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Velocity coordinated control of spiral material placer based on trajectory tracking
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Anjiang CAI1, Zhenghu GUO1, Yuanbo ZHANG1, Jiaxin WU1, Manman ZHAO2
Chinese Journal of Construction Machinery | 2025, 23(2) : 189 - 193
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Chinese Journal of Construction Machinery | 2025, 23(2): 189-193
• Basic Theory and Key Technique •
Velocity coordinated control of spiral material placer based on trajectory tracking
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Anjiang CAI1, Zhenghu GUO1, Yuanbo ZHANG1, Jiaxin WU1, Manman ZHAO2
Affiliations
  • 1. College of Electrical and Mechanical Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, Shaanxi, China
  • 2. Department of Automatic Engineering, Wuxi Mechanical and Electrical Higher Vocational and Technical School, Wuxi 214028, Jiangsu, China
doi: 10.15999/j.cnki.311926.2025.02.013
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To achieve coordinated control of multi-speed operation in the spiral concrete batching machine, this paper proposes a trajectory tracking-based coordinated control method. By analyzing the working process of the spiral concrete batching machine, the coordinated relationship between lateral movement and concrete conveying rate is investigated, and a two-degree-of-freedom kinematic model for the batching machine is established. The error model for the trajectory tracking system of the batching machine is developed and discretized to meet the requirements of computer numerical calculation and real-time control. Based on model predictive control theory, a prediction equation for the trajectory tracking system is established. The objective function for the batching machine trajectory tracking is formulated, and the optimal control strategy is derived. Simulation results demonstrate that the trajectory tracking-based control method effectively achieves coordinated control of multi-speed operation in the spiral concrete batching machine.

precast concrete component  /  spiral material placer  /  trajectory tracking  /  model predictive control  /  velocity coordinated control
Anjiang CAI, Zhenghu GUO, Yuanbo ZHANG, Jiaxin WU, Manman ZHAO. Velocity coordinated control of spiral material placer based on trajectory tracking[J]. Chinese Journal of Construction Machinery, 2025 , 23 (2) : 189 -193 . DOI: 10.15999/j.cnki.311926.2025.02.013
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Year 2025 volume 23 Issue 2
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doi: 10.15999/j.cnki.311926.2025.02.013
  • Online Date：2025-12-16
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    1. College of Electrical and Mechanical Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, Shaanxi, China
    2. Department of Automatic Engineering, Wuxi Mechanical and Electrical Higher Vocational and Technical School, Wuxi 214028, Jiangsu, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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