Concrete Pump Truck Intelligent Control System

To improve the ability of arm system of concrete pumping truck, and realize automatic and roboticized control, this paper aims at intelligent control system for large concrete pumping truck. The paper makes a target of pumping mouth and controls both arms and dial to realize the movement of pumping mouth according to appointed direction and speed.Therefor, the paper establishes a distributed control framework that takes embedded system and CANBUS as main structure. Based on this, the paper designs a sensor information collection controller, a multiple axes motion controller and a mode switch controller. The sensor information collection controller is to collect information of actual position for arms, the multiple axes motion controller is to accomplish servo control for arms, and the mode switch controller is to choose which signal will be send out.At the same time, the paper researches on control arithmetics for the multiple axes motion controller, from PID control arithmetic to fuzzy control arithmetic, at last fuzzy PID control arithmetic. Each arithmetic is used into practice and checked by experiment. The paper analyses each one in detail and gets the best arithmetic and parameters.Tested by plenty of experiments, the new intelligent control system is proved better that the manual control system from control way to control ability. The intelligent system has not only reduced various trouble that manual control system has, but also increased intelligent capability for control system. The movement of arms is more smooth and precise; the ability to adapt to working environment is more powerful; the stability and dependability of the arm system is improved markedly. All of this has proved that the idea and method we had put forward is feasible and resultful, it will be a good base for the next study on intelligent layout.