PID Control Of The Truck-mounted Concrete Pump Boom Electro-hydraulic System

The Truck-mounted concrete pump is a concrete pump placed in the special-purposevehicles on the site, be able to walk independently to achieve a high-tech constructionmachinery transport and pouring concrete through a dedicated boom, is an integral part ofmodern concrete construction kinds of special equipment. The birth of the concrete pumpgreatly improve the efficiency of the construction, compared to cement concrete from thelower to send upwardly traditional construction methods, construction workers operatingconcrete pump truck lift or hoist the construction more convenient, labor intensity hasbeen great to be able to quickly and easily complete the concreteof the placement andconstruction tasks. Based on these advantages, in recent years, concrete pump truck iswidely used in the field of municipal, irrigation, defense, civilian facilities and otherinfrastructure, a huge market space.The pump truck boom electro-hydraulic control system is a hot issue in pump studies.Pump Truck intelligence is an important direction, since the requirements of the boom endof the pouring port can accurately reach the pouring position, then the single boom canquickly and accurately, stable operation to the appropriate angle to become a constraint tothe boom system whetherthe key to smart pouring. In this thesis, as the research projectsof XCMG Concrete Pump Truck intelligent control technology research and development,"a research branch, the single arm boom system will be electro-hydraulic control systemfor analysis and obtained the impact of boom anglefactors, and then the boom positioncontrol system designed on this basis.This thesis, the first boom control system, according to the basic working principle ofthe system to identify the main factors affecting the system performance, and thus clearthe boom open-loop electro-hydraulic proportional system into a program of theclosed-loop electro-hydraulic proportional system. Transfer function of the boomelectro-hydraulic control system modeling, using Simulink toolbox to establish thesimulation model of the electro-hydraulic proportional valve cylinder PID control, byanalyzing the system response of a typical signal, the PID control system can effectively improve the dynamic stability. CAN bus technology to transform boom electro-hydrauliccontrol system, select a suitable micro-controller with tilt sensor, a control program for thecontroller design, and lay the foundation for the final industrial experiments. Note in thelast part of the experiment, stressed during the experiment, incremental PID controlmethod, a detailed description of the experimental process and the PID regulator, andfinally through industrial experiments sections boom PID control parameters.