Pump Truck Boom Control Without Posture Sensors
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Solution Overview
Problem
Existing pump truck boom control systems face inefficiencies due to reliance on boom posture detection sensors, which are costly and prone to damage, leading to complex control algorithms and slow boom movement speeds, especially during the unfolding and folding of longer booms with multiple arms.
Innovation Solution
A method and system that detect working conditions of the boom without sensors by categorizing arms into first-type and second-type arms, controlling first-type arms at preset speeds during opening and folding conditions to enhance movement speed without real-time posture detection, using pumping state, arm state, and timing signals to determine working conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a large number of sensors are installed on the boom to detect real-time posture, then the boom movement speed can be controlled in real time, but the cost increases and the sensors are easy to damage resulting in control failure
Solution Approach 1:
The patent extracts and removes the sensor component from the boom structure entirely. Instead of installing sensors on the boom to detect posture, the system uses existing sensors on the pump truck body combined with timing signals and state signals to determine working conditions. This eliminates the need for expensive and fragile sensors on the boom while maintaining control functionality.
Solution Approach 2:
The system uses the pump truck's own existing sensors and control signals to determine boom working conditions. By utilizing the pumping state signal, first arm state signal, and timing signals that already exist in the system, the boom control system serves itself without requiring additional external sensors on the boom structure.
2Device complexity
If the boom control system uses limit working conditions with all arms in a straight line to calculate end speed, then the control algorithm is simple, but the boom movement speed is slow and does not conform to actual boom posture
Solution Approach 1:
The patent implements dynamic control by dividing the boom operation into different working conditions (opening placing before construction, folding placing after construction, and pumping construction). Each condition has optimized control parameters, allowing the system to adapt dynamically rather than using a fixed limit working condition approach. This enables faster movement speeds while maintaining safety.
Solution Approach 2:
The system changes control parameters based on the detected working condition. By using timing signals and state signals to identify the current phase of operation, the control system adjusts speed parameters and control strategies accordingly, achieving optimal performance for each specific working condition rather than using conservative universal limits.
3Measurement precision
If the boom posture is detected in real time and speed is adjusted frequently according to boom posture, then the boom end movement speed can be controlled accurately, but the control algorithm becomes complex and operation experience is poor
Solution Approach 1:
The system performs preliminary classification of working conditions before detailed speed control. By first determining the overall working condition (opening placing, folding placing, or pumping construction) using timing signals and state signals, the system prepares the appropriate control strategy in advance, avoiding the need for complex real-time posture-based adjustments during execution.
Solution Approach 2:
Instead of continuously adjusting speed based on every change in boom posture, the system applies speed control at key phases and transitions between working conditions. The control system monitors all parameters but only executes speed adjustments when working conditions change or at critical moments, reducing computational complexity while maintaining sufficient control precision.
Data Source
AI summary
The invention relates to the technical field of pump truck control, and discloses a pump truck boom control method, a pump truck boom control system and a pump truck. The pump truck boom control method comprises: detecting a working condition of a boom, wherein the boom is divided into first-type arms close to the first arm and second-type arms close to the last arm in advance; and controlling each arm in the first-type arms to act at respective preset movement speed when the boom is in an opening placing boom working condition before the construction or in a folding placing boom working condition after the construction. The method can realize speed-up control on movement speeds of the each arm in the first-type arms under the opening placing boom working condition before the construction or under the folding placing boom working condition after the construction without a boom posture detection sensors.