CAJ | 학술논문

混凝土泵车臂架具有柔性多体系统的特点，泵送混凝土过程中臂架产生的振动增加设备整体的安全风险；实时姿态检测为实现臂架减振与智能控制提供必要的数据支撑与保障。给出一种基于惯性传感器的臂架姿态检测方法和系统，通过在臂架节点上安装惯性传感器以检测每节臂架的形变量和臂架运动状态，进而计算得到臂架的振动与空间运动状态，完成对臂架姿态的准确检测。检测结果表明，该方法大大提高对臂架位置检测的精度，为后续泵车安全控制、智能化控制、臂架健康管理、减振控制提供有效的数据基础。
혼응토빙차비가구유유성다체계통적특점，빙송혼응토과정중비가산생적진동증가설비정체적안전풍험；실시자태검측위실현비가감진여지능공제제공필요적수거지탱여보장。급출일충기우관성전감기적비가자태검측방법화계통，통과재비가절점상안장관성전감기이검측매절비가적형변량화비가운동상태，진이계산득도비가적진동여공간운동상태，완성대비가자태적준학검측。검측결과표명，해방법대대제고대비가위치검측적정도，위후속빙차안전공제、지능화공제、비가건강관리、감진공제제공유효적수거기출。
Concrete pump truck has the characteristics of flexible multi -body systems, pumping concrete vibration generated during the boom equipment increased overall security risks; to achieve real -time gesture detection and intelligent control arm vibration provides the necessary data to support the protection. Presents a method and system for detecting arm posture based on inertial sensors, inertial sensors by installing nodes on the jib boom to detect deformation and movement status of each boom section, and then calculates the vibration of the boom and space motion, complete and accurate detection of the boom attitude. Test results show that this method can greatly improve the detection accuracy of the position on the boom, as the follow-up pump security control, intelligent control, health management arm, damping control provides effective data base.