基于OpenGL的混凝土泵车智能臂架系统仿真  

Simulation of the Intelligent Boom System of the Concrete Pump based on OpenGL

作　　者：孙晓洁[1,2] 叶桦[1,2] 费树岷[1,2] 任庆杰[1,2] 

机构地区：[1]东南大学自动化学院 [2]东南大学复杂工程系统测量与控制教育部重点实验室,南京210096

出　　处：《科技通报》2011年第5期686-690,共5页Bulletin of Science and Technology

基　　金：江苏省徐工集团院士工作站资助项目(BM2009562);江苏省重大科技成果转化项目(BA2010056)

摘　　要：介绍了基于OpenGL的混凝土泵车智能臂架仿真系统的实现。首先,考虑泵车的工作特点和控制需求,在分析臂架系统运动原理及模型的基础上,利用0penGL图形库及其与Visual C++的接口,建立了智能臂架仿真平台。本文采用可执行文件附加动态链接库的架构,设计了几何基本工具库、几何内核库、OpenGL图形渲染库和模型算法库四个动态链接库,并提供了用户操作界面。进一步又重点讨论了手动控制、自动展收臂和自动控制三种运动算法。实验结果表明所设计的仿真平台具有友好的界面,能够准确形象地显示泵车臂架的运动,验证所用算法的可行性。The implementation of the intelligent boom simulation system of the concrete pump based on OpenGL is introduced in this paper. Firstly,considering the working characteristics and functional requirements of the concrete pump, the simulation platform is established using OpenGL graphics library and the interface with Visual C＋＋, on the foundation of the principles of motion and the model of the intelligent boom. The general framework is the executable file adding dynamic link library,by designing geometric basic library, geometric kernel library, OpenGL graphics rendering library and algorithm library, and by offering user interface. Further more, the algorithms of motion including the manual control, the self-acting stretch or shrink and automatic control are discussed. The experimental results show that the simulation system can display the movement of the boom and verify the feasibility of the algorithm with a friendly interface.

关 键 词：智能臂架系统 OPENGL 仿真 动态链接库 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]