混凝土臂泵车柔性臂架激振力优化研究

Research on Solving Driven Moment of Flexible Arms of Concrete Pump Truck Based on Excited Force Optimization

在混凝土泵车柔性臂架动力学方程的基础上,经过简化处理得到臂架的振动方程。以臂架振动激振力最小为优化目标,以末端软管轨迹为约束条件,得到满足条件的关节转角的表达式。由计算机仿真得到臂架转角及各柔性坐标对应的激振力,仿真结果表明满足末端轨迹的要求小臂架振动激振力的数值很小,因此这种方法在满足臂架末端运动轨迹的条件下有效抑制了柔性臂架的振动。

By reduced the dynamics equation of the concrete pump truck flexible arms to obtain the vibration equation of the model, derived the expression of the angles of the flexible concrete pump truck arms in the condition of satisfying the end trajectory and makes the excited forces to minimal. According the result of computer simulation, it proves that the method is effective to suppress the vibration of the flexible arms of concrete pump arms.