基于CompactRIO的变姿态超长柔性臂架振动主动控制系统研究

Research on active vibration control of super-long flexible boom in time-varying position based on CompactRIO

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较大振动严重影响臂架的定位精度、疲劳寿命和施工安全。本文采用独立模态空间控制方法对混凝土泵送激励作用下的泵车臂架振动进行主动控制算法研究,并基于CompactRIO强大的硬件体系,结合LabVIEW丰富的信号处理环境,详细介绍了混凝土泵车臂架振动主动控制系统的硬件结构和实现方法。实验结果表明,采用该振动主动控制技术后,臂架振动衰减60%以上,且系统运行稳定可靠,实现了振动主动控制技术在工程机械的实际应用。

With the characteristics of flexible multi-body dynamics, boom vibration of a concrete pump truck not only affects the running quality, but also increases the structure's stress and reduces its fatigue life. Firstly, independent modal space control algorithm was researched. Then, based on the CompactRIO powerful hardware system and combined with LabVIEW environment rich in signal processing, hardware structure and implementation method about the boom vibration active control system of concrete pump truck were introduced in detail. Finally, the experiment was performed. The experimental results showed that boom vibration can be reduced by more than 60% configured with the active vibration control technology. The system running stable and reliable in the practical application of construction machinery proved the practicability of the technology.