基于自抗扰控制的混凝土浇筑轨迹跟踪控制  

Tracking control for concrete pouring trajectory based on ADRC

作　　者：夏子浦 叶嵩[2] 杨园园 郭毓[1] 郭健 Xia Zipu;Ye Song;Yang Yuanyuan;Guo Yu;Guo Jian(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China;The Third Construction Co.,Ltd.of China Construction Eighth Engineering Division,Nanjing 210023,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210094 [2]中建八局第三建设有限公司,江苏南京210023

出　　处：《南京理工大学学报》2023年第3期285-294,共10页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(61973167);江苏省建设系统科技项目(2019ZD001252,2019ZD001244);江苏高校优势学科建设工程。

摘　　要：为实现混凝土泵车高性能浇筑轨迹跟踪控制,抑制浇筑过程中由于混凝土泵送、风力等干扰对浇筑轨迹跟踪的影响,研究了混凝土泵车臂架系统的数学建模、浇筑轨迹跟踪控制问题。在分析臂架系统组成并建立连杆坐标系的基础上,应用拉格朗日方法建立了臂架系统的动力学模型。建立了泵送过程中混凝土与各臂架之间的摩擦力以及作用于臂架系统末端反向冲击力的数学模型。考虑混凝土泵送以及外部不可测量、不可预期的干扰作用于混凝土泵车臂架系统的情况,设计自抗扰控制(ADRC)方法。仿真结果表明,所设计的ADRC方法,对混凝土泵送干扰以及外部不确定干扰具有较好的抑制作用,实现了混凝土泵车臂架系统末端快速高精度轨迹跟踪控制,满足混凝土浇筑要求。In order to realize the high-performance pouring trajectory tracking control of concrete pump trucks and restrain the influences of the concrete pumping and wind interference on the pouring trajectory tracking during the pouring process,the mathematical modeling of the boom system of concrete pump trucks and the pouring trajectory tracking control issues are studied.Based on the analysis of the boom system composition and the establishment of the connecting rod coordinate system,a dynamic model of the boom system is established by using the Lagrangian method.The mathematical models of the friction between concrete and each boom and the reverse impact force acting on the end of the boom system during pumping are established.Considering the concrete pumping and the external unmeasurable and unexpected interference on the concrete pump truck boom system,an automatic disturbance rejection control(ADRC)method is designed.The digital simulation results show that the ADRC method designed has a good inhibition effect on concrete pumping interference and external uncertain interference,realizes the rapid and high-precision trajectory tracking control of the end of the concrete pump truck boom system,and meets the requirements of concrete pouring.

关 键 词：混凝土浇筑 跟踪控制 自抗扰控制 混凝土泵车 臂架系统 连杆坐标系 拉格朗日方法 干扰 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]