix; solving to obtain a Lagrange function of the whole concrete pump truck boom system; solving each connecting rod to obtain a Lagrange equation set of each arm lever; according to the obtained Lagrange equation set of each arm lever, obtaining a kinetic equation of the whole concrete pump truck arm support system; according to the method provided by the invention, the vibration of the cantilever crane system of the concrete pump truck can be analyzed and inhibited, so that the service life of the concrete pump truck is prolonged, and the use safety of the concrete pump truck is improved.

Description

technical field [0001] The invention relates to the field of modeling of concrete pump trucks, in particular to a Lagrangian dynamics modeling method for concrete pump trucks based on DH parameters. Background technique [0002] With the progress and development of the whole Chinese society, the domestic construction industry has developed rapidly. Concrete pump trucks are inseparable from the pouring of various buildings, bridges, roads, etc. Therefore, in recent years, there have also been It has brought about the rapid development of concrete pump trucks. The boom system of the concrete pump truck, as a key part of the concrete pump truck, directly affects the quality of the pouring and the safety of the pouring, especially the vibration of the boom system of the concrete pump truck will have a great impact on the quality of the pouring and the safety of the pouring In addition, the vibration of the boom system of the concrete pump truck will greatly reduce the service l...

Claims

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Application Information

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IPC IPC(8): G06F30/20G06F119/14
CPCG06F30/20G06F2119/14Y02T90/00
Inventor 陈厦飞周艳红杨兆万
Owner EZHOU INST OF IND TECH HUAZHONG UNIV OF SCI & TECH
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