Trajectory optimization method for follow-up control of Concrete pump Truck

摘要

The follow-up control of concrete pump truck is in order to solve the problem that whole boom follows the movement of boom end under the artificial traction. Focus on real-time detection of boom end azimuth change and inverse kinematic problems of redundant boom system, two-axis gravitational accelerometer is used to detect azimuthal variation of boom end, and the best motion trajectory of boom is determined by solving constrained nonlinear optimization function which takes minimum displacement distance of barycentre for the whole boom as the optimization goal. At last, relative azimuth and translation of boom end, rotation of boom are solved together to make translation and rotation of boom being synchronization. In this way to ensure whole boom follows the artificial traction in theory. In order to verify the discussion above, matlab is used to simulate several different working conditions for the follow-up control of boom.