混凝土泵车臂架系统的PD控制

基于多体动力学理论对混凝土泵车的各节臂杆的运动和液压缸的运动分别进行分析,运用拉格朗日方程建立臂架系统的多体动力学方程.把PD控制率应用于泵车各节臂杆的驱动力矩,使泵车各节臂杆按照期望转动角度运动,构建了臂架系统的控制模型.结合臂架系统的多体动力学方程建立泵车臂架系统的动力学方程并数值求解,对泵车各臂杆的转动角度以及臂架末端的运动轨迹的计算值与期望值进行了分析.证明了采用该方法建立混凝土泵车臂架的运动方程,可以准确地描述泵车的各项动力学特性.

PD Control of Swiveling Jib System of Concrete Delivery Truck

Based on the multi-body dynamic theory, the movement of every member of the swiveling jib and relevant hydraulic cylinders on a concrete delivery truck are both analyzed. With the Lagrange equation, the multi-body dynamic equation of the swiveling jib system is derived. A control model is then developed for the swiveling jib system via applying the PD control rate to every member's drive torque so as to enable it to move in accordance to the expected rotating angles. Further, based on the multi-body dynamic equation of swiveling jib system as above, a dynamic equation of the integrated jib truck system is built with a numerical solution given to it, thus analyzing comparatively the calculated and expected values of both rotating angle of each member of swiveling jib and the kinematic trajectory of its end. It is proved that the integrated dynamic equation thus built can exactly describe all the dynamic characteristics of the truck.