Simulation Control of Concrete Pump Truck Boom Based on PSO and Gravity Compensation

In the actual operating work of the concrete pump truck, there are many ill factors impact on the control quality that are environment interference, drive saturation, measurement error, rounding error and sampling delay. To overcome disadvantage, prove mathematical model accurate and identify parameters full, the group control was used; PSO algorithm was used to calculate the final value of every joint point, because the entire search is the process that updates the current optimal solution; all the particles are likely to faster convergence on the optimal solution; The PD control based on the gravity compensation for concrete pump truck boom was used, the advantage of control law are simple and easy to implement and can guarantee a good dynamic and static quality; In order to improve the joint operation real-time and accuracy, using cubic polynomial interpolation method described trajectory; Through the simulation examples analysis, the conclusion is that the method of combination PSO and gravity compensation is suitable for concrete pump truck boom control.