CN102493652A - Concrete pumping equipment and cantilever crane vibration semi-active control device and control method thereof - Google Patents

Abstract

The invention provides concrete pumping equipment and a cantilever crane vibration semi-active control device and method thereof. The semi-active control device for the boom vibration comprises a plurality of sections of booms (10), a telescopic mechanism (20) connected between two adjacent sections of booms (10), a variable damper arranged at a telescopic end or a fixed end of the telescopic mechanism (20) in series, a sensor arranged on the boom (10) and a controller (40) connected with the sensor, wherein a signal output end of the controller (40) is connected to the variable damper and controls damping force of the variable damper, and the variable damper applies damping force opposite to the vibration direction of the boom (10) to the boom (10). According to the semi-active control device for the vibration of the arm support, the damping energy dissipation and vibration reduction effects can be passively exerted, the vibration control effect can be actively exerted, the control effect on the vibration of the arm support is better, the structure is simple, and the use is flexible and convenient.

Description

Concrete pumping equipment and jib Semi-active Vibration Control device and control method

Technical field

The present invention relates to the concrete mixer field in the engineering machinery, in particular to a kind of concrete pumping equipment and jib Semi-active Vibration Control device and control method.

Background technology

Concrete pump truck arm is typical flexible multi-body system, and the jib span is big, and rigidity is low, and intrinsic frequency is lower.In actual pumping process, boom system particularly its high joint arm section is prone to high vibration takes place, and this high vibration not only influences pump truck constructs normally, can reduce the normal application life of pump truck simultaneously.The main cause that jib produces high vibration has the following aspects: the jib attitude is complicated and changeable, and the intrinsic frequency of the boom system of different attitudes differs bigger, and Oscillation Amplitude is apparently higher than steady-working state when showing as pump truck and under some attitude, working.

The vibration of pumping vehicle arm rack has at present become one of insoluble problem of engineering machinery; Available coagulation soil pump truck does not carry out effective vibration isolation to jib; In the concrete pumping process; Jib often is in high vibration with its carrier pipe, can cause the damage of Hydraulic Elements, sealing device and the fracture of structure link position when serious.For stability in the pump truck work progress and safety are ensured, be necessary to control to the vibration of pumping vehicle arm rack and jib carrier pipe with special method and apparatus.

Summary of the invention

The present invention aims to provide a kind of concrete pumping equipment and jib Semi-active Vibration Control device and control method; Both can bring into play the effect of damping energy dissipation vibration damping passively; Can bring into play the effect of vibration isolation again on one's own initiative; To the control better effects if of jib vibration, and simple in structure, flexible and convenient to use.

To achieve these goals; According to an aspect of the present invention; A kind of jib Semi-active Vibration Control device is provided; Comprise the more piece jib and be connected the telescoping mechanism between the adjacent two joint jibs, jib Semi-active Vibration Control device comprises that also series connection is arranged on the change damper of flexible end or the fixed end of telescoping mechanism, is arranged on sensor and the controller that is connected with sensor on the jib, and the signal output part of controller is connected to MR damper; And the damping force of control change damper, become damper jib is applied the damping force opposite with the direction of vibration of jib.

Further, become damper and be MR damper.

Further, be disposed with D/A signal adapter and power amplifier between controller and the MR damper.

Further, sensor is an acceleration transducer, is provided with the A/D signal adapter between acceleration transducer and the controller.

Further; Controller comprises the driving voltage computing module that active controlling force computing module that input is connected with sensor, half active controlling force computing module that input is connected with the active controlling force computing module and input are connected with half active controlling force computing module, and the output of driving voltage computing module is connected to the change damper.

According to a further aspect in the invention, a kind of jib Semi-active Vibration Control method is provided, comprising: step S1, acceleration transducer obtain the acceleration of jib; Step S2, controller receives the acceleration that acceleration transducer transmits, and obtains driving voltage value according to this acceleration, and output corresponding driving voltage, the control damping of this driving voltage control MR damper output weakening jib vibration; Step S3 becomes the driving voltage that damper receives controller output, and according to this driving voltage adjustment self damping, through damping force being acted on the vibration effect that telescoping mechanism weakens jib.

Further, step S2 comprises: step S21, obtain the active controlling force that weakens the jib vibration; Step S22 revises the active controlling force that weakens the jib vibration, obtains half active controlling force that weakens the jib vibration; Step S23 obtains driving voltage value according to the acceleration of acceleration transducer transmission and half active controlling force that weakens the jib vibration.

Further, step S21 comprises: step S211, jib is carried out the operation mode test, and obtain damping ratio, intrinsic frequency and the Mode Shape of jib; Step S212 sets up state equation according to damping ratio, intrinsic frequency and the Mode Shape of jib through the independent modal space-wise; Step S213 obtains gain matrix G through the PLQ method for optimally controlling according to the state equation of being set up, and obtains weakening the active controlling force F=GZ of jib vibration at last, and wherein Z is the state vector of jib displacement and speed.

Further, the independent modal space-wise among the step S212 comprises:

Step S2121 obtains intrinsic frequency ω through modal calculation _i, and corresponding modal matrix Ф=[φ ₁, φ ₂... φ _n]

Introduce modal coordinate:

η＝[η ₁，η ₂，...η _n]

Obtain linear transformation relation equation between new coordinate and the old coordinate:

$\left\{x\right\}=\left[\mathrm{\Φ}\right]\left\{\mathrm{\η}\right\}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\η}}_i\mathrm{\φ}$

Step S2122 obtains introducing the equation of motion after the mode with the modal coordinate substitution equation of motion:

$\mathrm{\η}+2{\mathrm{\ω}}_i{\mathrm{\ξ}}_i\mathrm{\η}+{{\mathrm{\ω}}_i}^2\mathrm{\η}=e_i+f_i,i=\mathrm{1,2}....n$

ω wherein _i, ξ _iBe respectively the intrinsic frequency and the damping ratio of system; e _iBe excitation load vector, f _iBe mode control vector,

Convert the equation of motion into state equation:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....n$

Wherein is state vector; A; B, D are respectively the coefficient matrix of structure, interference matrix; Gating matrix

Make state equation satisfy following relation:

$A_i=\left(\begin{array}{cc}0& 1\\ -{{\mathrm{\ω}}_i}^2& -2{\mathrm{\ξ}}_i{\mathrm{\ω}}_i\end{array}\right),$ $B_i=\left[\begin{array}{c}0\\ 1\end{array}\right],$ $D_i=\left[\begin{array}{c}0\\ 1\end{array}\right]$

Step S2123 carries out high-order with mode and blocks, the state equation after obtaining blocking:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....m$

Step S2124 converts the control equation of modal coordinate into the actual physics coordinate control equation:

$\left\{f\right\}=\left[\mathrm{\Φ}\right]\left\{f\right\}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\φ}}_i{f}_i$

Further, the PLQ method for optimally controlling among the step S213 comprises:

Step S2131 obtains intrinsic frequency ω through modal calculation _i, and corresponding modal matrix Ф=[φ ₁, φ ₂... φ _n]

Introduce modal coordinate:

η＝[η ₁，η ₂，...η _n]

Obtain linear transformation relation equation between new coordinate and the old coordinate:

$\left\{x\right\}=\left[\mathrm{\Φ}\right]\left\{\mathrm{\η}\right\}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\η}}_i\mathrm{\φ}$

Step S2132 obtains introducing the equation of motion after the mode with the modal coordinate substitution equation of motion:

$\mathrm{\η}+2{\mathrm{\ω}}_i{\mathrm{\ξ}}_i\mathrm{\η}+{{\mathrm{\ω}}_i}^2\mathrm{\η}=e_i+f_i,i=\mathrm{1,2}....n$

ω wherein _i, ξ _iBe respectively the intrinsic frequency and the damping ratio of system; e _iBe excitation load vector, f _iBe mode control vector,

Convert the equation of motion into state equation:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....n$

Wherein

is state vector; A; B, D are respectively the coefficient matrix of structure, interference matrix; Gating matrix

Make state equation satisfy following relation:

$A_i=\left(\begin{array}{cc}0& 1\\ -{{\mathrm{\ω}}_i}^2& -2{\mathrm{\ξ}}_i{\mathrm{\ω}}_i\end{array}\right),$ $B_i=\left[\begin{array}{c}0\\ 1\end{array}\right],$ $D_i=\left[\begin{array}{c}0\\ 1\end{array}\right]$

Step S2133 carries out high-order with mode and blocks, the state equation after obtaining blocking:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....m$

Step S2134 through the linear quadratic type theory of optimal control, is provided with rational weight matrix Q, R, and through numerical computations, controlled feedback oscillator G, through equation:

F _i＝{g _i}{q _i}

Obtain optimum active controlling force F _i

Further, step S23 comprises: degree of will speed up signal carries out quadratic integral and filtering, acquisition speed and displacement signal, and with the speed of acquisition and the driving voltage computing module of displacement signal input controller.

Further; Also include the A/D signal adapter between acceleration transducer and the controller; Also comprise between step S1 and the step S2: step S021, the acceleration signal of A/D signal adapter degree of will speed up sensor passes converts data signal into, and this data signal is delivered to controller.

Further; This change damper is MR damper; Also include the D/A signal adapter between controller and the MR damper; Also comprise between step S2 and the step S2: step S201, the D/A signal adapter converts the driving voltage of controller output into analog signal, and this analog signal is delivered to MR damper.

Further; Also comprise power amplifier between this D/A signal adapter and the MR damper; Also comprise after the step S201: step S202; Power amplifier amplifies the analog signal of D/A signal adapter output, then this amplified analog signal is delivered to MR damper.

In accordance with a further aspect of the present invention, a kind of concrete pumping equipment is provided, has comprised jib Semi-active Vibration Control device, this jib Semi-active Vibration Control device is above-mentioned jib Semi-active Vibration Control device.

Use technical scheme of the present invention; Jib Semi-active Vibration Control device comprises the more piece jib and is connected the telescoping mechanism between the two adjacent joint jibs; Series connection is provided with the change damper on the telescoping mechanism, becomes damper jib is applied the damping force opposite with the direction of vibration of jib.Jib is applied the damping force that weakens the jib vibration through becoming damper; Can bring into play the effect of damping energy dissipation vibration damping passively; Can bring into play the effect of vibration isolation again on one's own initiative, compare traditional passive damping device, become the control better effects if of damper vibration; And simple in structure, use flexible.The change damper is MR damper, is convenient to more the damping force that becomes damper is regulated, and the direction of vibration with jib is opposite all the time to make the vibration isolation power of MR damper, and the stability and the robustness of system are good.

Description of drawings

The accompanying drawing that constitutes a part of the present invention is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, does not constitute improper qualification of the present invention.In the accompanying drawings:

Fig. 1 shows the structural representation of concrete pumping equipment according to an embodiment of the invention; And

Fig. 2 shows the fundamental diagram of jib Semi-active Vibration Control device according to an embodiment of the invention.

The specific embodiment

Hereinafter will and combine embodiment to specify the present invention with reference to accompanying drawing.Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can make up each other.

As depicted in figs. 1 and 2; According to embodiments of the invention; Jib Semi-active Vibration Control device comprises more piece jib 10, is arranged between the adjacent two joint jibs 10 and the change damper of regulating the telescoping mechanism 20 of the pendulum angle of jib 10, the sensor that is arranged on the two ends of jib 10, the controller 40 that is connected with sensor and being connected on also controlled device 40 controls on the telescoping mechanism 20; Become damper and under the effect of controller 40, change self damping; Jib 10 is applied the damping force opposite with the direction of vibration of jib 10,, ensure the safety and the stability of jib work to reduce the dither effect of jib 10 to greatest extent.

Change damper in the present embodiment is MR damper 30, and sensor is an acceleration transducer 11, and telescoping mechanism 20 is a telescopic oil cylinder.In other embodiment; Become damper and also can be change damping units such as electro-rheological fluid damper; Sensor also can obtain the sensor of vibration acceleration, speed and the displacement information of jib 10 for other, and telescoping mechanism 20 also can be electric pushrod, pneumatic oil cylinder etc.

Along with the change of driving voltage, the damping force of MR damper 30 outputs can change.General driving voltage is big more, and the damping force of MR damper 30 is big more.Therefore can control MR damper 30 through controller 40 outputting drive voltages.The control size of MR damper 30 output, direction all can change, as long as therefore let the damping force of MR damper 30 outputs opposite with the velocity attitude that jib 10 vibrates, just can well hinder the vibration of jib 10, thereby reduce the vibration of jib 10.

Telescoping mechanism 20 is through the pendulum angle of expanding-contracting action adjustment jib 10, and the operating position of control more piece jib 10 is to satisfy the need of work of boom system.

Acceleration transducer 11 has a plurality of, is separately positioned on the two ends of jib to be controlled 10, is used to measure the acceleration responsive on the pumping vehicle arm rack, obtains vibration acceleration signal.

Be provided with A/D signal adapter 50 between acceleration transducer 11 and the controller 40, the vibration acceleration signal that degree of will speed up sensor 11 is obtained is a data signal by analog signal conversion, is delivered to then in the controller 40 and handles.

Controller 40 is PLC integrated circuit board or industrial computer etc.Controller 40 mainly is that a transfer function is set up in input (acceleration signal that acceleration transducer obtained) and output (half active controlling force of damper).Entire controller 40 comprises driving voltage computing module 43, active controlling force computing module 41 and half active controlling force computing module 42.Under the duty; Controller 40 obtains active controlling force by active controlling force computing module 41 earlier; Calculate half active controlling force of correction then through half active controlling force computing module 42; The driving voltage that is at last obtained exporting by driving voltage computing module 43 is also promptly controlled the electromagnetic signal of the damping force of MR damper 30.

The input of the active controlling force computing module 41 of controller 40 is connected with sensor, output is connected with the input of half active controlling force computing module 42, and the output of half active controlling force computing module 42 is connected with the input of driving voltage computing module 43, the output of driving voltage computing module 43 exports driving voltage to MR damper 30.

Active controlling force computing module 41 is used to obtain the active controlling force that weakens the jib vibration, through independent modal space-wise and PLQ control algolithm etc. active controlling force is calculated, and wherein the PLQ control algolithm is a linear quadratic type control algolithm.Its concrete job step is: (1) through carrying out operation mode test to jib 10, obtains the damping ratio, intrinsic frequency, Mode Shape of jib 10 etc.Analyze preceding 5 rank as long as it is generally acknowledged engineering machinery.(2) damping ratio through resulting jib 10, intrinsic frequency, Mode Shape etc. are set up state equation according to the method in independent modal space.(3) obtain gain matrix G through the PLQ method for optimally controlling by the state equation of being set up, obtain active controlling force F=GZ at last, Z is the state vector of jib displacement and speed.Wherein the PLQ control algolithm can replace with other algorithm, and these algorithms comprise pid algorithm, neural network algorithm, slippage control algolithm etc.

Wherein the independent modal space-wise comprises:

Step S2121 obtains intrinsic frequency ω through modal calculation _i, and corresponding modal matrix Ф=[φ ₁, φ ₂... φ _n]

Introduce modal coordinate:

η＝[η ₁，η ₂，...η _n]

Linear transformation relation between new coordinate and the old coordinate:

$\left\{x\right\}=\left[\mathrm{\Φ}\right]\left\{\mathrm{\η}\right\}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\η}}_i\mathrm{\φ}$

Step S2122 can get the modal coordinate substitution equation of motion: $\mathrm{\η}+2{\mathrm{\ω}}_i{\mathrm{\ξ}}_i\mathrm{\η}+{{\mathrm{\ω}}_i}^2\mathrm{\η}=e_i+f_i,i=\mathrm{1,2}....n$

ω wherein _i, ξ _iBe respectively the intrinsic frequency and the damping ratio of system; e _iBe excitation load vector, f _iBe mode control vector, above-mentioned equation can be write as the form of state equation:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....n$

Wherein

is state vector; A; B, D are respectively the coefficient matrix of structure, interference matrix; Gating matrix, and relation below satisfying:

$A_i=\left(\begin{array}{cc}0& 1\\ -{{\mathrm{\ω}}_i}^2& -2{\mathrm{\ξ}}_i{\mathrm{\ω}}_i\end{array}\right),$ $B_i=\left[\begin{array}{c}0\\ 1\end{array}\right],$ $D_i=\left[\begin{array}{c}0\\ 1\end{array}\right]$

Step S2123, mode of oscillation mainly by the minority mode decision of low order, carry out high-order with mode and block, and can get:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....m$

Step S2124 has following transformational relation between the control of the control of modal coordinate and actual physics coordinate:

$\left\{f\right\}=\left[\mathrm{\Φ}\right]\left\{f\right\}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\φ}}_i{f}_i.$

The PLQ method for optimally controlling comprises:

Step S2131 obtains intrinsic frequency ω through modal calculation _i, and corresponding modal matrix Ф=[φ ₁, φ ₂... φ _n]

Introduce modal coordinate:

η＝[η ₁，η ₂，...η _n]

Linear transformation relation between new coordinate and the old coordinate:

$\left\{x\right\}=\left[\mathrm{\Φ}\right]\left\{\mathrm{\η}\right\}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\η}}_i\mathrm{\φ}$

Step S2132 can get the modal coordinate substitution equation of motion: $\mathrm{\η}+2{\mathrm{\ω}}_i{\mathrm{\ξ}}_i\mathrm{\η}+{{\mathrm{\ω}}_i}^2\mathrm{\η}=e_i+f_i,i=\mathrm{1,2}....n$

ω wherein _i, ξ _iBe respectively the intrinsic frequency and the damping ratio of system; e _iBe excitation load vector, f _iBe mode control vector, above-mentioned equation can be write as the form of state equation:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....n$

Wherein

is state vector; A; B, D are respectively the coefficient matrix of structure, interference matrix; Gating matrix, and relation below satisfying:

$A_i=\left(\begin{array}{cc}0& 1\\ -{{\mathrm{\ω}}_i}^2& -2{\mathrm{\ξ}}_i{\mathrm{\ω}}_i\end{array}\right),$ $B_i=\left[\begin{array}{c}0\\ 1\end{array}\right],$ $D_i=\left[\begin{array}{c}0\\ 1\end{array}\right]$

Step S2133, mode of oscillation mainly by the minority mode decision of low order, carry out high-order with mode and block, and can get:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....m$

Step S2134 through the linear quadratic type theory of optimal control, is provided with rational weight matrix Q, R, and through numerical computations, controlled feedback oscillator G, optimum active controlling force F _iObtain through following equation:

F _i＝{g _i}{q _i}。

Half active controlling force is also to be that F among the F=GZ revises with the damping force that ideal calculates, and this correcting mode is according to the working control device, and working environment etc. are revised additional to ideal value.Concrete correcting mode is through a determine type F _Min≤F≤F _Max, promptly through judge what whether this ideal value carried out in this power interval.Therefore divide two kinds of situation: when being in this interval, we get actual damping force and equal ideal value.When not in this scope, then the desirable control calculated of expression has exceeded actual programme area, therefore desirable finger 0, perhaps the maximum value F of control _Max

Driving voltage computing module 43 is to calculate the needed driving voltage of optimal damping power that obtains the vibration that weakens jib 10 according to the reverse dynamic characteristic of the MR damper of MR damper 30.The reverse dynamic characteristic of MR damper is meant the MR damper that the adopted performance function of actuator just, and this performance function is the inversionization of its dynamic characteristic function.The acquisition mode of dynamic characteristic function:, obtain damping force and displacement, the speed of MR damper, the relational expression of input voltage, and it is carried out numerical value handle through dynamic test; Simulate functional relation F=f (x; V, U), wherein x is a displacement signal; V is a rate signal, and U is an input voltage.This functional relation can be meant the number form formula, quadratic term, or both combinations.(x, v F), through this functional relation, by half active controlling force computing module, 42 resulting half active controlling forces, can obtain the correspondent voltage value through displacement, speed, damping force again can to obtain reverse dynamic characteristic function U=g through inverse transformation.

Driving voltage computing module 43 carries out quadratic integral and filtering with the acceleration signal that is collected, thus acquisition speed and displacement signal.Quadratic integral and filtering can obtain through computer programing, also can be through acquisitions such as existing electronic equipments.Such purpose is for to controller 40 input speeds and displacement signal, is convenient to the calculating of control and control voltage.

Also connect successively on the circuit between the output of controller 40 and the MR damper 30 and be provided with D/A signal adapter 60 and power amplifier 70.D/A signal adapter 60 is used for converting the driving voltage that controller 40 calculates acquisition into analog signal by voltage signal MR damper 30 is controlled.Power amplifier 70 is delivered to MR damper 30 after the analog signal of D/A signal adapter output is amplified, and gains with the driving voltage to MR damper 30.

Concrete pumping equipment comprises above-mentioned jib Semi-active Vibration Control device according to an embodiment of the invention.

Like the jib Semi-active Vibration Control device in the present embodiment, its control method is following:

When vibration takes place in jib 10 in the course of the work; The acceleration transducer 11 that is arranged on jib 10 two ends that need control records the acceleration responsive on the jib 10; And this vibration acceleration response signal conveys changed to A/D signal adapter 50, A/D signal adapter 50 is delivered to the data signal that converts in the controller 40 afterwards.

Active controlling force computing module 41 in the controller 40 gets access to the active controlling force of the vibration that weakens jib 10 through independent modal space-wise and PLQ control algolithm etc.; And this active controlling force exported in the half active controlling force computing module 42 revise, obtain to weaken half active controlling force of the vibration of jib 10.Half active controlling force that half active controlling force computing module 42 obtains after with the active controlling force correction is delivered to driving voltage computing module 43; Driving voltage computing module 43 obtains rate signal v and displacement signal x according to the acceleration signal of input through quadratic integral and filtering, obtains damping force and displacement, the speed of MR damper 30, the relational expression of input voltage through dynamic test, and it is carried out the numerical value processing; Simulate functional relation F=f (x; V, U), wherein x is a displacement signal; V is a rate signal, and U is an input voltage.(x, v F), through this functional relation, by half active controlling force computing module, 42 resulting half active controlling forces, obtain the corresponding driving magnitude of voltage through displacement, speed, damping force again can to obtain reverse dynamic characteristic function U=g through inverse transformation.

Driving voltage computing module 43 outputting drive voltages; To calculate the driving voltage that obtains through D/A signal adapter 60 and convert analog signal into by voltage signal; With gaining in this analog signal input power amplifier 70, the voltage signal after power amplifier will gain is delivered in the MR damper 30 then, makes the velocity attitude of damping force that MR damper 30 exported and jib 10 vibrations opposite; Just can hinder the vibration of jib 10 well, thereby reduce the vibration of jib 10.

From above description; Can find out; The above embodiments of the present invention have realized following technique effect: jib Semi-active Vibration Control device comprises the more piece jib and is connected the telescoping mechanism between the two adjacent joint jibs; Series connection is provided with the change damper on the telescoping mechanism, becomes damper jib is applied the damping force opposite with the direction of vibration of jib.Jib is applied the damping force that weakens the jib vibration through becoming damper; Can bring into play the effect of damping energy dissipation vibration damping passively; Can bring into play the effect of vibration isolation again on one's own initiative, compare traditional passive damping device, become the control better effects if of damper vibration; And simple in structure, use flexible.The change damper is MR damper, is convenient to more the damping force that becomes damper is regulated, and the direction of vibration with jib is opposite all the time to make the vibration isolation power of MR damper, and the stability and the robustness of system are good.

The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (15)

1. jib Semi-active Vibration Control device; Comprise more piece jib (10) and be connected the telescoping mechanism (20) between the two adjacent said jibs of joint (10); It is characterized in that; Said jib Semi-active Vibration Control device comprises that also series connection is arranged on the change damper of flexible end or the fixed end of said telescoping mechanism (20), is arranged on sensor and the controller (40) that is connected with said sensor on the said jib (10); The signal output part of said controller (40) is connected to said change damper, and controls the damping force of said change damper, and said change damper applies the opposite damping force of direction of vibration with said jib (10) to said jib (10).

2. jib Semi-active Vibration Control device according to claim 1 is characterized in that, said change damper is MR damper (30).

3. jib Semi-active Vibration Control device according to claim 2 is characterized in that, is disposed with D/A signal adapter (60) and power amplifier (70) between said controller (40) and the said MR damper (30).

4. jib Semi-active Vibration Control device according to claim 1 is characterized in that, said sensor is acceleration transducer (11), is provided with A/D signal adapter (50) between said acceleration transducer (11) and the said controller (40).

5. jib Semi-active Vibration Control device according to claim 1; It is characterized in that; Said controller (40) comprises the driving voltage computing module (43) that active controlling force computing module (41) that input is connected with said sensor, half active controlling force computing module (42) that input is connected with said active controlling force computing module (41) and input are connected with said half active controlling force computing module (42), and the output of said driving voltage computing module (43) is connected to said change damper.

6. a jib Semi-active Vibration Control method is characterized in that, comprising:

Step S1, acceleration transducer (11) obtains the acceleration of jib (10);

Step S2, controller (40) receives the acceleration that acceleration transducer (11) transmits, and obtains driving voltage value according to this acceleration, and output corresponding driving voltage, and this driving voltage control becomes the control damping of damper output weakening jib (10) vibration;

Step S3 becomes the driving voltage that damper receives controller (40) output, and according to this driving voltage adjustment self damping, through damping force being acted on the vibration effect that telescoping mechanism (20) weakens jib (10).

7. jib Semi-active Vibration Control method according to claim 6 is characterized in that step S2 comprises:

Step S21 obtains the active controlling force that weakens jib (10) vibration;

Step S22 revises the active controlling force that weakens jib (10) vibration, obtains half active controlling force that weakens jib (10) vibration;

Step S23 obtains driving voltage value according to acceleration transducer (11) acceleration that transmits and half active controlling force that weakens jib (10) vibration.

8. jib Semi-active Vibration Control method according to claim 7 is characterized in that step S21 comprises:

Step S211 carries out the operation mode test to jib (10), obtains damping ratio, intrinsic frequency and the Mode Shape of jib (10);

Step S212 sets up state equation according to damping ratio, intrinsic frequency and the Mode Shape of jib (10) through the independent modal space-wise;

Step S213 obtains gain matrix G through the PLQ method for optimally controlling according to the state equation of being set up, and obtains weakening the active controlling force F=GZ of jib (10) vibration at last, and wherein Z is the state vector of jib displacement and speed.

9. jib Semi-active Vibration Control method according to claim 8 is characterized in that, sets up state equation through the independent modal space-wise among the step S212 and comprises:

Step S2121 obtains intrinsic frequency ω through modal calculation _i, and corresponding modal matrix Ф=[φ ₁, φ ₂... φ _n]

Introduce modal coordinate:

η＝[η ₁，η ₂，...η _n]

Obtain linear transformation relation equation between new coordinate and the old coordinate:

$\left\{x\right\}=\left[\mathrm{\Φ}\right]\left\{\mathrm{\η}\right\}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\η}}_i\mathrm{\φ}$

Step S2122 obtains introducing the equation of motion after the mode with the modal coordinate substitution equation of motion:

$\mathrm{\η}+2{\mathrm{\ω}}_i{\mathrm{\ξ}}_i\mathrm{\η}+{{\mathrm{\ω}}_i}^2\mathrm{\η}=e_i+f_i,i=\mathrm{1,2}....n$

ω wherein _i, ξ _iBe respectively the intrinsic frequency and the damping ratio of system; e _iBe excitation load vector, f _iBe mode control vector,

Convert the equation of motion into state equation:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....n$

Wherein

is state vector; A; B, D are respectively the coefficient matrix of structure, interference matrix; Gating matrix

Make state equation satisfy following relation:

$A_i=\left(\begin{array}{cc}0& 1\\ -{{\mathrm{\ω}}_i}^2& -2{\mathrm{\ξ}}_i{\mathrm{\ω}}_i\end{array}\right),$ $B_i=\left[\begin{array}{c}0\\ 1\end{array}\right],$ $D_i=\left[\begin{array}{c}0\\ 1\end{array}\right]$

Step S2123 carries out high-order with mode and blocks, the state equation after obtaining blocking:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....m$

Step S2124 converts the control equation of modal coordinate into the actual physics coordinate active controlling force equation:

$\left\{f\right\}=\left[\mathrm{\Φ}\right]\left\{f\right\}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\φ}}_i{f}_i$

10. jib Semi-active Vibration Control method according to claim 8 is characterized in that, the PLQ among the step S213 is optimum

Control method comprises:

Step S2131 obtains intrinsic frequency ω through modal calculation _i, and corresponding modal matrix Ф=[φ ₁, φ ₂... φ _n]

Introduce modal coordinate:

η＝[η ₁，η ₂，...η _n]

Obtain linear transformation relation equation between new coordinate and the old coordinate:

$\left\{x\right\}=\left[\mathrm{\Φ}\right]\left\{\mathrm{\η}\right\}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\mathrm{\η}}_i\mathrm{\φ}$

Step S2132 obtains introducing the equation of motion after the mode with the modal coordinate substitution equation of motion:

$\mathrm{\η}+2{\mathrm{\ω}}_i{\mathrm{\ξ}}_i\mathrm{\η}+{{\mathrm{\ω}}_i}^2\mathrm{\η}=e_i+f_i,i=\mathrm{1,2}....n$

ω wherein _i, ξ _iBe respectively the intrinsic frequency and the damping ratio of system; e _iBe excitation load vector, f _iBe mode control vector,

Convert the equation of motion into state equation:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....n$

Wherein

is state vector; A; B, D are respectively the coefficient matrix of structure, interference matrix; Gating matrix

Make state equation satisfy following relation:

$A_i=\left(\begin{array}{cc}0& 1\\ -{{\mathrm{\ω}}_i}^2& -2{\mathrm{\ξ}}_i{\mathrm{\ω}}_i\end{array}\right),$ $B_i=\left[\begin{array}{c}0\\ 1\end{array}\right],$ $D_i=\left[\begin{array}{c}0\\ 1\end{array}\right]$

Step S2133 carries out high-order with mode and blocks, the state equation after obtaining blocking:

$\left\{q_i\right\}=A_i\left\{q_i\right\}+B_i\left\{e_i\right\}+D_i\left\{f_i\right\},i=\mathrm{1,2}....m$

Step S2134 through the linear quadratic type theory of optimal control, is provided with rational weight matrix Q, R, and through numerical computations, controlled feedback oscillator G, through equation:

F _i＝{g _i}{q _i}

Obtain optimum active controlling force F _i

11. jib Semi-active Vibration Control method according to claim 7; It is characterized in that; Step S23 comprises: degree of will speed up signal carries out quadratic integral and filtering; Acquisition speed and displacement signal, and with the speed of acquisition and the driving voltage computing module (43) of displacement signal input controller (40).

12. jib Semi-active Vibration Control method according to claim 6 is characterized in that, also includes A/D signal adapter (50) between acceleration transducer (11) and the controller (40), also comprises between step S1 and the step S2:

Step S021, the acceleration signal that A/D signal adapter (50) degree of will speed up sensor (11) transmits converts data signal into, and this data signal is delivered to controller (40).

13. jib Semi-active Vibration Control method according to claim 6; It is characterized in that; This change damper is MR damper (30), also includes D/A signal adapter (60) between controller (40) and the MR damper (30), also comprises between step S2 and the step S3:

Step S201, D/A signal adapter (60) converts the driving voltage of controller (40) output into analog signal, and this analog signal is delivered to MR damper (30).

14. jib Semi-active Vibration Control method according to claim 13 is characterized in that, also comprises power amplifier (70) between this D/A signal adapter (60) and the MR damper (30), also comprises after the step S201:

Step S202, power amplifier (70) amplifies the analog signal of D/A signal adapter (60) output, then this amplified analog signal is delivered to MR damper (30).

15. a concrete pumping equipment comprises jib Semi-active Vibration Control device, it is characterized in that, said jib Semi-active Vibration Control device is each described jib Semi-active Vibration Control device in the claim 1 to 5.

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