CN102338191A - Arm support vibration suppression method and system as well as arm-support-type engineering machinery - Google Patents
Arm support vibration suppression method and system as well as arm-support-type engineering machinery Download PDFInfo
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- CN102338191A CN102338191A CN2011101836750A CN201110183675A CN102338191A CN 102338191 A CN102338191 A CN 102338191A CN 2011101836750 A CN2011101836750 A CN 2011101836750A CN 201110183675 A CN201110183675 A CN 201110183675A CN 102338191 A CN102338191 A CN 102338191A
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- jib
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Operation Control Of Excavators (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to the technical field of arm-support-type engineering machinery, and in particular discloses an arm support vibration suppression method. The method comprises the following steps: a step A, detecting the amplitude A and frequency f of the tail end vibration of the final arm support in real time; and a step B, driving an arm support oil cylinder on at least one arm support to act, thus a component motion with amplitude A1 and frequency f1 is generated at the tail end of the final arm support, the amplitude A1 is less than the amplitude A, and the frequency f1 is greater than the frequency f. The invention also discloses an arm support vibration suppression system and the arm-support-type engineering machinery with the same.
Description
Technical field
The present invention relates to the boom type technical field of engineering machinery, relate in particular to a kind of jib vibration suppressing method.The invention still further relates to a kind of jib Vibration Suppression System and have the boom type engineering machinery of above-mentioned jib Vibration Suppression System.
Background technique
Concrete mixer is a kind of common boom type engineering machinery; Concrete mixer extensively is used in delivering concrete on the infrastructure building site; Transmission and concrete transmission operation especially for large-scale construction site; The heavy physical labor of construction site transmission and concrete transmission be can alleviate greatly, construction speed and working efficiency improved.
Concrete mixer is that concrete pumping mechanism, boom system, supporting mechanism etc. are integrated on the automobile chassis, integrate go, the high-effective concrete conveying equipment of pumping, cloth.Boom system is the support and the motion carrier of concrete delivery pipe, and boom system is to be formed through bearing pin is hinged by a plurality of jibs, connecting rod, adopts the hydraulic jack that is arranged on the corresponding jib to drive the mechanism that accomplishes various motion morphologies.
Concrete mixer is in the pumping process, and pumping oil cylinder and cooperating of tilt cylinder be inharmonious, and to make that concrete flows in conveyance conduit discontinuous, causes that jib is terminal to produce vibration and swing, and the terminal polarization of jib is relatively poor when making construction; In addition,, directly influence the working life of concrete mixer, bring potential safety hazard because the jib vibration causes the damage of jib local location early fatigue easily and crackle occurs.
In order to solve the excessive problem of jib vibration, adopt the method for regulating the pumping frequency to realize that tries one's best makes the pumping frequency away from the jib natural frequency in the existing technology usually, thereby prevent that the jib vibration is excessive.This jib vibration suppressing method; When regulating the pumping frequency, limited the regulation range of pump truck output; And the natural frequency of pump truck under different operating modes be difficult to obtain, thereby cause the inhibition poor effect of this method to the jib vibration, and do not possess transplantability and versatility.
Therefore, how under the situation of the regulation range that does not limit pump truck output, effectively suppress the vibration of jib, become the technical barrier that those skilled in the art need to be resolved hurrily.
Summary of the invention
First purpose of the present invention provides a kind of jib vibration suppressing method, and this jib vibration suppressing method can effectively suppress the vibration of jib under the situation of the regulation range that does not limit pump truck output.Second purpose of the present invention provides a kind of jib Vibration Suppression System, and the 3rd purpose of the present invention provides a kind of boom type engineering machinery with above-mentioned jib Vibration Suppression System.
In order to realize above-mentioned first purpose, the invention provides a kind of jib vibration suppressing method, it is characterized in that, may further comprise the steps:
Steps A detects amplitude A, the frequency f of the tip vibration of minor details jib in real time;
Step B drives the arm support oil cylinder action at least one joint jib, makes the end of said minor details jib produce the component motion with amplitude A 1, frequency f 1, and said amplitude A 1 less than said amplitude A, said frequency f 1 greater than said frequency f.
Preferably, said steps A is specially:
Steps A 1 detects the position of the end of minor details jib in real time;
Steps A 2 according to the variation of said position, is calculated amplitude A, the frequency f of the tip vibration of said minor details jib.
Preferably, said steps A is specially: real time direct detects amplitude A, the frequency f of the tip vibration of minor details jib.
Preferably, control said arm support oil cylinder action through control arm support oil cylinder multi-way valve.
Jib vibration suppressing method provided by the invention; Detect amplitude A, the frequency f of the tip vibration of minor details jib at first in real time; Drive the arm support oil cylinder action at least one joint jib; Make the end of said minor details jib produce a component motion with amplitude A 1, frequency f 1, and said amplitude A 1 less than said amplitude A, said frequency f 1 greater than said frequency f.
This jib vibration suppressing method; On the basis of the amplitude A of gathering and analyzed the tip vibration of minor details jibs, frequency f; The arm support oil cylinder of controlling at least one joint jib is moved; Make the end of minor details jib produce the component motion of a high frequency, little amplitude, the low frequency large-amplitude vibration that the component motion partial offset jib of this high frequency, little amplitude is terminal, thus reach the purpose of vibration damping.
This jib vibration suppressing method is to make the end of minor details jib produce the component motion of a little amplitude of high frequency through single, two or more oil cylinder motions; And then the terminal low frequency large amplitude component motion of inhibition minor details jib; Thereby reach the purpose of vibration damping; This method need not be changed mechanical structure and pumping, the jib hydraulic system of jib, only need know jib vibration situation, drives arm support oil cylinder and realizes vibration damping; Can under the situation of the regulation range that does not limit pump truck output, effectively suppress the vibration of jib.And this jib vibration suppressing method can become discharge capacity, become the vibration that all can suppress jib under the situation of attitude, conversion pumping material, and it has high degree of intelligence property and adaptivity.
In order to realize above-mentioned second purpose, the present invention also provides a kind of jib Vibration Suppression System, comprising:
Detection device is used for detecting in real time the position of the end of minor details jib;
Controller, said controller calculate amplitude A, the frequency f of the tip vibration of said minor details jib according to the variation of said position;
Said controller sends drive signal; Drive the arm support oil cylinder action at least one joint jib; Make the end of said minor details jib produce a component motion with amplitude A 1, frequency f 1, and said amplitude A 1 less than said amplitude A, said frequency f 1 greater than said frequency f.
Preferably, said detection device is the dip sensor that is arranged on each jib.
Preferably, said detection device is the displacement transducer that is arranged on the rotating coder on each jib or is used to detect each arm support oil cylinder displacement.
Preferably, said controller calculates the amount of exercise and the motion frequency of corresponding arm support oil cylinder, so that the end of said minor details jib produces a component motion with said amplitude A 1, said frequency f 1.
Preferably, also comprise the arm support oil cylinder multi-way valve, said controller sends drive signal to said arm support oil cylinder multi-way valve, drives said arm support oil cylinder action.
Jib Vibration Suppression System provided by the invention comprises detection device, controller; Detection device detects the position of the end of minor details jib in real time; Controller, said controller calculate amplitude A, the frequency f of the tip vibration of said minor details jib according to the variation of said position; Said controller sends drive signal; Drive the arm support oil cylinder action at least one joint jib; Make the end of said minor details jib produce a component motion with amplitude A 1, frequency f 1, and said amplitude A 1 less than said amplitude A, said frequency f 1 greater than said frequency f.
This jib Vibration Suppression System; On the basis of the amplitude A of gathering and analyzed the tip vibration of minor details jibs, frequency f; The arm support oil cylinder of controlling at least one joint jib is moved; Make the end of minor details jib produce the component motion of a high frequency, little amplitude, the low frequency large-amplitude vibration that the component motion partial offset jib of this high frequency, little amplitude is terminal, thus reach the purpose of vibration damping.
This jib Vibration Suppression System is to make the end of minor details jib produce the component motion of a little amplitude of high frequency through single, two or more oil cylinder motions; And then the terminal low frequency large amplitude component motion of inhibition minor details jib; Thereby reach the purpose of vibration damping; Mechanical structure and pumping, the jib hydraulic system of jib need not be changed by this system, only need know jib vibration situation, drives arm support oil cylinder and realizes vibration damping; Can under the situation of the regulation range that does not limit pump truck output, effectively suppress the vibration of jib.And this jib vibration suppressing method can become discharge capacity, become the vibration that all can suppress jib under the situation of attitude, conversion pumping material, and it has high degree of intelligence property and adaptivity.
In order to realize above-mentioned the 3rd purpose; The present invention also provides a kind of boom type engineering machinery; This boom type engineering machinery is provided with above-mentioned jib Vibration Suppression System; Because above-mentioned jib Vibration Suppression System has above-mentioned technique effect, the boom type engineering machinery with this jib Vibration Suppression System also should have the corresponding techniques effect.
Description of drawings
Fig. 1 is the FB(flow block) of a kind of embodiment of jib vibration suppressing method provided by the invention;
Fig. 2 is the coordinate position schematic representation of boom system;
Fig. 3 is the structural representation of a kind of embodiment of jib Vibration Suppression System provided by the present invention.
Embodiment
First core of the present invention provides a kind of jib vibration suppressing method, and this jib vibration suppressing method can effectively suppress the vibration of jib under the situation of the regulation range that does not limit pump truck output.Second core of the present invention provides a kind of jib Vibration Suppression System, and the 3rd core of the present invention provides a kind of boom type engineering machinery with above-mentioned jib Vibration Suppression System.
In order to make those skilled in the art understand technological scheme of the present invention better, the present invention is done further detailed description below in conjunction with accompanying drawing and specific embodiment.
Please referring to Fig. 1, Fig. 1 is the FB(flow block) of a kind of embodiment of jib vibration suppressing method provided by the invention.
As shown in Figure 1, jib vibration suppressing method provided by the present invention may further comprise the steps.
Step S 101, detect the position of the end of minor details jib in real time.In the concrete scheme; Can adopt and be arranged on the coordinate figure that the dip sensor that respectively saves on the jib detects the end of minor details jib in real time; Position with the end of confirming the minor details jib is example with the boom system with four joint jibs, and is as shown in Figure 2; Four joint jibs are respectively jib 11, jib 12, jib 13, jib 14, and the length of jib 11, jib 12, jib 13, jib 14 is respectively l
1, l
2, l
3, l
4, jib 11 is θ with the angle of horizontal plane
1, the angle between jib 11 and the jib 12 is θ
2, the angle between jib 12 and the jib 13 is θ
3, the angle between jib 13 and the jib 14 is θ
4, according to the length of each jib and the angle between the adjacent jib, can derive the formula of the end of minor details jib:
x＝-l
4c1234+l
3c123-l
2c12+l
1c1
y＝-l
4s1234+l
3s123-l
2s12+l
1s1
Wherein, c1 representes cos θ
1, s1 representes sin θ
1, c12 representes cos (θ
1+ θ
2), s12 representes sin (θ
1+ θ
2), c 123 expression cos (θ
1+ θ
2+ θ
3), s123 representes sin (θ
1+ θ
2+ θ
3), c1234 representes cos (θ
1+ θ
2+ θ
3+ θ
4), s1234 representes sin (θ
1+ θ
2+ θ
3+ θ
4).
Step S102 according to the variation of said position, calculates amplitude A, the frequency f of the tip vibration of said minor details jib.Through implementing to calculate the x of end in the jib plane, the variation of y coordinate figure of minor details jib, can draw amplitude A, the frequency f of minor details jib tip vibration.
Step S103 drives the arm support oil cylinder action at least one joint jib, makes the end of said minor details jib produce the component motion with amplitude A 1, frequency f 1, and said amplitude A 1 less than said amplitude A, said frequency f 1 greater than said frequency f.
This jib vibration suppressing method; On the basis of the amplitude A of gathering and analyzed the tip vibration of minor details jibs, frequency f; The arm support oil cylinder of controlling at least one joint jib is moved; Make the end of minor details jib produce the component motion of a high frequency, little amplitude, the low frequency large-amplitude vibration that the component motion partial offset jib of this high frequency, little amplitude is terminal, thus reach the purpose of vibration damping.
This jib vibration suppressing method is to make the end of minor details jib produce the component motion of a little amplitude of high frequency through single, two or more oil cylinder motions; And then the terminal low frequency large amplitude component motion of inhibition minor details jib; Thereby reach the purpose of vibration damping; This method need not be changed mechanical structure and pumping, the jib hydraulic system of jib, only need know jib vibration situation, drives arm support oil cylinder and realizes vibration damping; Can under the situation of the regulation range that does not limit pump truck output, effectively suppress the vibration of jib.And this jib vibration suppressing method can become discharge capacity, become the vibration that all can suppress jib under the situation of attitude, conversion pumping material, and it has high degree of intelligence property and adaptivity.
In the concrete scheme, can control said arm support oil cylinder action through control arm support oil cylinder multi-way valve.The action of arm support oil cylinder is controlled by the arm support oil cylinder multi-way valve in the jib hydraulic system usually, the valve opening through control arm support oil cylinder multi-way valve and the size of the motion amplitude of effect duration may command arm support oil cylinder and the size of motion frequency.
In the preferred version, can be through valve opening and the effect duration that calculates the arm support oil cylinder multi-way valve, with the size of the motion amplitude of confirming corresponding arm support oil cylinder and the size of motion frequency.
Further in the scheme; The arm support oil cylinder multi-way valve is generally solenoid valve; Can confirm the valve opening of arm support oil cylinder multi-way valve through the size of the required magnitude of current of control arm support oil cylinder multi-way valve; More specifically in the scheme, amount of exercise that can be required according to above-mentioned arm support oil cylinder is confirmed the size of the required magnitude of current of arm support oil cylinder multi-way valve; In the scheme, can further confirm the current"on"time of jib multi-way valve more specifically, to confirm the effect duration of arm support oil cylinder multi-way valve.
In the foregoing description; Employing is arranged on the variation of coordinate figure that the dip sensor that respectively saves on the jib detects the end of minor details jib in real time; Then in amplitude A, the frequency f of the tip vibration of the minor details jib through calculating the minor details jib; The present invention is not limited thereto, can also directly detect amplitude A, the frequency f of the tip vibration of the minor details jib that obtains the minor details jib through corresponding sensor, like the dip sensor of directly detected amplitude A, frequency f etc.
The present invention also provides a kind of jib Vibration Suppression System, and following examples are set forth it in detail.
Please referring to Fig. 3, Fig. 3 is the structural representation of a kind of embodiment of jib Vibration Suppression System provided by the present invention.
As shown in Figure 3, jib Vibration Suppression System provided by the invention comprises detection device, controller.
Detection device is used for detecting in real time the position of the end of minor details jib; Said controller calculates amplitude A, the frequency f of the tip vibration of said minor details jib according to the variation of said position; Said controller sends drive signal; Drive the arm support oil cylinder action at least one joint jib; Make the end of said minor details jib produce a component motion with amplitude A 1, frequency f 1, and said amplitude A 1 less than said amplitude A, said frequency f 1 greater than said frequency f.
This jib Vibration Suppression System; On the basis of the amplitude A of gathering and analyzed the tip vibration of minor details jibs, frequency f; The arm support oil cylinder of controlling at least one joint jib is moved; Make the end of minor details jib produce the component motion of a high frequency, little amplitude, the low frequency large-amplitude vibration that the component motion partial offset jib of this high frequency, little amplitude is terminal, thus reach the purpose of vibration damping.
This jib Vibration Suppression System is to make the end of minor details jib produce the component motion of a little amplitude of high frequency through single, two or more oil cylinder motions; And then the terminal low frequency large amplitude component motion of inhibition minor details jib; Thereby reach the purpose of vibration damping; Mechanical structure and pumping, the jib hydraulic system of jib need not be changed by this system, only need know jib vibration situation, drives arm support oil cylinder and realizes vibration damping; Can under the situation of the regulation range that does not limit pump truck output, effectively suppress the vibration of jib.And this jib vibration suppressing method can become discharge capacity, become the vibration that all can suppress jib under the situation of attitude, conversion pumping material, and it has high degree of intelligence property and adaptivity.
In the concrete scheme; Detection device can be for being arranged at the dip sensor on each jib; Boom system to have four joint jibs is an example; As shown in Figure 2, four joint jibs are respectively jib 11, jib 12, jib 13, jib 14, and the length of jib 11, jib 12, jib 13, jib 14 is respectively l
1, l
2, l
3, l
4, jib 11 is θ with the angle of horizontal plane
1, the angle between jib 11 and the jib 12 is θ
2, the angle between jib 12 and the jib 13 is θ
3, the angle between jib 13 and the jib 14 is θ
4, according to the length of each jib and the angle between the adjacent jib, can derive the formula of the end of minor details jib:
x＝-l
4c1234+l
3c123-l
2c12+l
1c1
y＝-l
4s1234+l
3s123-l
2s12+l
1s1
Wherein, c1 representes cos θ
1, s1 representes sin θ
1, c 12 expression cos (θ
1+ θ
2), s12 representes sin (θ
1+ θ
2), c123 representes cos (θ
1+ θ
2+ θ
3), s123 representes sin (θ
1+ θ
2+ θ
3), c1234 representes cos (θ
1+ θ
2+ θ
3+ θ
4), s1234 representes sin (θ
1+ θ
2+ θ
3+ θ
4).
In the concrete scheme, can control said arm support oil cylinder action through control arm support oil cylinder multi-way valve.The action of arm support oil cylinder is controlled by the arm support oil cylinder multi-way valve in the jib hydraulic system usually, the valve opening through control arm support oil cylinder multi-way valve and the size of the motion amplitude of effect duration may command arm support oil cylinder and the size of motion frequency.
In the preferred version, can be through valve opening and the effect duration that calculates the arm support oil cylinder multi-way valve, with the size of the motion amplitude of confirming corresponding arm support oil cylinder and the size of motion frequency.
Further in the scheme; The arm support oil cylinder multi-way valve is generally solenoid valve; Can confirm the valve opening of arm support oil cylinder multi-way valve through the size of the required magnitude of current of control arm support oil cylinder multi-way valve; More specifically in the scheme, amount of exercise that can be required according to above-mentioned arm support oil cylinder is confirmed the size of the required magnitude of current of arm support oil cylinder multi-way valve; In the scheme, can further confirm the current"on"time of jib multi-way valve more specifically, to confirm the effect duration of arm support oil cylinder multi-way valve.
In the foregoing description; Detection device adopts and is arranged at the dip sensor on each jib; Respectively save the angle of inclination of jib and the coordinate figure that corresponding calculated obtains the end of minor details jib through detecting; The present invention is not limited thereto, and detection device also can be employed in the rotating coder on each jib or be used to detect the displacement transducer etc. of each arm support oil cylinder displacement, and then adopts corresponding calculation method can calculate the coordinate figure of the end of minor details jib.
The present invention also provides a kind of boom type engineering machinery; This boom type engineering machinery is provided with above-mentioned jib Vibration Suppression System; Because above-mentioned jib Vibration Suppression System has above-mentioned technique effect; Boom type engineering machinery with this jib Vibration Suppression System also should have the corresponding techniques effect, no longer is described in detail at this.
The above only is the description of the preferred implementation of invention; Should be pointed out that finiteness, and objectively have unlimited concrete structure owing to literal expression; For those skilled in the art; Under the prerequisite that does not break away from the principle of the invention, can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (10)
1. a jib vibration suppressing method is characterized in that, may further comprise the steps:
Steps A detects amplitude A, the frequency f of the tip vibration of minor details jib in real time;
Step B drives the arm support oil cylinder action at least one joint jib, makes the end of said minor details jib produce the component motion with amplitude A 1, frequency f 1, and said amplitude A 1 less than said amplitude A, said frequency f 1 greater than said frequency f.
2. jib vibration suppressing method according to claim 1 is characterized in that, said steps A is specially:
Steps A 1 detects the position of the end of minor details jib in real time;
Steps A 2 according to the variation of said position, is calculated amplitude A, the frequency f of the tip vibration of said minor details jib.
3. jib vibration suppressing method according to claim 1 is characterized in that, said steps A is specially: real time direct detects amplitude A, the frequency f of the tip vibration of minor details jib.
4. jib vibration suppressing method according to claim 1 is characterized in that, controls said arm support oil cylinder action through control arm support oil cylinder multi-way valve.
5. a jib Vibration Suppression System is characterized in that, comprising:
Detection device is used for detecting in real time the position of the end of minor details jib;
Controller, said controller calculate amplitude A, the frequency f of the tip vibration of said minor details jib according to the variation of said position;
Said controller sends drive signal; Drive the arm support oil cylinder action at least one joint jib; Make the end of said minor details jib produce a component motion with amplitude A 1, frequency f 1, and said amplitude A 1 less than said amplitude A, said frequency f 1 greater than said frequency f.
6. jib Vibration Suppression System according to claim 5 is characterized in that, said detection device is the dip sensor that is arranged on each jib.
7. jib Vibration Suppression System according to claim 5 is characterized in that, said detection device is the displacement transducer that is arranged on the rotating coder on each jib or is used to detect each arm support oil cylinder displacement.
8. according to each described jib Vibration Suppression System of claim 5-7; It is characterized in that; Said controller calculates the amount of exercise and the motion frequency of corresponding arm support oil cylinder, so that the end of said minor details jib produces a component motion with said amplitude A 1, said frequency f 1.
9. jib Vibration Suppression System according to claim 5 is characterized in that, also comprises the arm support oil cylinder multi-way valve, and said controller sends drive signal to said arm support oil cylinder multi-way valve, drives said arm support oil cylinder action.
10. a boom type engineering machinery is characterized in that, this boom type engineering machinery is provided with each described jib Vibration Suppression System of claim 5-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101836750A CN102338191B (en) | 2011-07-01 | 2011-07-01 | Arm support vibration suppression method and system as well as arm-support-type engineering machinery |
| PCT/CN2012/074264 WO2013004100A1 (en) | 2011-07-01 | 2012-04-18 | Jib vibration suppression method, system and jib-type engineering machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101836750A CN102338191B (en) | 2011-07-01 | 2011-07-01 | Arm support vibration suppression method and system as well as arm-support-type engineering machinery |
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| Publication Number | Publication Date |
|---|---|
| CN102338191A true CN102338191A (en) | 2012-02-01 |
| CN102338191B CN102338191B (en) | 2013-06-05 |
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| WO (1) | WO2013004100A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102797787A (en) * | 2012-08-17 | 2012-11-28 | 中联重科股份有限公司 | Concrete distributing equipment and method, controller and device for suppressing vibration of arm support of concrete distributing equipment |
| WO2013004100A1 (en) * | 2011-07-01 | 2013-01-10 | 湖南三一智能控制设备有限公司 | Jib vibration suppression method, system and jib-type engineering machine |
| CN103048040A (en) * | 2012-12-19 | 2013-04-17 | 中联重科股份有限公司 | Device, system and method for evaluating vibration of tail end of arm support |
| WO2013117050A1 (en) * | 2012-02-08 | 2013-08-15 | 湖南三一智能控制设备有限公司 | Boom system, engineering machinery, and a method for acquiring boom system distal end position parameter |
| CN103629293A (en) * | 2013-12-04 | 2014-03-12 | 中联重科股份有限公司 | Method and device for inhibiting residual vibration of arm support |
| CN103777647A (en) * | 2014-02-17 | 2014-05-07 | 中联重科股份有限公司 | Arm support vibration reduction control system and control method and concrete distribution equipment |
| CN111434946A (en) * | 2019-01-11 | 2020-07-21 | 波音公司 | Active stable vibration coupling |
| CN113829116A (en) * | 2020-06-24 | 2021-12-24 | 西门子股份公司 | Vibration damping system and machine tool |
| CN114217646A (en) * | 2021-12-15 | 2022-03-22 | 三一汽车制造有限公司 | Arm support control method, arm support device, engineering vehicle and readable storage medium |
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| WO2013004100A1 (en) * | 2011-07-01 | 2013-01-10 | 湖南三一智能控制设备有限公司 | Jib vibration suppression method, system and jib-type engineering machine |
| WO2013117050A1 (en) * | 2012-02-08 | 2013-08-15 | 湖南三一智能控制设备有限公司 | Boom system, engineering machinery, and a method for acquiring boom system distal end position parameter |
| US9187916B2 (en) | 2012-02-08 | 2015-11-17 | Hunan Sany Intelligent Control Equipment Co., Ltd | Boom system, engineering machinery, and a method for acquiring boom system distal end position parameter |
| US9637939B2 (en) | 2012-08-17 | 2017-05-02 | Zoomlion Heavy Industry Science And Technology Co., Ltd. | Concrete distributing apparatus, and vibration suppression method, controller and device for the boom thereof |
| CN102797787A (en) * | 2012-08-17 | 2012-11-28 | 中联重科股份有限公司 | Concrete distributing equipment and method, controller and device for suppressing vibration of arm support of concrete distributing equipment |
| CN103048040A (en) * | 2012-12-19 | 2013-04-17 | 中联重科股份有限公司 | Device, system and method for evaluating vibration of tail end of arm support |
| CN103629293A (en) * | 2013-12-04 | 2014-03-12 | 中联重科股份有限公司 | Method and device for inhibiting residual vibration of arm support |
| CN103629293B (en) * | 2013-12-04 | 2015-10-14 | 中联重科股份有限公司 | Method and device for inhibiting residual vibration of arm support |
| CN103777647A (en) * | 2014-02-17 | 2014-05-07 | 中联重科股份有限公司 | Arm support vibration reduction control system and control method and concrete distribution equipment |
| CN103777647B (en) * | 2014-02-17 | 2017-02-01 | 中联重科股份有限公司 | Arm support vibration reduction control system and control method and concrete distribution equipment |
| CN111434946A (en) * | 2019-01-11 | 2020-07-21 | 波音公司 | Active stable vibration coupling |
| CN113829116A (en) * | 2020-06-24 | 2021-12-24 | 西门子股份公司 | Vibration damping system and machine tool |
| CN113829116B (en) * | 2020-06-24 | 2024-05-14 | 西门子股份公司 | Vibration damping system and machine tool |
| CN114217646A (en) * | 2021-12-15 | 2022-03-22 | 三一汽车制造有限公司 | Arm support control method, arm support device, engineering vehicle and readable storage medium |
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| CN102338191B (en) | 2013-06-05 |
| WO2013004100A1 (en) | 2013-01-10 |
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