Simulation Control of Concrete Pump Truck Boom Based on PSO and Adaptive Robust PD

摘要：

In the actual operating work of the concrete pump truck, there are many ill factors impact on the control quality that are environment interference, drive saturation, measurement error, rounding error and sampling delay. To overcome disadvantage, prove mathematical model accurate and identify parameters full, the group control was used; PSO algorithm was used to calculate the final value of every joint point, because the entire search is the process that updates the current optimal solution; all the particles are likely to faster convergence on the optimal solution; Adaptive robust PD control for concrete pump truck boom was used, the advantage of control law are simple and easy to implement and can guarantee a good dynamic and static quality; In order to improve the joint operation real-time and accuracy, using cubic polynomial interpolation method described trajectory; Through the simulation examples analysis, the conclusion is that the method of combination PSO and adaptive robust PD method is suitable for concrete pump truck boom control.

关键词： Concrete Pump Truck Boom PSO Adaptive Robust PD Polynomial interpolation

作者: Tie Wang Gannan Wang Kun Liu

作者单位: School of Vehicle, Shenyang Ligong University, Shenyang 110168, China School of Mechanical Engineering, Tsinghua University, Beijing, 100084, China Huo Mei Hong Jun Aluminum & Electricity Co.Ltd.; Huolinguole, 029200,China

会议类型: 国际会议

会议名称: 2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

会议地点: 广西桂林

会议语种:英文

页码: 960-963

在线出版日期: 2009-06-17（万方平台首次上网日期，不代表论文的发表时间）