Journal
AUTOMATION IN CONSTRUCTION
Volume 31, Issue -, Pages 265-273Publisher
ELSEVIER
DOI: 10.1016/j.autcon.2012.12.012
Keywords
Closed-loop detection and open-loop control; Filtering and curve fitting; Booms of truck-mounted concrete pump; Vibration reduction
Funding
- Fund for Fellow Workstation of Xuzhou Construction Machinery Group, Jiangsu Province [BM2009562]
- Fund for the Transformation of Major Scientific and Technological Achievements of Jiangsu Province [BA2010056]
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In this paper, we have proposed a closed-loop detection and open-loop control strategy for the booms of truck-mounted concrete pump. During pumping, vibration inevitably appears in the operation of long and lightweight booms. The vibration cannot be easily weakened and it may even be captured by the controller, which leads to poor work efficiency and quality. In order to solve this problem, we firstly compare the open-loop control with the closed-loop control and reveal that the open-loop control has a stable output but contains a steady error. This defect can be fixed by our proposed strategy using the closed-loop detection via correcting the planning start and the open-loop gain. Furthermore, we establish the filtering and curve fitting for the collected angle values by sensors, which greatly reduce the interference originated from vibration. Lastly, our simulation results verify the effectiveness of the proposed strategy. (C) 2012 Elsevier B.V. All rights reserved.
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