Research On Vibration Depression Of Intelligent Boom System In Concrete Pumping Truck

Concrete pump truck is a kind of special engineering equipments made by using the pumping pressure of the truck-mounted concrete pump to convey concrete to construction site through the pipe depended on the truck boom. In our country with the rapid economic development, many large construction projects have huge demand for concrete pump truck at present. The vibration problems of concrete pump truck boom become more prominent. Especially how to reduce the vibration of the boom in the working process on the vertical direction becomes urgent in the field of concrete machinery last few years.Aimming at the state space modeling problem of the concrete pump truck, a method to establish the state space control model in physical coordinate space based on using the results of normalized modal analysis is adopted in this dissertation. Applying this method to analyze the natural frequency and modes of a kind homemade 48 meters long 5 sections hyraulic concrete pump truck boom, selecting suitable main nodal points on the boom to obtain the reduced order state space model. Comparing the dynamic response analysis of the boom in ANSYS software with the analysis with MATLAB software, the results vertify the validity of the established concrete pump truck boom state space model.According to the modern control theory, the controllable, observable, stable, step response and the vibration response under different disturbances analysis of the boom state space model are implemented. Two types controllers are designed by adapting state feedback control law and input compensation conrol law respectively. The fomer adapting dominant second-order pole method to achieve the poles configuration and increase the system damp and improve the anti-vibration performance. The latter using the fluctuation of the sealed load cavity’s pressure to detect the boom vibration and adapting a method to cancel out the input disturbances to decrease the vibration excitation entering into the system. Through the simulaion analysis, the vibration depression performance of the two types controllers are verfied.In the input compensation control of the boom vibration, every single boom hydraulic cylinder control system is controlled indepently and it is the fundament of the control system. Finally, considering the single boom hydraulic cylinder control system as the reseach object to building an electro-hydraulic proportional control test bench.Applying the input compensation control strategy to make a stimulation analysis and experimental research on the test bench, the results verify the perferable control performance of the designed control aimming at depressing the single boom hydraulic cylinder’s vibration.