混凝土喷射机智能臂架多关节流量分配技术研究

Flow distribution control technique of intelligent boom multi-joint linkage for concrete spraying machines

以混凝土喷射机智能臂架为研究对象,考虑到对臂架末端进行一键操控速度过快时容易出现关节流量饱和,进而使得臂架末端不能按期望的轨迹运动,为此研究并实现了一种流量分配控制技术,通过试验得出阀控指令与流量的对应关系,在输入末端控制指令时计算出流量饱和系数,乘以按逆运动学求解得到的新的关节控制指令,实现了流量的智能分配,进而使得关节流量饱和时臂架末端同样能够按期望的运动轨迹运动.

With regard to the intelligent boom of concrete spraying machines,too fast one-key operation may cause joint flow saturation,where the boom end cannot move as expected.As such,a flow distribution control technique is investigated.After the relationship between valve control commands and flows is experimentally obtained,the flow saturation coefficient is calculated during end control command inputting.By multiplying with new joint control commands via inverse kinematics,the intelligent flow distribution is realized so as for the boom end to move as expected during flow saturation.