For motion planning of concrete pump truck( CPT) with end-effector's hosepipe path, this paper sets up the mathematic model,including definition of its motion planning,description of its state in C space( configur...For motion planning of concrete pump truck( CPT) with end-effector's hosepipe path, this paper sets up the mathematic model,including definition of its motion planning,description of its state in C space( configuration space) and its path length. An advanced rapidly-exploring random trees( RRT) algorithm is proposed, in which each tracing point dispersed from the end hosepipe path can map multi-states of CPT so as to make variety of motion path of CPT. For increasing search efficiency and motion path quality,this algorithm generates any random states of CPT in certain probability to trend to the initial state or target state mapped with the end hosepipe path,and to have the least cost between this random state and its parent state. A typical case and two special cases are analyzed in which the end hosepipe paths are reciprocating linear trajectory and planar or spatial sine curves respectively. Their results verify the feasibility and validity of the proposed algorithm.展开更多
Aiming at the high fuel consumption and use-cost of truck-mounted concrete pump , an energy-saving matching strategy of pumping system is presented and the experimental study is conducted.Since pumping system occupies...Aiming at the high fuel consumption and use-cost of truck-mounted concrete pump , an energy-saving matching strategy of pumping system is presented and the experimental study is conducted.Since pumping system occupies most resources of engine , the matching strategy between engine and main pump is analyzed to meet the load demand and reduce the engine rational speed drop.The testing method is established to measure the fuel consumption of engine under various working conditions , and the experimental data are analyzed to find the law of the fuel consumption of engine.The system performance can be improved by adjusting the system input value.Finally , the energy-saving matching strategy is established to reduce the fuel consumption of truck for unit workload , which provides a new approach for the energy-saving of truck-mounted concrete pump.展开更多
臂架液压系统是混凝土泵车的重要组成部分,用于输送混凝土和布料,目前存在压损过大的问题。借助AMESim与Simcenter 3D Montion软件建立62 m泵车臂架虚拟样机模型,经实验验证该虚拟样机与实际系统具有90%以上的契合度。利用臂架虚拟样机...臂架液压系统是混凝土泵车的重要组成部分,用于输送混凝土和布料,目前存在压损过大的问题。借助AMESim与Simcenter 3D Montion软件建立62 m泵车臂架虚拟样机模型,经实验验证该虚拟样机与实际系统具有90%以上的契合度。利用臂架虚拟样机研究系统的动态特性,揭示系统的压力分布,分析系统压损过高的原因,可知主要压力损失集中在平衡阀与长液压管路,提出3种降低压损的方案。以臂架管路通径优化为例,进行仿真分析与优化,并通过实验验证了管路通径优化效果。由仿真和实验结果可知:五臂倒钩收回工况下,将臂架长管路通径由8 mm增大至10 mm,可使小腔侧管路压力损失降低50%,大腔侧管路压力损失降低60%,可有效降低系统压力。展开更多
基金Nature Science Foundation of Liaoning Province,China(No.201102025)Dalian Science and Technology Plan Project,China(Nos.2012A17GX122,2013A16GX111)Fundamental Research Funds for the Central Universities,China(No.DUT14ZD221)
文摘For motion planning of concrete pump truck( CPT) with end-effector's hosepipe path, this paper sets up the mathematic model,including definition of its motion planning,description of its state in C space( configuration space) and its path length. An advanced rapidly-exploring random trees( RRT) algorithm is proposed, in which each tracing point dispersed from the end hosepipe path can map multi-states of CPT so as to make variety of motion path of CPT. For increasing search efficiency and motion path quality,this algorithm generates any random states of CPT in certain probability to trend to the initial state or target state mapped with the end hosepipe path,and to have the least cost between this random state and its parent state. A typical case and two special cases are analyzed in which the end hosepipe paths are reciprocating linear trajectory and planar or spatial sine curves respectively. Their results verify the feasibility and validity of the proposed algorithm.
文摘Aiming at the high fuel consumption and use-cost of truck-mounted concrete pump , an energy-saving matching strategy of pumping system is presented and the experimental study is conducted.Since pumping system occupies most resources of engine , the matching strategy between engine and main pump is analyzed to meet the load demand and reduce the engine rational speed drop.The testing method is established to measure the fuel consumption of engine under various working conditions , and the experimental data are analyzed to find the law of the fuel consumption of engine.The system performance can be improved by adjusting the system input value.Finally , the energy-saving matching strategy is established to reduce the fuel consumption of truck for unit workload , which provides a new approach for the energy-saving of truck-mounted concrete pump.
