Key Technology Research And Application Of Motion Control System For The Dexterous Manipulator Of Concrete Pump Truck

Refer to intelligent control program that exists in domestic long-arm concrete pump truck, this thesis proposes the concept of dexterous manipulator in the field of construction machinery firstly, and from the perspective of motion control to study trajectory planning algorithm, boom tip position control method and nonlinear delay compensation algorithm that suit for precise servo control of boom. Main contents and researching conclusions of this thesis can be summarized as following aspects.1. Establishes forward kinematics and inverse kinematics model of pump truck, and performs kinematical analysis for the boom. Based on the Simulink tool, establishes a motion planning simulation system for the pump truck, and studies trajectory planning for the boom of concrete pump truck according to the targeting principles of optimal path, most saving energy, most saving hydraulic oil and so on.2. Transforms the trajectory planning problem of boom into a multi-objective optimization problem that under certain constraints, and proposes a trajectory planning method for the boom based on gradient projection-genetic algorithm. This trajectory planning method obtains both genetic algorithm and gradient projection algorithm’s advantage, can achieve global optimal trajectory planning for the boom of concrete pump truck, under the optimal constraint conditions of minimum absolute value for the boom joint angle. Simulation and performance comparison experiment has verified the effectiveness of this verification of this trajectory planning method.3. Develops a few new digital boom cylinders refer to the problem that the existing boom tip of concrete pump truck can not achieve precise position control. Uses cylinder built magnetostrictive displacement sensor to detect real-time displacement of boom cylinder, regulates single boom position controller according to the deviation between actual and given displacement of cylinder, to achieve precise position control for the boom cylinder, and then to achieve closed-loop control for the boom tip position through joint coordination between multiply booms.4. Implements position control for the hydraulic valve controlled cylinder based on fuzzy self-tuning PID control strategy. Uses fuzzy logic to adjust real-time parameters for the PID controller in response to the changes exist in system characteristics or the external disturbances. Simulation and field experiment has verified the effectiveness of fuzzy self-tuning PID controller in the respects of position tracking and speed tracking for the hydraulic cylinder.5. Uses time-series method to predict vibrating attitude for the boom in the next time period in advance, which based on the history vibrating displacement data of boom tip, to compensate nonlinear time-delay in the system dynamically, and to provide reliable reference trajectory for the position control of boom tip. Simulation and field experiment has verified the effectiveness of time-delay predicted compensation algorithm in the aspects of improving ride manipulation of boom and response speed for the valve controlled hydraulic cylinder.6. Develops a dexterous manipulator system for the concrete pump truck based on the above research results and achieves its application. Multiple follow-me experiments on four booms of 37 meters pump truck has verified superiority of dexterous manipulator system in the aspects of trajectory tracking accuracy of boom tip and response speed of valve controlled hydraulic cylinder.