摘要
混凝土泵车臂架具有柔性多体系统的特点，泵送混凝土过程中臂架产生的振动增加设备整体的安全风险；实时姿态检测为实现臂架减振与智能控制提供必要的数据支撑与保障。给出一种基于惯性传感器的臂架姿态检测方法和系统，通过在臂架节点上安装惯性传感器以检测每节臂架的形变量和臂架运动状态，进而计算得到臂架的振动与空间运动状态，完成对臂架姿态的准确检测。检测结果表明，该方法大大提高对臂架位置检测的精度，为后续泵车安全控制、智能化控制、臂架健康管理、减振控制提供有效的数据基础。
Abstract
Concrete pump truck has the characteristics of flexible multi -body systems, pumping concrete vibration generated during the boom equipment increased overall security risks; to achieve real -time gesture detection and intelligent control arm vibration provides the necessary data to support the protection. Presents a method and system for detecting arm posture based on inertial sensors, inertial sensors by installing nodes on the jib boom to detect deformation and movement status of each boom section, and then calculates the vibration of the boom and space motion, complete and accurate detection of the boom attitude. Test results show that this method can greatly improve the detection accuracy of the position on the boom, as the follow-up pump security control, intelligent control, health management arm, damping control provides effective data base.
NETL
NSTL
维普
万方数据