A closed-loop detection and open-loop control strategy for booms of truck-mounted concrete pump

In this paper, we have proposed a closed-loop detection and open-loop control strategy for the booms of truck-mounted concrete pump. During pumping, vibration inevitably appears in the operation of long and lightweight booms. The vibration cannot be easily weakened and it may even be captured by the controller, which leads to poor work efficiency and quality. In order to solve this problem, we firstly compare the open-loop control with the closed-loop control and reveal that the open-loop control has a stable output but contains a steady error. This defect can be fixed by our proposed strategy using the closed-loop detection via correcting the planning start and the open-loop gain. Furthermore, we establish the filtering and curve fitting for the collected angle values by sensors, which greatly reduce the interference originated from vibration. Lastly, our simulation results verify the effectiveness of the proposed strategy.

► A automatic trajectory planning and tracking strategy is proposed.
► The closed-loop detection can correct the planning start and the open-loop gain.
► The filtering and curve fitting can reduce the vibration of booms.
► The composite control can offer high accuracy and smooth output of the controller.