The Dynamic Simulation Of The Flexible Boom System Of The Concrete Pump Basing On ADAMS And SIMULINK

The concrete pump is modern construction machinery which can transport and pour the finished concrete product. With booms continuing to lengthen, the boom system has become a typical flexible system with multi degree of freedom. How to control the pump intelligently and determine the pouring position exactly has become a research hotspot.Taking into account that the pump is large construction machinery and various control algorithms cannot be verified on an actual pump randomly, we need to create a flexible boom system model in order to provide a platform to verify control algorithms. On the basis of fully study of a pump boom system, this paper creates a flexible boom system model and realizes co-simulation basing on ADAMS and Simulink. Detailed work is following:1. Build a dynamic model of the boom system and solve the equations. This paper simplifies the flexible booms into Euler beams and establishes dynamic equations of two-arm rigid and flexible boom system. From the results of simulation of the rigid and flexible boom system, it is easy to conclude that the influence of the flexibility is mainly reflected in the small amplitude vibration of the booms, which provides foundation and comparision to the following simulation of boom system.2. Model the rigid boom system with five booms. This paper uses baseline, reference planes, chamfering and trajectory flexibly to describe the model features and then assembles all the parts into a proportional boom system using various constraints. Add constraints and markers with the help of Mechpro and then import the model into ADAMS where we can add the corresponding drives so we can establish a rigid boom system.3. Model the flexible boom system with five booms. Cut the irregular booms into parts basing on workplanes and mesh the regualr parts with mapping, while meshing the irregular ones with free meshing. Analyze modalities and export flexible booms into ADAMS to replace the rigid ones. Compare the frequencies of those flexible booms in ADAMS and ANSYS to ensure the transmission is correct, so as to establish a flexible boom system.4. Verify the correctness of the flexible boom system. As used herein, add rotation constraint-driven to lock the booms. In combination with sensors, write a script file to control the flexible booms in the start-stop situation. The results show that the flexible boom system’s terminal vibrates with amplitude reducing gradually, which is consistent with the actual boom’s characteristics.5. Create a co-simulation system and verify a control algorithm. This paper controls the angles of booms instead of the terminal displacement. As used herein, program in C++ to get the inverse kinematics solution and conduct the simulation using PID to control the terimnal moving along with a line. Simulate rigid and flexible boom system with two and five booms, and we can conclude that with the boom length increasing, the impact of flexibility on the boom terminal’s jitter is growing.The flexible boom system established in this paper can accurately reflect the motion of a real pump boom system. It can be used to verify all kinds of control algorithm and provides the basis for improving the boom control algorithm.