Research On The Trajectory Control Of The End Of The Arm Of Concrete Pump Truck

With the development of intelligent machinery,concrete pump trucks will also tend to be intelligent in the future,aiming at realizing the automatic distribution of pump trucks,which will help to save labor costs,reduce artificial strength,and reduce concrete waste.The control of the end trajectory of the boom of the pump truck is an important part of realizing the automatic distribution of the pump truck.Therefore,it is necessary to control the boom trajectory scientifically and reasonably to improve the casting accuracy.In order to facilitate the study of the end trajectory control of the boom of the pump truck,the boom of the pump truck is considered as a rigid boom,the trajectory control scheme for the end of the pump truck arm based on the traverse optimization algorithm is designed,the control program is easily written,the preliminary control of the trajectory of the boom of the pump truck is initially achieved.In order to reasonably control the movement trajectory of the end of the pump truck boom,the movement of the boom during the control process is stable,and the impact is reduced as the optimization goal,the trajectory gradient projection algorithm based control scheme is applied to optimize the trajectory control at the end of the boom.Theoretical analysis shows that the optimized control scheme can achieve the optimization goal in the boom control process,this kind of control scheme provides theoretical support for the realization of automatic pumping.To verify that the optimized control scheme is feasible and versatile for the end-to-end trajectory control of pump truck booms,the pump boom system is used as a prototype,based on the idea of using electricity to replace liquid,a set of boom end trajectory control experiment system was designed and manufactured to test and verify it,the results show that this kind of control scheme is feasible for the automatic distribution of concrete pump trucks,and the research results have certain reference value.