基于时滞补偿方法的混凝土泵车臂架主动减振

混凝土泵车施工时，臂架末端的抖动影响设备和人员安全；在实施臂架减振控制时，臂架液控系统中的时滞问题又严重影响其减振效率。针对该问题，提出了一种适用于臂架结构的一步和多步预测补偿算法，基于臂架末端振动位移的历史数据，利用时间序列法对臂架的振动姿态进行提前预测，使预测出的臂架姿态尽可能地接近其实际情况，从而为臂架主动减振控制提供一个可靠的参考轨迹。基于该参考轨迹,控制每节臂上的液压油缸，对臂架进行反向加力，实现各节臂的联动抑振。仿真及外场试验结果表明,基于臂架振动姿态预报的时滞补偿算法能够对系统中的非线性时滞进行有效补偿，时滞补偿后的臂架主动减振控制策略能够使水平工况下臂架末端的振动位移幅值减小80%以上,取得了显著的减振效果。该种臂架主动减振控制方法在变排量、变姿态、变泵送料的情况下均可使用，具有高度的智能性和自适应性。

Active Vibration Suppression for Boom of Concrete Pump Truck Based on Time-delay Compensation Approach

The vibration of boom's tip of a concrete pump truck affects safety of equipment and staff on-site, and the time-delay problem of hydraulic control system also affects the efficiency of boom's vibration suppression, it is needed to resolve this problem and improve the efficiency of active vibration suppression. Refers to this problem, this paper used historical vibration displacement data of the boom's tip, applied time-series approach to predict vibration attitude for the boom's tip in advance, to compensate the system's nonlinear time-delay dynamically, made the boom's predicted vibration attitude be close to its real attitude possibly, and supplied a feasible reference trajectory for the boom's active vibration suppression. Based on this reference trajectory each boom's hydraulic cylinder was controlled, opposite forces were brought on the boom, and vibration suppression for each boom linkage was achieved. Simulation and field test results show that the time-delay compensation algorithm can compensate the system's nonlinear time-delay effectively, and the active vibration control strategy that is based on time-delay compensation approach can reduce the magnitude of vibration displacement for the boom tip up to 80% under horizontal working conditions, a significant vibration suppressing effect achieves, and thus a new approach provides for the active vibration suppression problem of the boom of concrete pump truck. This active vibration suppression approach has high intelligence and high adaptability, and is applicable to the conditions of variable displacements, variable attitudes and variable pumping materials.