Dynamic Analysis And Control Of Truck-mounted Concrete Boom Pump's Flexible Boom

Constructing and loading-unloading arm systems such as concrete boom mechanism, tunnel patching machine, spray painting machine, are widely used in modern construction. This kind of systems has characteristics of large-scale, heavy-duty and lightweight. Its motion is a couple of spatial large scale rigid motion with elastic distortion as well as a couple of flexible multi-body dynamics with tunnel rheological dynamics. It is a typical kind of multiple inputs, multiple outputs, high nonlinear and multi physical law coupling systems.Concerning these characteristics, several attempts and research about concrete boom pump's hydraulic flexible boom are carried out in this thesis.(1) Hydraulic flexible boom flexible multi-body dynamic analysisWhile doing dynamic analysis and control method research, the boom system is usually considered as rigid multi-body system in the past. But actually, beams of the truck are relatively long. While working, their flexible deflections are relatively large, boom system will vibrate under impact load, and the vibration displacement has large impact on the quality of working. Therefore, treating the system as rigid model would bring some deviation and influence the control accuracy. In this paper, boom system is considered as flexible arm with flexible deflection. Booming system's dynamic model is built using flexible multi-body dynamics theory.(2) Design of boom mechanism's control systemTruck-mounted concrete boom pump's boom system is constructed with gyrating structure, concrete distributing arm, concrete delivering pipes, hydraulic cylinder, sustaining link rod, and so on. Although having characteristics such as automotive,flexible,highly active, the boom system is actually a kind of lightweight,large-scale,heavy-duty flexible beam system, and manual assistance is always required during large range operation . Its components will generate large inertial force under the motivation of drive system, while working with the delivery of fluid in the pipe. This will influence the stabilization and orientation precision of boom system and cause structure fatigue failure untimely. Thus, it is necessary control the trace of boom system. In this paper, PD control method is used.(3) Complete dynamic modeling and numerical analysis of boom system Considering the characteristic of coupling of system structure, drive system and controlsystem, using complete dynamic modeling method, system complete closed loop function is derived. Numerical simulation of four beam system is carried out using MEBDFDAE solver.