Studies And Applications On Accurate Positioning Technology Of Pump Truck Boom

With the progress of urbanization, large-scale mechanical equipment plays a significant role in various modernized constructions. Among them, pumper is a typical representation. In order to guarantee working environment and safety of people, pumper arm should strictly follow prior determined trajectory. Thus it is of a high requirement in posture and position detection of pumper arm. For current approach, the research of pumper arm posture sensing is mainly based on angular sensor. Because the limitation of the sensor, error will be accumulated when deformation happens. This will lead a higher bias in location parameters of each arm, which is difficult to satisfy the control requirement. Meanwhile current posture sensing algorithms are mostly based on certain circumstance and implementation. Fewer research are carried out based on localization of pumper arm. Based on the comments, high precise poster sensing system of pumper arm is developed in this thesis.Initially the thesis investigated commonly utilized wireless localization techniques. According to specific implementation scenario of engineering machinery, a proper wireless sensor network localization technique is proposed. Due to the fact that high anti path loss ability, high time resolution, long transmission distance and less power in intermediate frequency, CSS technique is suitable for the communication under complex scenario. Therefore it is employed in this thesis. According to the properties of pumper arm structure and its motion, the motion model is simplified. Its moving spatial transform is conducted and the formulas are given correspondingly. The systematic design of pumper arm based on CSS wireless localization technique is carried out as well.Followed by, based on engineering mechanical environment, a localization algorithm based on semi-definite programming is proposed. According to the quantity of pumper in one hop, the algorithm is divided into non cooperative mode and cooperative mode, which target at single pumper and pumper cluster. Through simulation on MATLAB, it can be seen that semi-definite programming is of a higher anti interference ability and localization accuracy when compared with conventional LS algorithm. If applying semi-definite programming in posture sensing of single pumper arm and arms of pumper cluster, trajectory change of arm can be well reflected. Thus localization accuracy is higher compared with employing angular sensor.At last, the software design and realization of pumper are system are based on the platforms STVD and MDK-ARM, which includes both node and localization algorithm design. The test is based on single pumper system, which include power consumption of node, distance measurement of node as well as system localization performance.