人工牵引下泵车自动浇筑的臂架移动轨迹的优化
Trajectory Optimization Method for Autonomous Pouring of Concrete Pump Truck

为了解决混凝土泵车臂架末端布料管在施工现场操作人员的牵引下朝某个任意方向移动时，整个臂架能够随之平稳移动的优化控制问题，提出了基于泵车稳定性要求，以臂架系统整体重心移动范围最小为目标的臂架移动轨迹规划的优化算法。通过建立和求解受臂架多冗余度运动学方程约束的非线性优化目标函数确定了各节臂架移动的期望路径。为验证所提优化方案的合理性，对不同工况下的臂架系统的自动浇筑问题进行仿真分析，并与现有几种轨迹优化方案进行对比，分析结果表明所提优化方案确能使臂架整体重心的移动范围最小。
In order to solve the optimal control problem that boom system follows the movement of distributor boom under artificial traction, a new trajectory planning method based on the stability of pump truck was proposed, which took minimum moving range of the barycentre of the boom system as the optimization goal. The best motion trajectories of the boom system were determined with establishing and solving the nonlinear optimization equations with constraints of kinematic redundancy function. The reliability of the proposed optimization method was verified with comparing the optimized scheme with those obtained with the existing optimization methods. At last, simulation of several different pouring conditions has been developed. The results suggest that the new optimization algorithm is effective in controlling moving range of barycentre of the boom system