机床与液压
機床與液壓
궤상여액압
MACHINE TOOL & HYDRAULICS
2014年
7期
59-62,66
,共5页
泵车%臂架%末端定位%前馈补偿
泵車%臂架%末耑定位%前饋補償
빙차%비가%말단정위%전궤보상
Concrete pump truck%Boom%Tip positioning%Feedforward compensation
为实现混凝土泵车臂架末端的准确定位以及运动过程的平顺控制，提出了一种新型臂架控制系统。采用闭环的控制模式，通过位移传感器测量液压缸的伸出长度，根据连杆的几何关系解算出臂架间的夹角，求得臂架末端的位置。采用基于前馈补偿的PID控制策略，提高臂架系统运动的跟随特性和响应特性。实验表明，应用了新型臂架控制系统之后，臂架运动平稳，具有较好的跟随特性，末端定位精度明显提高。
為實現混凝土泵車臂架末耑的準確定位以及運動過程的平順控製，提齣瞭一種新型臂架控製繫統。採用閉環的控製模式，通過位移傳感器測量液壓缸的伸齣長度，根據連桿的幾何關繫解算齣臂架間的夾角，求得臂架末耑的位置。採用基于前饋補償的PID控製策略，提高臂架繫統運動的跟隨特性和響應特性。實驗錶明，應用瞭新型臂架控製繫統之後，臂架運動平穩，具有較好的跟隨特性，末耑定位精度明顯提高。
위실현혼응토빙차비가말단적준학정위이급운동과정적평순공제，제출료일충신형비가공제계통。채용폐배적공제모식，통과위이전감기측량액압항적신출장도，근거련간적궤하관계해산출비가간적협각，구득비가말단적위치。채용기우전궤보상적PID공제책략，제고비가계통운동적근수특성화향응특성。실험표명，응용료신형비가공제계통지후，비가운동평은，구유교호적근수특성，말단정위정도명현제고。
In order to positioning accurately and moving smoothly for the boom tip of concrete pump truck,a new boom control system was proposed.By adopting close-loop control mode,using displacement sensors to measure extension length for the hydraulic cylinder and calculating joint angle between two adjacent booms according to the geometric relationship between the connecting rods, the location coordinates for the boom tip were obtained.A Proportional-Integration-Differential (PID) control strategy with feed for-ward compensation was used to improve characteristics of following and response for the motion of boom system.Experimental results show that application of this new boom control system can improve positioning accuracy for the boom tip obviously,and the booms move smoothly and have high-quality of following characteristics.
