Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Cantilever crane trajectory planning control method and pump truck
The invention discloses a control method for arm support track planning and a pump truck, and the control method comprises the following steps: S1, a controller obtains the motion track of a discharge port of an arm support, and a data processing module connected with the controller disperses the motion track into a plurality of discrete points; s2, the included angles between all stages of supporting arms of the arm support are tested through an inclination angle sensor, the data processing module calculates the position coordinates of a discharging port according to all the included angles, the position coordinates of the discharging port are compared with the discrete point coordinates, and the next discrete point coordinate is selected; s3, the data processing module calculates the rotation angle of each stage of supporting arm according to a preset kinematics inverse solution algorithm, and the rotation angle is output to a power mechanism through a controller; s4, the controller sends out an instruction, each stage of supporting arm rotates according to a result output by the controller, and the discharging port sequentially passes through the discrete points for pouring; the device has the advantages of being high in moving precision, small in vibration and convenient to control.
本发明公开一种臂架轨迹规划的控制方法及泵车，控制方法包括如下步骤：S1：控制器获取臂架出料口的运动轨迹，控制器连接的数据处理模块将运动轨迹分散成若干个离散点；S2：通过倾角传感器测试出臂架的各级支臂之间的夹角，所述数据处理模块根据各个夹角计算出出料口的位置坐标，将出料口的位置坐标与离散点坐标进行对比，选定下一离散点坐标；S3：所述数据处理模块根据预设的运动学反解算法，计算出各级支臂的转动角度，由控制器向动力机构输出；S4：所述控制器发出指令，各级支臂分别按照控制器输出的结果转动，出料口依次通过离散点，进行浇筑；本发明移动精度高、振动小、控制方便的优点。
Cantilever crane trajectory planning control method and pump truck
The invention discloses a control method for arm support track planning and a pump truck, and the control method comprises the following steps: S1, a controller obtains the motion track of a discharge port of an arm support, and a data processing module connected with the controller disperses the motion track into a plurality of discrete points; s2, the included angles between all stages of supporting arms of the arm support are tested through an inclination angle sensor, the data processing module calculates the position coordinates of a discharging port according to all the included angles, the position coordinates of the discharging port are compared with the discrete point coordinates, and the next discrete point coordinate is selected; s3, the data processing module calculates the rotation angle of each stage of supporting arm according to a preset kinematics inverse solution algorithm, and the rotation angle is output to a power mechanism through a controller; s4, the controller sends out an instruction, each stage of supporting arm rotates according to a result output by the controller, and the discharging port sequentially passes through the discrete points for pouring; the device has the advantages of being high in moving precision, small in vibration and convenient to control.
本发明公开一种臂架轨迹规划的控制方法及泵车，控制方法包括如下步骤：S1：控制器获取臂架出料口的运动轨迹，控制器连接的数据处理模块将运动轨迹分散成若干个离散点；S2：通过倾角传感器测试出臂架的各级支臂之间的夹角，所述数据处理模块根据各个夹角计算出出料口的位置坐标，将出料口的位置坐标与离散点坐标进行对比，选定下一离散点坐标；S3：所述数据处理模块根据预设的运动学反解算法，计算出各级支臂的转动角度，由控制器向动力机构输出；S4：所述控制器发出指令，各级支臂分别按照控制器输出的结果转动，出料口依次通过离散点，进行浇筑；本发明移动精度高、振动小、控制方便的优点。
Cantilever crane trajectory planning control method and pump truck
一种臂架轨迹规划的控制方法及泵车
ZHANG HAO (Autor:in) / SHEN QIANLI (Autor:in) / YE GUOHUI (Autor:in) / CAO XILONG (Autor:in) / WAN LINLIN (Autor:in) / ZHOU JU (Autor:in) / WANG XU (Autor:in) / SONG ZIMING (Autor:in) / MIAO LIANJUN (Autor:in) / SHI FENG (Autor:in)
15.07.2022
Patent
Elektronische Ressource
Chinesisch
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