Research On Dynamic Parameters Identification For Boom System Of Large Pump Truck

With the rapid development of China’s construction industry,the number of high-rise building now ranks first in the world.Because of the advantages such as simple operation,convenient distribution and high working efficiency,large concrete pump truck has become a necessary equipment for pouring high-rise buildings..The boom system is the most critical part of pump truck,and its performance directly affects the quality and safety of pouring.The large pump boom is a multi-bar cantilever structure with flexible long boom,and the concrete pumped during pouring will impact the pipeline,which makes the pump boom vibrate during operation.The vibration amplitude at the end of the full-displacement working boom even can reach several meters,which seriously affects the quality of pouring and operation safety.Now,the vibration suppression of the boom system is an urgent problem,and the accuracy of the dynamic parameters of the boom system directly affects the control accuracy of the boom system.Therefore,it is of great significance to identify the dynamic parameters of pump boom system quickly and accurately.The contents of this paper include: establishing the joint model of the concrete pump truck boom system,obtaining the D-H model and D-H parameters of the concrete pump truck boom system by using the SD-H method,and obtaining the expression of the velocity of each mass body’s center in the base coordinate;solving the dynamic equation of the concrete pump truck boom system by using the Lagrange method,and establishing the dynamic model of the concrete pump truck boom system;using the least square method to derive the solution of the pump boom system formula.The data collected by the sensor is processed and then substituted into the formula to obtain the dynamic parameters of the boom system in two postures of horizontal arch and large arch.The experimental data shows that the identification method in this paper is effective.The obtained dynamic parameter data is gave to the control group.During the actual operation of the pump truck,the vibration of the boom system is reduced by more than 80 %.