Multi-Body Dynamic PD Control of Concrete Pump Truck Arm System
For the concrete pump truck, the movements of the arm and the hydraulic cylinder are analyzed respectively with multi-body dynamic theory. And with the applying of PD control theory, the dynamic equation of arm system is also built. And according to the numerical solution of the equation, it is proved that the dynamic equation can describe every dynamic character of the concrete pump truck well.
Kai Cheng, Yongxian Liu, Xipeng Xu and Hualong Xie
L. Dai et al., "Multi-Body Dynamic PD Control of Concrete Pump Truck Arm System", Applied Mechanics and Materials, Vols. 16-19, pp. 806-810, 2009