CN101525944A - Concrete pump truck intelligent arm support control system and control method thereof - Google Patents
Concrete pump truck intelligent arm support control system and control method thereof Download PDFInfo
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- CN101525944A CN101525944A CN 200910081248 CN200910081248A CN101525944A CN 101525944 A CN101525944 A CN 101525944A CN 200910081248 CN200910081248 CN 200910081248 CN 200910081248 A CN200910081248 A CN 200910081248A CN 101525944 A CN101525944 A CN 101525944A
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- jib
- arm support
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- control system
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The invention provides a concrete pump truck intelligent arm support control system and a control method thereof. The control system comprises an arm support, a controller, an operating device and an actuator. The control system is characterized in that the control system also comprises an arm support detecting device which is used for detecting the spatial location of each segment of the arm support and transmitting detected spatial location signals of each segment of the arm support to the controller. The control method comprises: the construction of an arm support coordinate system; the detection of the current arm support position; the control of the actions of the arm support. In the concrete pump truck intelligent arm support control system, an operator is not required to manually regulate the position the gyratory angle of each segment of the arm support, the pouring accuracy and the operational reasonability are guaranteed, and the construction efficiency and the whole service life of the truck are improved greatly; within the stress impact allowable range and on the basis of the consideration of the concrete fluidity, coordinated actions of a plurality of segments of the arm support are realized; simultaneously, during the controlling process, extreme conditions and unreasonable operations of the movements of a plurality of the segments of the arm support are limited, the labor intensity and the experience requirement of the operator are alleviated greatly, and influences of unreasonable operations on the arm support structure and the service life of a hydraulic system are avoided.
Description
Technical field:
The present invention relates to the arm support control system of engineering machinery field, relate in particular to and have the intelligent arm support control system that nonshared control unit is the concrete mixer intelligence cloth of core, can have application on the construction machinery of boom device.
Background technology:
The rubber-tyred concrete mixer is a kind of construction machinery that typically has multistage jib.The basic process of its construction is, by the hydraulic pressure pumping mechanism of vehicle body, concrete by the cloth tube on the jib, required to be cast in the job site according to operating personnel's operation, control its pouring position, is actually to realize by control jib terminal position.
Early stage concrete mixer, the jib total length is short, and arm joint number amount is few, and control technology is poor, is fixed basically, and the terminal position of jib is realized by manual pulling.Present this jib structure is replaced, and long-armed, multi-arm joint, high efficiency and light-weighted novel jib continue to bring out, the cloth height of jib, and the cloth degree of depth and the drop-down degree of depth are greatly improved.The control of jib mainly by special-purpose remote controller control hydraulic multitandem valve, realizes the change in location of single-unit jib and slew gear by hydraulic motor, hydraulic jack and executing agency's combination again, thereby realizes the control to the terminal position of cloth tube.Yet because the boom system of concrete mixer is one group of multi-redundant mechanism, thereby automation, intelligent level never are subjected to enough attention and are difficult to realizing, but great majority need the job site of cast, and all the precision to pouring position has certain requirement again.Therefore, existing control device has in very large range restricted the performance of pump truck advantage.
Fig. 1 is the 4 arms joint jib of an existing typical concrete mixer, and Fig. 2 is the telecontrol panel of existing concrete pump truck.
As shown in Figure 1, this boom system is by 1 to 4 four joint arms joints, forms by hydraulically powered oil cylinder, linkage and by the turntable that fluid motor-driven is fixed on the vehicle chassis by 4.Arm joint 1 is by being connected the control of the hydraulic jack on turntable and the jib, realize its around with the limited rotation of turntable jointed shaft.Arm joint 2 realizes that by the linkage between the hydraulic jack 2 actuating arms joint 1 and 2 arm joint 2 is around saving the limited rotation of 1 jointed shaft with arm.Other arm joint control principle is with arm joint 2.In work progress, by handling the remote controller handle, realize the variation of jib attitude and the adjusting of turntable angle, thereby make the rubber hose that is fixed on the jib end move to the top of the construction area that needs fluid concrete, realize concrete pouring.
As shown in Figure 2, there are six ratio rocking bars to be used for the whole dress jib of going up is carried out position operation on this telecontrol panel.Operate the reciprocating motion of corresponding rocking bar, can produce corresponding simulating amount signal, this signal is sent to the receiver of remote-control sytem that is installed on vehicle body by signal generation apparatus again.When needs are regulated a certain joint arm support position, the control signal of rocking bar passes to receiver through radio wave, receiver can be according to the control signal that receives, mode with proportional control drives banked direction control valves, thereby control bidirectional hydraulic hydraulic oil cylinder driving transmission mechanism is realized back and forth leaning forward and the hypsokinesis campaign of single-unit jib.Same principle, the angle of revolution of turntable also is to realize contrary, clockwise variation by such mode.Because rocking bar is the scaling signal rocking bar, the control signal of receiver also is a scaling signal, therefore can realize the control of jib and turntable pace of change speed by the stroke of operation rocking bar.
More than statement is the action control procedure of single jib, and in concrete work progress, want to realize the variation of pouring position, certainly will to adjust the terminal position of jib, in this multiple degrees of freedom structure, reach above purpose, often need the teamwork of multi-arm joint and slew gear to realize.This becomes loaded down with trivial details unusually with regard to the operation that makes the operator, often need to carry out teamwork according to the mechanism that the direction that moves is selected to be associated, application experience and on-the-spot judgement to the operator have suitable requirement, and the uncertain like this smooth transition that can guarantee the pouring position.As shown in Figure 3, jib terminal position E moves to E ', needs the 1st and second liang of joint jib teamwork reciprocal at least, if only handle wherein a joint jib then can not reach desirable effect, has defectives such as the control difficulty is big, control is not in place, efficient is low.Here Cao Zuo convenience just needs the part considered, in addition also needs the influence of considering that the jib attitude flows to concrete, and factor such as jib stress.Inappropriate jib attitude all has very big negative effect to the quality of concrete casting and the life-span of pumping vehicle arm rack.
Summary of the invention:
The present invention is the above-mentioned defective that overcomes prior art, a kind of concrete pump truck intelligent arm support control system is provided, by detection feedback and control to the arm support position signal, realize respectively saving the automatic teamwork of jib and slewing equipment, make the easily moving operator's of arrival desired location of the terminal distribution device of jib, and in the process of whole action, make whole jib attitude keep a relatively reasonable state.
For achieving the above object, technical solution provided by the invention is: described concrete pump truck intelligent arm support control system, comprise jib, controller, operating means and executing agency, it is characterized in that: also comprise the arm support position checkout equipment, be used to detect the locus of every joint jib, and the locus signal of detected described every joint jib is transferred to described controller.
Further, described executing agency is the proportional multi-path valve, and described controller is an engineering machinery special logic controller, and the exportable pwm signal of described controller directly drives described proportional multi-path valve.
Adopt the CAN bus to realize the signal transmission between described controller and the described arm support position checkout equipment, described controller has traffic filter, and the signal that described traffic filter is used for described arm support position checkout gear is detected and is transferred to described controller carries out filtering.
Described operating means is the remote controller with universal handle, and described remote controller is connected with described controller by the CAN bus, realizes the transmitted in both directions of signal.
Further, described arm support position checkout equipment is absolute value encoder or angular transducer or acceleration transducer.
Described arm support position checkout equipment is installed between the adjacent two joint jibs, and described adjacent two joints are connected to hollow shaft when connecting between jibs, adopt described absolute value encoder or angular transducer; Described to face two joints being connected between jibs mutually solid hinged or when being installed with pump line, adopts described acceleration transducer, and the described jib of every joint is installed a described acceleration transducer.
The control method of concrete pump truck intelligent arm support control system of the present invention is: described intelligent arm support control system, comprise jib, controller, operating means and executing agency, also comprise the arm support position checkout equipment, be used to detect the locus of every joint jib, and the locus signal of detected described every joint jib is transferred to described controller, adopt the CAN bus to realize the signal transmission between described controller and the described arm support position checkout equipment, described operating means is the remote controller with universal handle, described remote controller is connected with described controller by the CAN bus, realizes the transmitted in both directions of signal.Can realize the intelligence of described jib is controlled according to following steps:
The first step, the foundation of jib coordinate system:
With described jib vertical projection in the horizontal direction as the X coordinate, with its vertical line on horizontal plane as the Y coordinate, vertical direction is set up described jib coordinate system as the Z coordinate;
The detection of second step, current arm support position:
The angle of revolution of A, turntable is detected, and promptly is the angle of the vertical projection and the horizontal vertical projection of initial position jib of current arm support horizontal direction in the jib course of action.This angle detects acquisition by the mode that absolute value encoder is installed.
Current angular detection between B, first joint jib and the turntable promptly is the angle of first joint jib and horizontal direction, can detect acquisition by the mode that absolute value encoder is installed equally.
C, face the angular detection of two joints between the jibs mutually, adopt absolute value encoder or acceleration transducer to detect and obtain;
Described arm support position checkout gear is transferred to controller by the CAN bus data with angular displacement information, determines the current attitude and the locus of jib end under current coordinate system of jib.
The 3rd step, the control of jib action:
A, described universal handle can move reciprocatingly in any direction in the plane, and the x on this described plane, y axle component, correspond respectively to X, Y-axis component in the described jib coordinate system, operate suitable, the counterclockwise motion of described universal handle, realize of the motion of described jib terminal position, the movement velocity of the corresponding described jib end of the angle of inclination of described universal handle and rotating distance at described Z axle component direction;
B, described universal handle is operated, described remote controller can and be transferred to described controller with corresponding described operation signal, described controller carries out analyzing and processing to the described operation signal that receives, direction and rate request according to operation, upwards specify a desired value the counterparty, the minor details jib is turned an angle, after satisfying the locality condition of described desired value, rotate it again and face jib mutually, and the like, through repeatedly up to making the jib end move to the X of target location, Z axial coordinate component place in conjunction with the rotational angle of turntable, satisfies the coordinate requirement that reaches the target location again.
In described second step,, adopt different sample modes according to described jib structure difference.To being to be articulated and connected between two jibs,, take angle between the form sampling jib of position, hinged axle center installation absolute value encoder directly by the form of structure of hydraulic oil cylinder driving.Between the two joint jibs that face mutually, adopt by oil cylinder and drive the form of structure of jib motion by linkage, perhaps there is the pump line punching hinged place, at every joint jib acceleration transducer is installed.
Further, the track of described jib, determine according to following equation:
Wherein, X is the space coordinates vector of described jib end,
θ is the angle amount of described jib,
J
+Be generalized inverse matrix,
I is a unit matrix,
φ
1And φ
2Be respectively
With
The arbitrary normal vector in space.
Adopt minimum model Y-factor method Y to carry out determining of described jib motion track, even the φ in the described equation
1And φ
2All be 0, determine the target trajectory of described jib.
The present invention compared with prior art has following good effect:
1, the operator of concrete mixer is when carrying out the placing of concrete operation, the position and the rotating angle of need not manual adjustments single arm joint, the degree of accuracy of pouring and the reasonability of operation are guaranteed, and the whole service life of efficiency of construction and even pump truck is all had positive effect.
2, the present invention measures sensor-based system and computer Flexible Control technology by jib, realization is to the Based Intelligent Control of jib, direct control operation is carried out in cloth position to the jib end, in jib stress impact allowed band and on the basis that concrete flowability is considered, Union Movement track to whole boom system is planned, make the coordination of multi-arm joint, reach operator's target call.
3, simultaneously, in the process of control, qualification has been made in maximum conditions and unreasonable operation that some jibs move, operator's working strength and experience requirement have been alleviated so greatly, concrete pouring precision has obtained suitable raising simultaneously, has avoided some irrational operations to the jib structure and the influence in hydraulic system life-span.There are many problems in fine the solution in the existing system.
4, adopt minimum model Y-factor method Y to carry out the calculating and the control of the track that jib moves, make impact that jib is subjected in allowed limits.When realizing Based Intelligent Control, taken into account jib attitude and stress requirement, meet the requirement of hydraulic system power distribution simultaneously.
Description of drawings:
Fig. 1 is the 4 arms joint jib structure schematic diagram of a typical concrete mixer;
Fig. 2 is the telecontrol panel schematic diagram of existing concrete pump truck;
Fig. 3 moves schematic diagram for jib;
Fig. 4 is that the jib of one 4 arm joint pump truck launches precedence diagram;
Fig. 5 is the panel figure of one embodiment of the invention remote controller;
Fig. 6 is the control flow chart of one embodiment of the invention.
The specific embodiment:
For ease of understanding the present invention, the invention will be further elaborated below in conjunction with following embodiment:
Core of the present invention is exactly by to the detection feedback of arm support position signal and the control of controller, realize respectively saving the automatic teamwork of jib and slewing equipment, make the terminal distribution device of jib easily move operator's desired location, and in the process of whole action, make whole jib attitude keep a relatively reasonable state.Based on this operation, the operator of concrete mixer is when carrying out the placing of concrete operation, the position and the rotating angle of need not manual adjustments single arm joint, the degree of accuracy of pouring and the reasonability of operation are guaranteed, and the whole service life of efficiency of construction and even pump truck is all had positive effect.
Concrete pump truck intelligent arm support control system of the present invention, comprise jib, controller, operating means and executing agency, and arm support position checkout equipment, described controller is an engineering machinery special logic controller, described operating means is the remote controller with universal handle, described executing agency proportional multi-path valve, described arm support position checkout equipment is used to detect the locus of every joint jib, and the locus signal of detected described every joint jib is transferred to described controller, adopt the CAN bus to realize the signal transmission between described controller and the described arm support position checkout equipment, described controller output pwm signal directly drives described proportional multi-path valve, described remote controller is connected with described controller by the CAN bus, realizes the transmitted in both directions of signal.So just formed a complete control system.
Further, described arm support position checkout equipment is absolute value encoder or angular transducer or acceleration transducer, described arm support position checkout equipment is installed between the adjacent two joint jibs, when described adjacent two joints are connected to hollow shaft when connecting between jibs, adopt described absolute value encoder or angular transducer; To face two joints being connected between jibs mutually solid hinged or be installed with pump line when described, adopts described acceleration transducer, and the described jib of every joint is installed one.
Described engineering machinery special logic controller as this control system core devices, is used for the control instruction according to secondary development, controls all driver elements, is equivalent to " brain " of whole system, and it has:
(1) stronger driving force can directly drive the ratio banked direction control valves by output pwm signal, thereby realizes the control of jib;
(2) very strong floating number disposal ability and higher execution efficient.Calculating arm support position by the jib angle feedback signal and handling in the process of jib action, there is a large amount of floating point arithmetics to handle, because the control special objects also has certain real-time requirement to routine processes;
(3) perfect safeguard protection, self-diagnostic function.The security requirement of jib control is very high, just the reliability of controller is had higher requirement.
In addition, because the vehicle area coverage is bigger, the device mounting distance is distant, and the transmission signal is also had requirement, all adopts the CAN bus to realize the signal transmission between the feedback unit of this system and the control module, has guaranteed the real-time and interference free performance of signal.
Because of in control procedure, need know the current location of each joint jib, and the anglec of rotation of turntable, could pass through to calculate the physical location of determining the jib end.Therefore, the invention provides the scheme of two kinds of sensors, install at the structure choice of concrete jib:
(1) facing two hinged places of joint between jibs mutually is hollow shaft when connecting, and can select absolute value encoder or angular transducer for use, determines to face mutually the angles between two joint jibs; The multi-turn absolute value encoder is installed in the position of the reduction box of turntable, determines the angle of revolution of turntable;
(2) face mutually between two joint jibs for solid hinged or be installed with the jib of pump line, can select acceleration transducer for use, install one, under the situation of not destroying jib structure, utilize detected signal to can be exchanged into the positional information of every joint jib like this at every joint jib; The detection of revolving table position the same (1).
The present invention uses a teleswitch to the jib of concrete mixer and operates, and the remote controller signal that described control system is used is transmitted in both directions, and transmission means adopts the CAN bus, and itself is not with the ability that drives load.Its operation to jib is divided into manual and intelligent dual mode, and at intellectual status, the operator only need handle the universal handle on the remote controller, just can realize the operation to the terminal distribution device of jib.On remote controller, be provided with change-over switch, in case switch to intellectual status, system can be automatically with the projection of jib vertical direction as the X coordinate, rebulid coordinate system, handled easily person's operation.Have display panels on the remote controller, can show the system data that some are basic, make the operator in time grasp vehicle condition.
In addition, the present invention gives the control method of this concrete pump truck intelligent arm support control system, and is specific as follows
In the time of a concrete mixer job, jib need be opened fully, and be selected suitable attitude, with cloth tube side placed on it according to the pouring position.Opening and drawing in of jib is subjected to the restriction of design of Hydraulic System and structural member layout, must be according to the mode by the joint sequentially-operating.Accompanying drawing 4 is exactly the jib expansion precedence diagram of one 4 arm joint pump truck.Expansion at jib needs manually control, after jib is deployed into the precalculated position, can switch to the Based Intelligent Control state by remote control, can control the cloth tube of jib end this moment by the universal handle on the remote controller, and accompanying drawing 5 is the panel figure of a kind of intelligent bus remote controller of the present invention.
1, the detection of arm support position:
Under the Based Intelligent Control state, jib is controlled, need know the particular location of jib end, and the attitude of whole jib.As the introduction of front to equipment, the detection of arm support position is to realize by sensor installation.Do not save the locus of jib, need calculate.In the angle of revolution that detects turntable, the angle between first segment jib and the turntable, and face two angles that save between the jibs, the locus that just can draw the jib end mutually.
The angle of revolution of turntable promptly is the angle of the vertical projection and the horizontal vertical projection of initial position jib of current arm support horizontal direction in the jib course of action.This angle obtains by the mode that absolute value encoder is installed.Encoder is transferred to controller by the CAN bus data with angular displacement information, is drawn by the controller sampling.
Current angle between first joint jib and the turntable promptly is the angle of first joint jib and horizontal direction, can obtain by the mode that absolute value encoder is installed equally.
Face the angle between the two joint jibs mutually.According to the jib structure difference, adopt different sample modes.To being to be articulated and connected between two jibs,, can take angle between the form sampling jib of position, hinged axle center installation absolute value encoder directly by the form of structure of hydraulic oil cylinder driving.If between the two joint jibs that face mutually, adopt by oil cylinder and drive the form of structure that jib moves by linkage, perhaps there is the situation of pump line punching the hinged place, considers that at this moment at shaft core position encoder being installed obviously is not suitable for.Can consider acceleration transducer to be installed, detect jib angle of inclination with respect to the horizontal plane at every joint jib.Preferentially must be, select 5g acceleration of gravity for use, 84HZ bandwidth, the way of output be the acceleration transducer of PWM digital quantity output.
In addition, because in the pump truck course of work, jib is under a kind of state of chatter all the time, is the influence that prevents that sign mutation from causing testing result, also need the signal that collects is handled herein, in sampling is calculated, adopt the method for difference that signal is carried out the filtering processing.
By the collection of above signal, determine the current attitude of jib, just can determine the locus of jib end under current coordinate system.
2, the control of jib action:
Switch and to enter the intelligence operation state, at first system sets up three-directional coordinate system automatically as the reference coordinate, with jib vertical projection in the horizontal direction as the X coordinate, with its vertical line on horizontal plane as the Y coordinate, vertical direction is as the Z coordinate.
Universal handle on operator's remote controller is controlled the cloth tube position of jib end.This universal handle is a scaling signal, can do reciprocal operation in any direction in the plane, and the x on this plane, y axle component, X, the Y-axis component in the counterpart arm rack coordinate system respectively; Operate suitable, the counterclockwise motion of universal handle, realize of the motion of jib terminal position at Z axle component direction.And the movement velocity of the corresponding jib end of the angle of inclination of this ratio handle and rotating distance.In case the operator operates handle, remote controller can be transferred to controller with control signal corresponding, and controller is finished the motion of jib in reference coordinate through the operational order driver element.
Controller carries out analyzing and processing to receiving control signal, according to the direction and the rate request of control, upwards specifies a desired value the counterparty.The jib end wants to move to the target location, in program, adopt and iterate algorithm, the minor details jib is turned an angle, satisfy locality condition when seeing, rotate it again and face jib mutually, and the like, the process repeated calculation is up to making the jib end move to X, the Z axial coordinate component place of target location, in conjunction with the rotational angle of turntable, satisfy the coordinate requirement that reaches the target location again.The method that the variation track of the jib attitude that calculates utilizes ADAMS and ANSYS to combine again, the jib end is automatically moved in the process of target location jib STRESS VARIATION situation analyzes, the calculating of adopting minimum model Y-factor method Y to carry out the track that jib moves makes impact that jib is subjected in allowed limits.
The problem that saves key in the synkinetic automation control at multi-arm is exactly finding the solution of the contrary motion of jib, jib can be reduced to one group of control problem with multi-redundant manipulator, the equation that following formula is inverted and separated for the multi-redundant manipulator:
V is in following formula, and X is the space coordinates vector of jib end, and θ is the joint angle vector of jib, J
+Be generalized inverse matrix, I is a unit matrix, φ
1And φ
2Be respectively
With
The arbitrary normal vector in space.
The minimum norm method can guarantee finish move to intended target in, keep each articulation structure continuously steadily and the accekeration in each joint less, therefore adopt the minimum norm method to find the solution the contrary motion of jib, even the φ in the above formula
1And φ
2All be 0.
By above method, cook up the track that jib moves to intended target.This wherein also needs to consider the influence of jib attitude to pumped mass, considers whether the track of being planned meets hydraulic system power distribution requirement.By controller control ratio electromagnetic valve, by driving the conversion that arm support oil cylinder realizes the jib attitude, the control that does not save jib and gyration all is closed-loop control, according to feedback signal, control signal is adjusted.Because the gradient of universal handle and rotating distance are directly proportional with jib motion speed, can also be by the mode of adjustment control pwm signal dutycycle, the flow aperture of resize ratio electromagnetic valve, thus realization is to the control of speed.Because the process of real control when the jib trajectory planning is is so have very high requirement to the arithmetic speed of controller.
In the planning process of some tracks, also need to increase some restrictions at special circumstances, as the angle of minor details jib and cloth flexible pipe, the angle that is minor details jib and vertical direction must not be less than 90 °; Must not use the qualification of intelligence operation etc. to some extreme positions of jib.And the jib attitude is had the occasion of specific (special) requirements at some, and can select to lock jib 1 and jib 2, avoided the jib attitude that bigger amplitude of variation takes place, produce potential safety hazard.
According to the above elaboration of the present invention being controlled basic principle, the operator is when the operation concrete mixer is carried out pouring work, can utilize the present invention that direct control operation is carried out in the cloth position of jib end, and control system can detect operator's order and analyze, in jib stress impact allowed band and on the basis that concrete flowability is considered, Union Movement track to whole boom system is planned, makes the coordination of multi-arm joint, reaches operator's target call.Simultaneously, in the process of control, qualification has been made in maximum conditions and unreasonable operation that some jibs move, operator's working strength and experience requirement have been alleviated so greatly, concrete pouring precision has obtained suitable raising simultaneously, has avoided some irrational operations to the jib structure and the influence in hydraulic system life-span.
Although described the above embodiment of the present invention, to those skilled in the art, may there be more embodiment and implementation within the scope of the invention.According to any variation of invention with change the protection domain all fall into claim of the present invention.
Claims (10)
1, concrete pump truck intelligent arm support control system, comprise jib, controller, operating means and executing agency, it is characterized in that: also comprise the arm support position checkout equipment, be used to detect the locus of every joint jib, and the locus signal of detected described every joint jib is transferred to described controller.
2, concrete pump truck intelligent arm support control system according to claim 1, it is characterized in that: described executing agency is the proportional multi-path valve, described controller is an engineering machinery special logic controller, and the exportable pwm signal of described controller directly drives described proportional multi-path valve.
3, concrete pump truck intelligent arm support control system according to claim 2, it is characterized in that: adopt the CAN bus to realize the signal transmission between described controller and the described arm support position checkout equipment, have traffic filter at described controller, the signal that described traffic filter is used for described arm support position checkout gear is detected and is transferred to described controller carries out filtering.
4, concrete pump truck intelligent arm support control system according to claim 3 is characterized in that: described operating means is the remote controller with universal handle, and described remote controller is connected with described controller by the CAN bus, realizes the transmitted in both directions of signal.
5, according to the arbitrary described concrete pump truck intelligent arm support control system of claim 1 to 4, it is characterized in that: described arm support position checkout equipment is absolute value encoder or angular transducer or acceleration transducer.
6, concrete pump truck intelligent arm support control system according to claim 5, it is characterized in that: described arm support position checkout equipment is installed between the adjacent two joint jibs, described adjacent two joints are connected to hollow shaft when connecting between jibs, adopt described absolute value encoder or angular transducer; Described to face two joints being connected between jibs mutually solid hinged or when being installed with pump line, adopts described acceleration transducer, and the described jib of every joint is installed a described acceleration transducer.
7, the control method of concrete pump truck intelligent arm support control system, it is characterized in that: described intelligent arm support control system, comprise jib, controller, operating means and executing agency, also comprise the arm support position checkout equipment, be used to detect the locus of every joint jib, and the locus signal of detected described every joint jib is transferred to described controller, adopt the CAN bus to realize the signal transmission between described controller and the described arm support position checkout equipment, described operating means is the remote controller with universal handle, described remote controller is connected with described controller by the CAN bus, realizes the transmitted in both directions of signal.Can realize the intelligence of described jib is controlled according to following steps:
The first step, the foundation of jib coordinate system:
With described jib vertical projection in the horizontal direction as the X coordinate, with its vertical line on horizontal plane as the Y coordinate, vertical direction is set up described jib coordinate system as the Z coordinate;
The detection of second step, current arm support position:
The angle of revolution of A, turntable is detected, and promptly is the angle of the vertical projection and the horizontal vertical projection of initial position jib of current arm support horizontal direction in the jib course of action, and this angle detects acquisition by the mode that absolute value encoder is installed;
Current angular detection between B, first joint jib and the turntable promptly is the angle of first joint jib and horizontal direction, also detects acquisition by the mode that absolute value encoder is installed;
C, face the angular detection of two joints between the jibs mutually, adopt absolute value encoder or acceleration transducer to detect and obtain;
Described arm support position checkout gear is transferred to described controller by the CAN bus with angular displacement signal, determines the current attitude and the locus of jib end under current coordinate system of described jib;
The 3rd step, the control of jib action:
A, described universal handle can move reciprocatingly in any direction in the plane, the x on this described plane, y axle component, correspond respectively to X, Y-axis component in the described jib coordinate system, operate suitable, the counterclockwise motion of described universal handle, realize of the motion of described jib terminal position, the movement velocity of the corresponding described jib end of the angle of inclination of described universal handle and rotating distance at described Z axle component direction;
B, described universal handle is operated, described remote controller is transferred to described controller with corresponding described operation signal, described controller carries out analyzing and processing to the described operation signal that receives, direction and rate request according to operation, upwards specify a desired value the counterparty, the minor details jib is turned an angle, after satisfying the locality condition of described desired value, rotate it again and face jib mutually, and the like, move to the X of target location up to described jib end, Z axial coordinate component place again in conjunction with the rotational angle of turntable, satisfies the coordinate requirement of target location.
8, according to the control method of the described concrete pump truck intelligent arm support of claim 7, it is characterized in that: in described second step, according to described jib structure difference, adopt different sample modes, to being to be articulated and connected between two jibs, direct form of structure by hydraulic oil cylinder driving, take angle between the form sampling jib of position, hinged axle center installation absolute value encoder, between the two joint jibs that face mutually, adopt oil cylinder to drive the form of structure of jib motion by linkage, perhaps there is the pump line punching hinged place, at every joint jib acceleration transducer is installed.
9, according to the control method of the described concrete pump truck intelligent arm support of claim 7, it is characterized in that: the track of described jib, determine according to following equation:
Wherein, X is the space coordinates vector of described jib end,
θ is the angle amount of described jib,
J
+Be generalized inverse matrix,
I is a unit matrix,
φ
1And φ
2Be respectively
With
The arbitrary normal vector in space.
10, according to the control method of the described concrete pump truck intelligent arm support of claim 9, it is characterized in that: adopt minimum model Y-factor method Y to carry out determining of described jib motion track, even the φ in the described equation
1And φ
2All be 0, determine the target trajectory of described jib.
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| CN 200910081248 CN101525944B (en) | 2009-03-31 | 2009-03-31 | Concrete pump truck intelligent arm support control system and control method thereof |
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