摘要
为了使混凝土泵车工作装置实现良好的控制精度和操作平稳性,通过全姿态全工况下工作装置的变形分析,得出臂架和车身变形补偿模型,建立了变形补偿后的泵车工作装置运动学模型,并运用小脑模型神经网络(CMAC)+PID的控制方法解析动作控制量,很好地解决了臂架位姿动态检测和轨迹控制的问题.试验结果表明,该控制算法能满足轨迹控制的要求,使臂架末端位置动态检测误差控制在±8cm之内;借助变形补偿和臂架轨迹控制技术,臂架末端的运动轨迹误差可控制在±15cm之内.
To guarantee high control precision and operational smoothness of concrete pump trucks,the working device deformation is first analyzed under entire postures and conditions.Then,a boom and body deformation compensation model is obtained.By establishing the kinematical model of working device,the motional control quantity is analyzed via CMAC and PID techniques for dynamic boom posture detection and track control.Finally,it is found from testing results that the proposed control algorithm can satisfy track control,while the dynamic detection errors are controlled within±8 cm regarding booom end positions.Based on the deformation compensation and boom track control,the corresponding motion track errors can be controlled within ±15 cm.
出处
《中国工程机械学报》
北大核心
2015年第6期492-496,570,共6页
Chinese Journal of Construction Machinery
基金
湖南省战略性新兴产业科技攻关项目资助(2013GK4050)
关键词
工程机械
混凝土泵车
轨迹控制
变形补偿
小脑模型关节控制器(CMAC)算法
construction machinery
concrete pump truck
track control
deformation compensation
cerebella model articulation controller(CMAC)algorithm
