Research on speed fluctuation suppression strategy of concrete pump boom during unfolding and folding

In this paper, boom of truck-mounted concrete pump is taken as the research object. Firstly, both mathematical and simulation models of the boom system are constructed, speed fluctuation characteristics of the concrete pump boom during unfolding and folding process under different working conditions of each different boom sections are analysed. The effect of classic PlD control method and its shortage are analysed, the velocity control algorithm based on fuzzy control and expanded state observer (ESO)is proposed. Control system simulation model is established, the effect on performance of control system is analysed. According to the experiment results conducted using four representative boom sections, compared to the PID control algorithm, the proposed velocity control algorithm can significantly suppress the velocity fluctuation of the hydraulic cylinders by 38.8% during the boom sections during unfolding and folding process.