Boom Deflection Compensation for Accurate End Positioning
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Solution Overview
Problem
Existing methods for automatic concrete spreading fail to accurately reach a target position due to the elastic deformation of booms, which are typically modeled as rigid bodies, leading to inaccuracies in positioning the end of the boom.
Innovation Solution
A method and apparatus for compensating boom deflection by adjusting joint angles based on deviations from a predetermined target position, using pseudo-inverse matrices and iterative adjustments to ensure the end of the boom reaches the desired location accurately.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the boom is simplified into a rigid body for control calculation, then the control system is simple and easy to implement, but the end of the boom cannot accurately reach the target position due to elastic deformation
Solution Approach 1:
The patent changes the modeling parameter of the boom from rigid body to elastic deformable body. By introducing elastic deformation parameters and using finite element method to calculate deformation amounts, the system accurately models the boom's flexible behavior under gravity, enabling precise positioning while maintaining computational feasibility
Solution Approach 2:
The patent implements a feedback mechanism by calculating the deformation amount based on the boom's current state (mass distribution, joint angles) and using this deformation information to compensate the control angles. The iterative adjustment process continuously refines the control parameters based on the calculated deviation, ensuring the end effector reaches the target position accurately
2Manufacturing precision
If the elastic deformation of the boom is taken into account, then the positioning accuracy is improved, but the control system becomes more complex
Solution Approach 1:
The patent performs preliminary calculation of the boom's elastic deformation using finite element method before executing the control action. By pre-calculating the deformation amounts based on the boom's mass distribution and gravitational effects, the system prepares compensation parameters in advance, reducing the complexity of real-time control while maintaining high positioning accuracy
Solution Approach 2:
The patent replaces complex mechanical control complexity with computational methods. By using finite element analysis and iterative mathematical calculations to model and compensate for deformation, the system achieves accurate control through software-based solutions rather than requiring complex mechanical structures or sensors
Data Source
AI summary
A method for compensating boom deflection comprising: determining a joint angle set of a boom if an end of the boom were to reach a predetermined target position when viewed as a rigid body, wherein the joint angle set comprises an angle of each joint of the boom; determining an actual position that the joint angle set causes the end to reach; determining the deviation between the actual and predetermined target positions; and when the deviation does not satisfy a predetermined condition, continuing to adjust the joint angle set until the deviation satisfies the predetermined condition. The end of the boom can consequently more accurately reach the predetermined target position. The present invention further relates to a method for controlling a boom, an apparatus for compensating boom deflection, an apparatus for controlling a boom, a construction machine, and a computer-readable storage medium.