CN103089913A - Device, method and system for controlling vibration of arm rest and engineering machine with arm rest - Google Patents
Device, method and system for controlling vibration of arm rest and engineering machine with arm rest Download PDFInfo
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- CN103089913A CN103089913A CN2011103383401A CN201110338340A CN103089913A CN 103089913 A CN103089913 A CN 103089913A CN 2011103383401 A CN2011103383401 A CN 2011103383401A CN 201110338340 A CN201110338340 A CN 201110338340A CN 103089913 A CN103089913 A CN 103089913A
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Abstract
The invention discloses a method, a device and a system for controlling vibration of an arm rest and an engineering machine with the arm rest. The method for controlling the vibration of the arm rest comprises the following steps of: receiving arm section state signals for representing the states of at least one section of arm rest in real time; extracting corresponding dynamic property parameters from a dynamic property parameter database (128) in which dynamic property parameters of the arm sections are stored according to the received arm section state signals; calculating to obtain arm section control parameters according to the arm section state signals and the extracted dynamic property parameters; and outputting arm section control signals of at least one section of arm section according to the arm section control parameters. By the provided method for controlling the vibration, one or more arm sections of the arm rest can be monitored in real time, and the arm section control parameters can be calculated according to the arm section state signals and the extracted dynamic property parameters to generate the arm section control signals of one or more arm sections, so that the vibration of the whole arm rest can be controlled accurately.
Description
Technical field
The present invention relates to engineering machinery field, particularly, the engineering machinery that relates to the vibration control system of the vibration control apparatus of a kind of vibration control method of jib, a kind of jib, a kind of jib and have jib.
Background technique
Engineering machinery with jib structure is a kind of machinery commonly used, and the working life of its jib and maintenance cost not only are subject to production, workmanship, more serious is subject to working strength and institute is vibrated.Vibration when especially working can bring the impact of persistency to jib, reduces the mechanical property of jib, reduces the fatigue life of jib, and this infringement is difficult for finding.Affect service property (quality) when serious, even jeopardize construction safety.Therefore, have in the use of engineering machinery of jib structure at this type of, most important to the vibration control of jib.
The vibration control method and the device that relate to jib are arranged in prior art, but or because of the control time long, or poor because of control accuracy, be difficult to engineering demands.
Summary of the invention
The present invention aims to provide a kind of working stability, controls vibration control method, the vibration control apparatus of jib, the vibration control system of jib and the engineering machinery with jib of more accurate jib, to solve above-mentioned problems of the prior art.
In order to realize above-mentioned purpose of the present invention, according to an aspect of the present invention, a kind of vibration control method of jib is provided, jib comprises the multistage arm joint that connects in turn, every section arm joint is provided with arm fuel-economizing cylinder, arm fuel-economizing cylinder comes the action of control arm joint by elongation or contraction, vibration control method comprises: the arm nodular attitude signal of the state that at least one section arm of reception expression in real time saves; Extract corresponding dynamic characteristic parameter according to the arm nodular attitude signal that receives from the dynamic characteristic parameter database of the dynamic characteristic parameter that stores arm joint; Calculate the arm joint by arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter; And control according to the arm joint arm joint control signal that parameter generates at least one section arm joint.
Further, arm nodular attitude signal comprises arm joint oscillating signal and arm joint attitude signal at least, and dynamic characteristic parameter is to extract according to the joint of the arm in arm nodular attitude signal attitude signal.
Further, the arm joint is controlled parameter and is calculated by following formula: i (t)=f (S1 (t) ..., Sn (t), C (t)); Wherein, i (t) controls parameter for the arm joint, S1 (t) ... Sn (t) is the arm joint oscillating signal of at least one section arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of at least one section arm joint.
Further, when calculating the arm joint by the arm nodular attitude signal that receives and the dynamic characteristic parameter that extracts and control parameter: if the arm nodular attitude signal that receives shows this arm joint vibration convergence, described arm joint is controlled parameter calculate according to controlling the identical direction of the adjustment direction of parameter with current arm joint; Vibration is dispersed if the arm nodular attitude signal that receives shows this arm joint, according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled parameter and calculates.
Further, the method also comprises the vibration severity threshold value that sets in advance sign arm joint ocsillator strenght, and after receiving arm nodular attitude signal: generate the vibration severity value according to the arm nodular attitude signal that receives; And vibration severity value and vibration severity threshold value are compared, during greater than the vibration severity threshold value, extract corresponding dynamic characteristic parameter when the vibration severity value from the dynamic characteristic parameter database.
according to an aspect of the present invention, a kind of vibration control apparatus of jib also is provided, jib comprises the multistage arm joint that connects in turn, every section arm joint is provided with arm fuel-economizing cylinder, arm fuel-economizing cylinder comes the action of control arm joint by elongation or contraction, vibration control apparatus is connected with the arm fuel-economizing cylinder of at least one section arm joint, be used for exporting the arm joint control signal of at least one section arm joint to arm fuel-economizing cylinder, vibration control apparatus comprises the signal receiving unit that connects successively, signal processing unit and signal transmitting unit: signal receiving unit is used for receiving in real time the arm nodular attitude signal of the state that represents at least one section arm joint, and arm nodular attitude signal is sent to signal processing unit, signal processing unit comprises the dynamic characteristic parameter database of the dynamic characteristic parameter that stores arm joint, and signal processing unit is used for extracting corresponding dynamic characteristic parameter, calculating the arm joint by arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter and the arm joint is controlled parameter and send to signal transmitting unit from the dynamic characteristic parameter database according to the arm nodular attitude signal that receives, signal transmitting unit is used for controlling according to the arm joint that receives the arm joint control signal of at least one section arm joint of parameter output.
Further, arm nodular attitude signal comprises arm joint oscillating signal and arm joint attitude signal at least, and dynamic characteristic parameter is to extract according to the joint of the arm in arm nodular attitude signal attitude signal.
Further, the arm joint is controlled parameter and is calculated by following formula: i (t)=f (S1 (t) ..., Sn (t), C (t)); Wherein, i (t) controls parameter for the arm joint, S1 (t) ... Sn (t) is the arm joint oscillating signal of at least one section arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of at least one section arm joint.
Further, signal processing unit is used for when calculating the arm joint by the arm nodular attitude signal that receives and the dynamic characteristic parameter that extracts and control parameter: if the arm nodular attitude signal that receives shows this arm joint vibration convergence, described arm joint is controlled parameter calculate according to controlling the identical direction of the adjustment direction of parameter with current arm joint; Vibration is dispersed if the arm nodular attitude signal that receives shows this arm joint, according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled parameter and calculates.
Further, signal processing unit also is used for setting in advance the vibration severity threshold value that characterizes arm joint ocsillator strenght, and after receiving arm nodular attitude signal, signal processing unit generates the vibration severity value according to the arm nodular attitude signal that receives; And signal processing unit also is used for vibration severity value and vibration severity threshold value are compared, and during greater than the vibration severity threshold value, extracts the dynamic characteristic parameter of correspondence when the vibration severity value from the dynamic characteristic parameter database.
According to another aspect of the present invention, a kind of vibration control system of jib is provided, jib comprises the multistage arm joint that connects in turn, every section arm joint is provided with arm fuel-economizing cylinder, arm fuel-economizing cylinder comes the action of control arm joint by elongation or contraction, vibration control system comprises: state monitoring apparatus is used for state, and the arm nodular attitude signal of the state of at least one section arm joint of output expression of at least one section arm joint of Real-Time Monitoring; Vibration control apparatus, this vibration control apparatus is connected with the arm fuel-economizing cylinder of state monitoring apparatus with the section of being connected arm joint, save control signal to described arm fuel-economizing cylinder for the arm of exporting described at least one section arm joint, vibration control apparatus comprises signal receiving unit, signal processing unit and the signal transmitting unit that connects successively: signal receiving unit is for the arm nodular attitude signal that receives the state that represents at least one section arm joint and arm nodular attitude signal is sent to signal processing unit; Signal processing unit comprises the dynamic characteristic parameter database of the dynamic characteristic parameter that stores arm joint, and signal processing unit is used for extracting corresponding dynamic characteristic parameter, calculating the arm joint by arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter and the arm joint is controlled parameter and send to signal transmitting unit from the dynamic characteristic parameter database according to the arm nodular attitude signal that receives; Signal transmitting unit is used for controlling according to the arm joint that receives the arm joint control signal of at least one section arm joint of parameter output.
Further, arm nodular attitude signal comprises arm joint oscillating signal and arm joint attitude signal at least, and dynamic characteristic parameter is to extract according to the joint of the arm in arm nodular attitude signal attitude signal.
Further, the arm joint is controlled parameter and is calculated by following formula: i (t)=f (S1 (t) ..., Sn (t), C (t)); Wherein, i (t) controls parameter for the arm joint, S1 (t) ... Sn (t) is the arm joint oscillating signal of at least one section arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of at least one section arm joint.
Further, signal processing unit is used for when calculating the arm joint by the arm nodular attitude signal that receives and the dynamic characteristic parameter that extracts and control parameter: if the arm nodular attitude signal that receives shows this arm joint vibration convergence, described arm joint is controlled parameter calculate according to controlling the identical direction of the adjustment direction of parameter with current arm joint; Vibration is dispersed if the arm nodular attitude signal that receives shows this arm joint, according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled parameter and calculates.
Further, signal processing unit also is used for setting in advance the vibration severity threshold value that characterizes arm joint ocsillator strenght, and after receiving arm nodular attitude signal, signal processing unit generates the vibration severity value according to the arm nodular attitude signal that receives; And signal processing unit also is used for vibration severity value and vibration severity threshold value are compared, and during greater than the vibration severity threshold value, extracts the dynamic characteristic parameter of correspondence when the vibration severity value from the dynamic characteristic parameter database.
According to another aspect of the present invention, a kind of engineering machinery with jib also is provided, jib comprises the multistage arm joint that connects in turn, every section arm joint is provided with arm fuel-economizing cylinder, arm fuel-economizing cylinder comes the action of control arm joint by elongation or contraction, engineering machinery also comprises the vibration control system of above-mentioned jib, and the vibration control apparatus in this vibration control system is connected with the arm fuel-economizing cylinder of at least one section arm joint, is used for exporting the arm joint control signal of at least one section arm joint to arm fuel-economizing cylinder.
Adopt vibration control method, vibration control apparatus and the vibration control system of jib provided by the invention, can realize one or more snippets arm joint is carried out Real Time Monitoring, accurately reflect the current body vibration situation of jib.and due to the dynamic characteristic parameter database of also having set up the dynamic characteristic parameter that stores the arm joint, described dynamic characteristic parameter can be the empirical value of measuring, because experiment is that the simulated condition condition is carried out, experimental result has been got rid of the impact of other factors such as environment, there is not deviation in the dynamic characteristic parameter value that obtains, therefore the dynamic characteristic parameter that obtains by experiment can make the result that calculates of arm joint control signal more accurate, and utilization also can make calculating rapider by the calculating of the empirical value participation arm joint control signal of measuring, thereby improve the speed of whole vibration control process.Described dynamic characteristic parameter can be also the parameter value of setting according to actual applying working condition, and set dynamic characteristic parameter according to actual applying working condition, the arm joint that also can reduce to calculate is controlled the deviation of parameter, make the vibration control process more in conjunction with concrete operating mode, make the vibration control effect more outstanding.Therefore, the arm joint control signal that produces is more accurate by the Real Time Monitoring result is combined with dynamic characteristic parameter, can control the vibration of arm joint more accurately.
Engineering machinery with jib provided by the invention is due to the vibration control system that comprises above-mentioned jib, make the control of its jib more accurate, more stable work.
Other features and advantages of the present invention will partly be described in detail in embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide a further understanding of the present invention, and consists of the part of specification, is used from explanation the present invention with following embodiment one, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 shows the structural drawing of jib;
Fig. 2 shows the flow chart according to the vibration control method of jib of the present invention;
Fig. 3 shows a preferred implementation flow chart according to the vibration control method of jib of the present invention;
Fig. 4 shows a mode of execution block diagram according to the vibration control apparatus of jib of the present invention;
Fig. 5 shows a mode of execution block diagram according to the vibration control system of jib of the present invention;
Fig. 6 is the specific implementation block diagram of vibration control system shown in Figure 5;
Fig. 7 shows the vibration convergence process schematic diagram when measuring dynamic characteristic parameter by experiment; And
Fig. 8 uses the vibration control system of jib provided by the invention and the vibration control effect time history diagram of method.
Description of reference numerals
1 turntable 10 jibs
201 first arm joint 202 second arm joint 203 the 3rd arm joints
204 the 4th arm joint 205 the 5th arm joint 301 first arm fuel-economizing cylinders
302 second arm fuel-economizing cylinder 303 the 3rd arm fuel-economizing cylinder 304 the 4th arm fuel-economizing cylinders
305 the 5th arm fuel-economizing cylinder 401 first sensor group 402 second sensor groups
403 the 3rd sensor group 404 four-sensor group 405 the 5th sensor groups
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only is used for description and interpretation the present invention, is not limited to the present invention.
The jib of engineering machinery can extend work surface by the stretching, extension that arm saves, and can be used for being not suitable for the construction area that personnel enter.Be expansion construction utilization area and convenient operation and movement, the turntable that usually is connected with jib in jib bottom setting.Described jib is comprised of 3-6 section arm joint usually, each arm joint (for example connects in turn, hinged), every section arm joint is provided with arm fuel-economizing cylinder, save the elongation of corresponding arm fuel-economizing cylinder or the action of shrinking the control arm joint by controlling with every section arm, the jib of engineering machinery and arm joint control principle are conventionally known to one of skill in the art.The present invention is used for vibration control apparatus, the method and system of jib provided by the invention and the engineering machinery with jib are described take 5 sections arm joints as example, it should be noted that not represent that the present invention is only applicable to have the jib of 5 sections arm joints.
Fig. 1 shows the structural drawing of jib.As shown in Figure 1, jib 10 connects turntable 1, jib 10 comprises: first arm joint 201, second arm joint the 202, the 3rd arm joint the 203, the 4th arm joint the 204, the 5th arm joint the 205, first arm fuel-economizing cylinder 301, the second arm fuel-economizing cylinder 302, the 3rd arm fuel-economizing cylinder 303, the 4th arm fuel-economizing cylinder 304 and the 5th arm fuel-economizing cylinder 305.In said structure, jib is comprised of 5 sections arm joints, and each section arm joint connects in turn.
Below in conjunction with accompanying drawing, the vibration control method according to jib of the present invention is described.
Fig. 2 shows the flow chart according to the vibration control method of jib of the present invention.As shown in Figure 2, the vibration control method according to jib of the present invention comprises: S20, the arm nodular attitude signal of the state of at least one section arm joint of reception expression in real time; S22 extracts corresponding dynamic characteristic parameter according to the arm nodular attitude signal that receives from the dynamic characteristic parameter database of the dynamic characteristic parameter that stores arm joint; S24 calculates the arm joint by arm nodular attitude signal and the dynamic characteristic parameter that extracts and controls parameter; And S26, control according to the arm joint arm joint control signal that parameter generates at least one section arm joint.
Adopt vibration control method provided by the invention, can realize one or more snippets arm joint of jib is carried out Real Time Monitoring, can extract according to the actual vibration situation of current one or more snippets arm joint the dynamic characteristic parameter of the correspondence of pre-stored or setting, and calculate arm joint control parameter by described arm nodular attitude signal and the dynamic characteristic parameter that extracts and save control signal with the arm that generates described one or more snippets arm joint, make the vibration control of whole jib more accurate.
According to vibration control method provided by the invention, preferably, described arm nodular attitude signal comprises arm joint oscillating signal and arm joint attitude signal at least, and described dynamic characteristic parameter is to extract according to the joint of the arm in described arm nodular attitude signal attitude signal.
According to vibration control method provided by the invention, preferably, extract corresponding dynamic characteristic parameter from described dynamic characteristic parameter database 128, calculate the arm joint by described arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter according to the arm nodular attitude signal that receives.Calculate the arm joint according to the program that sets in advance and control parameter, according to vibration control method of the present invention, provide a kind of from the optimizing vibration control algorithm, this algorithmic notation is: i (t)=f (S1 (t), ..., Sn (t), C (t)); Wherein, i (t) is that described arm joint is controlled parameter, S1 (t) ..., Sn (t) is the arm joint oscillating signal of described at least one section arm joint, C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of described at least one section arm joint.The below is take the engineering machinery of jib with 5 sections arms joints shown in Figure 1 as example, and the vibration control method of engineering machinery jib provided by the invention is elaborated.
Fig. 3 shows a preferred implementation flow chart according to the vibration control method of jib of the present invention.As shown in Figure 3, according to vibration control method provided by the invention, at first carry out the initialization setting.For example, when initialization arranges, can set in advance the vibration severity threshold value that characterizes described arm joint ocsillator strenght.Then, under real-time controlled conditions, the arm nodular attitude signal of picker arm joint, and the arm nodular attitude signal that receives is carried out online time and frequency domain analysis, generate the vibration severity value, to determine the body vibration earthquake intensity of jib.Body vibration earthquake intensity value and vibration severity threshold value to current arm support compare.If current vibration severity value less than the earthquake intensity threshold value of setting, can be selected the finishing control process or continue the state signal of arm joint is gathered; And if current vibration severity value is greater than the earthquake intensity threshold value of setting, extract dynamic characteristic parameter and according to control strategy i (t)=f (S1 (t) from dynamic characteristic parameter database 128, S2 (t), S3 (t), S4 (t), S5 (t), C (t)), calculate and export dominant vector i (t), by dominant vector i (t), described arm joint is carried out vibration control (direction that for example reduces to vibration or the direction of amplifying to vibration).Then the body vibration of the jib after controlled vibrated the convergence judgement, wherein, if judgement vibration convergence (for example, vibration reduces), the vibration control unit continues to carry out the forward optimizing (forward is exactly identical with the adjustment direction of current control parameter controlling parameter, that is, if current control parameter during less than before control parameter vibration reduce, making so and controlling the direction that parameter reduces is forward; If current control parameter during greater than before control parameter vibration reduce, making so and controlling the direction that parameter increases is forward); If the judgement vibration (is for example dispersed, vibration is amplified), to carry out reverse optimizing (be exactly oppositely the adjustment opposite direction with current parameter to controlling parameter in the vibration control unit, namely, if current control parameter during less than before control parameter vibration amplify, make so and control direction that parameter increases for oppositely; If current control parameter during greater than before control parameter vibration amplify, make so and control direction that parameter reduces for oppositely).Need to prove, using increase in present embodiment or reducing is only for the purpose of explaining, method disclosed by the invention can be suitable for opposite or corresponding all possible compute mode, for example, exponent arithmetic and logarithm operation, sinusoidal and cosine, rounds and remainder etc.Whole control procedure finishes the vibration control of this jib till lasting till that the earthquake intensity of jib body vibration is less than predefined threshold value.By the said method process, can realize the control vibrated, vibration is accurately controlled to reducing direction.Simultaneously, compare by vibration severity and the predefined threshold value that analysis is drawn, the engineering staff can be according to engineering actual conditions and equipment situation, by the earthquake intensity threshold value being arranged realize the control to the vibration control process.Therefore, the vibration control method of jib provided by the invention not only can be controlled the vibration of jib rapidly and accurately, and can control according to actual needs setting, has good practicability and promotional value.
Obtain carrying out experiment test for the jib under actual conditions according to the inventor, under desirable operating mode the vibration control system of this jib can so that the jib body vibration subdue more than 90% simultaneously.Fig. 8 uses the vibration control system of jib provided by the invention and the vibration control effect time history diagram of method.Wherein, be positioned at the vibrational waveform of middle part waveform when opening the vibration control system of this jib in Fig. 8, the vibrational waveform of two end portions when not opening the vibration control system of this jib.As shown in Figure 8, transverse axis is time (unit is s), and the longitudinal axis is for reflecting from an aspect arm support tail end displacement amount (unit is mm) of vibration of arm situation.Save engineering machinery for test with 5 arms, under horizontal attitude, its single order resonant frequency is 0.33Hz.Vibration control under resonant frequency can illustrate the validity of the vibration control system of this jib.Can find out from vibration control effect time history diagram shown in Figure 8, open the vibration control system of this jib after vibration of arm be converged in more than 90%.
Below with reference to Fig. 4, the vibration control apparatus 120 of jib provided by the invention is described.Fig. 4 shows a mode of execution block diagram according to the vibration control apparatus 120 of jib of the present invention.As shown in Figure 4, vibration control apparatus 120 comprises signal receiving unit 122, signal processing unit 124 and the signal transmitting unit 126 that connects successively: signal receiving unit 122 is used for receiving in real time the arm nodular attitude signal of the state that represents at least one section arm joint and arm nodular attitude signal being sent to signal processing unit 124; Signal processing unit 124 comprises the dynamic characteristic parameter database 128 of the dynamic characteristic parameter that stores arm joint, and signal processing unit 124 is used for extracting corresponding dynamic characteristic parameter, calculating the arm joint by arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter and the arm joint is controlled parameter and send to signal transmitting unit 126 from dynamic characteristic parameter database 128 according to the arm nodular attitude signal that receives; Signal transmitting unit 126 is used for controlling according to the arm joint that receives the arm joint control signal of at least one section arm joint of parameter output.
technological scheme of the present invention has been set up the dynamic characteristic parameter database 128 of arm joint in signal processing unit 124, store the dynamic characteristic parameter of arm joint in this dynamic characteristic parameter database 128, described dynamic characteristic parameter can be the empirical value according to measuring, it can be also the parameter value of setting according to actual applying working condition, described dynamic characteristic parameter can be stored in the form of data sheet in dynamic characteristic parameter database 128, because experiment is that the simulated condition condition is carried out, experimental result has been got rid of the impact of other factors such as environment, there is not deviation in the dynamic characteristic parameter value that obtains, therefore the dynamic characteristic parameter that obtains by experiment can make the result that calculates of arm joint control signal more accurate, and utilization also can make calculating rapider by the calculating of the empirical value participation arm joint control signal of measuring, thereby improve the speed of whole vibration control process.Described dynamic characteristic parameter can be also the parameter value of setting according to actual applying working condition, and set dynamic characteristic parameter according to actual applying working condition, the arm joint that also can reduce to calculate is controlled the deviation of parameter, make the vibration control process more in conjunction with concrete operating mode, make the vibration control effect more outstanding.The present invention calculates arm joint control parameter by arm nodular attitude signal and the dynamic characteristic parameter that arm joint Real Time Monitoring is obtained, to produce arm joint control signal.Output to the arm fuel-economizing cylinder corresponding with the arm joint by the arm joint control signal that will produce, elongation or contraction that can control arm fuel-economizing cylinder, and then realize the vibration that arm saves is accurately controlled.Preferably, the signal receiving unit 122 of vibration control apparatus 120 of the present invention is used for receiving in real time the arm nodular attitude signal of the state that represents each section arm joint, arm nodular attitude signal and corresponding dynamic characteristic parameter by each section arm joint calculate the arm joint control parameter that each section arm saves, export thus the arm joint control signal of each section arm joint, to realize the body vibration control to whole jib, further improve rapidity, the accuracy of vibration control.
In the above-described embodiment, the arm nodular attitude signal of the state of at least one section arm joint of the expression that receives in real time can be provided by one or more sensor groups, is preferably by a plurality of sensor groups are set on jib and realizes.Jib in Fig. 1 is as example, as shown in Figure 1,5 sensor groups (401,402,403,404,405) can be arranged at respectively on first arm joint the 201, second arm joint the 202, the 3rd arm joint the 203, the 4th arm joint the 204, the 5th arm joint 205 of jib, are used for the state of above-mentioned each arm joint is carried out Real Time Monitoring.As an example, each sensor group can be arranged on the far-end of each arm joint near the hinge place.Can comprise in each sensor group: vibration transducer and attitude transducer, the state signal of generation can comprise: oscillating signal and attitude signal.Vibration transducer can be velocity transducer or the acceleration transducer of commonly using, and the vibration transducer quantity in each sensor group can be two, and is orthogonally set.And attitude transducer can be angle transducer.
According to technological scheme of the present invention, described arm nodular attitude signal comprises arm joint oscillating signal and arm joint attitude signal at least, and described dynamic characteristic parameter is to extract according to the joint of the arm in described arm nodular attitude signal attitude signal.
According to technological scheme of the present invention, described signal processing unit 124 is used for extracting corresponding dynamic characteristic parameter, calculating the arm joint by described arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter from described dynamic characteristic parameter database 128 according to the arm nodular attitude signal that receives.Signal processing unit 124 calculates the arm joint according to the program that sets in advance and controls parameter, store in signal processing unit 124 from the optimizing vibration control algorithm, this algorithmic notation is: i (t)=f (S1 (t) ..., Sn (t), C (t)); Wherein, i (t) is that described arm joint is controlled parameter, S1 (t) ..., Sn (t) is the arm joint oscillating signal of described at least one section arm joint, C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of described at least one section arm joint.
has the jib of 5 sections arm joints as example take above-mentioned, this algorithmic notation is: i (t)=f (S1 (t), S2 (t), S3 (t), S4 (t), S5 (t), C (t)), wherein the arm joint that calculates for signal processing unit 124 of i (t) (is for example controlled parameter, dominant vector), f represents parameter S 1 (t)-S5 (t), the mapping relations of C (t) and i (t), S1 (t)-S5 (t) is respectively first sensor group to the five sensor groups (401 on jib, 402, 403, 404, 405) arm of output joint oscillating signal, C (t) is dynamic characteristic parameter corresponding with the arm joint attitude signal of described 5 sections arms joint from the dynamic characteristic parameter database 128 of arm joint.
Described from optimizing vibration control algorithm mapping can comprise summation, remainder, do variance, the multiple computing such as iteration, or use control signal computational methods commonly used in engineering, herein only with reduced form to represent to be convenient to explanation.In addition, dynamic characteristic parameter in dynamic characteristic parameter database 128 can be the empirical value of measuring, it can be also the parameter value of setting according to actual applying working condition, described dynamic characteristic parameter can be stored in the form of data sheet in dynamic characteristic parameter database 128, the arm nodular attitude signal of the state that can save by at least one section arm of expression that receives like this extracts the dynamic characteristic parameter C (t) corresponding to this or one group arm nodular attitude signal from database.
The process of experimental simulation being measured dynamic characteristic parameter below with reference to Fig. 7 describes.Fig. 7 shows the vibration convergence process schematic diagram when measuring dynamic characteristic parameter by experiment.In Fig. 7, longitudinal axis representation unit amplitude, transverse axis are time shaft (unit: S).The measuring dynamic characteristic parameter can in the situation that the simulation actual conditions carry out.By the simulation actual conditions, the state signal of acquisition arm joint (as, Oscillation Amplitude, vibration frequency, arm joint attitude etc.); With the state signal that acquires introduce above-mentioned from optimizing vibration control algorithm: i (t)=f (S1 (t) ..., Sn (t), C (t)) and the value of parameters C (t); Calculating the arm joint controls parameter i (t) and utilizes this arm joint to control parameter i (t) the arm joint is controlled; Then the Vibration Condition of controlled postbrachium joint judged, if judgement vibration convergence (for example, vibration reduces), record the value of parameter current C (t) and continue and carry out forward optimizing (forward is exactly identical with the adjustment direction of current control parameter) to controlling parameter; If (for example, vibration is amplified) dispersed in the judgement vibration, carry out reverse optimizing (being exactly oppositely the adjustment opposite direction with current parameter) to controlling parameter; Continue said process, until vibration converges to target zone, the value with parameters C (t) at this moment deposits dynamic characteristic parameter database 128 in as the dynamic characteristic parameter value simultaneously.Can find out by experiment, the time of vibration convergence is relevant with the parameters C (t) of initial setting up, and if initial parameters C (t) arranges according to dynamic characteristic parameter database 128, can greatly improve convergence rate.For example, a certain discrete point in frequency in paying close attention to frequency range (as, resonant frequency point) is located to test, to determine the dynamic characteristic parameter of this Frequency point of current attitude place arm joint.as C (t) initial value value (0.52mm/mA is set,-46.8 °), wherein 0.52mm/mA is the output stable state amplitude/input stable state amplitude of arm joint,-46.8 ° of output signals for arm joint (as, oscillating signal) relatively input signal (as, arm joint control signal) lagging phase angle, by the Vibration Condition of controlled postbrachium joint is restrained judgement, by above-mentioned from the optimizing vibration control algorithm, through real-time adjustment and feedback, vibration can converge to target zone automatically, finally obtain one group of optimum value (0.67mm/mA of dynamic characteristic parameter C (t),-43.4 °).
Adopt vibration control apparatus 120 provided by the invention, can realize one or more snippets arm joint of jib is carried out Real Time Monitoring, can extract according to the actual vibration situation of current one or more snippets arm joint the dynamic characteristic parameter of the correspondence of pre-stored or setting, and calculate the arm joint by described arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter to generate the arm joint control signal to described one or more snippets arm joint, make more quick to the vibration control of whole jib, accurate.
Fig. 5 shows a mode of execution block diagram according to the vibration control system of jib of the present invention.Vibration control system shown in Fig. 5 comprises the vibration control apparatus 120 shown in Fig. 4, particularly, this vibration control system comprises: state monitoring apparatus 100 is used for state, and the arm nodular attitude signal of the state of at least one section arm joint of output expression of at least one section arm joint of Real-Time Monitoring; The vibration control apparatus 120 that is connected with Condition Monitoring Unit, this vibration control apparatus 120 is connected with the arm fuel-economizing cylinder of state monitoring apparatus 100 and at least one section arm joint, save control signal to described arm fuel-economizing cylinder for the arm of exporting described at least one section arm joint, vibration control apparatus 120 comprises signal receiving unit 122, signal processing unit 124 and the signal transmitting unit 126 that connects successively: signal receiving unit 122 is for the arm nodular attitude signal that receives the state that represents at least one section arm joint and arm nodular attitude signal is sent to signal processing unit 124; Signal processing unit 124 comprises the dynamic characteristic parameter database 128 of the dynamic characteristic parameter that stores arm joint, and signal processing unit 124 is used for extracting corresponding dynamic characteristic parameter, calculating the arm joint by arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter and the arm joint is controlled parameter and send to signal transmitting unit 126 from dynamic characteristic parameter database 128 according to the arm nodular attitude signal that receives; Signal transmitting unit 126 is used for controlling according to the arm joint that receives the arm joint control signal of at least one section arm joint of parameter output.The action that arm fuel-economizing cylinder can save control signal elongation or shrink the control arm joint according to arm is to reach the purpose that reduces vibration of arm.
Adopt vibration control apparatus 120 provided by the invention, can realize one or more snippets arm joint of jib is carried out Real Time Monitoring, can extract according to the actual vibration situation of current one or more snippets arm joint the dynamic characteristic parameter of the correspondence of pre-stored or setting, and calculate the arm joint by described arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter to generate the arm joint control signal to described one or more snippets arm joint, make more quick to the vibration control of whole jib, accurate.
Below with reference to Fig. 6, the vibration control system according to jib of the present invention is elaborated.Fig. 6 is the specific implementation of vibration control system shown in Figure 5, described vibration control system also comprises: signal conditioner 110, be connected between state monitoring apparatus 100 and vibration control apparatus 120, be used for the processing such as state signal to state monitoring apparatus 100 amplifies, filtering, the signal after then processing exports vibration control apparatus 120 to; Signal regulating device 130, be connected between vibration control apparatus 120 and arm fuel-economizing cylinder, be used for the signal i (t) of vibration control apparatus 120 outputs is carried out the processing such as power amplification, then simulate dominant vector I (t) to the arm fuel-economizing cylinder output of each arm joint; In addition, also can carry out closed-loop feedback to vibration control system and control, specific implementation can be: the signal processing unit 124 in vibration control apparatus 120 can also vibrate the convergence judgement to jib, namely vibrating effect is estimated; Wherein, if judgement vibration convergence (for example, vibration reduces), vibration control apparatus 120 continues to carry out forward optimizing (forward is exactly identical with the adjustment direction of current control parameter) to controlling parameter; If (for example, vibration is amplified) dispersed in the judgement vibration, 120 pairs of control parameters of vibration control apparatus are carried out reverse optimizing (being exactly oppositely the adjustment opposite direction with current parameter).By feedback, from state monitoring apparatus 100 Real-time Obtaining vibrational state signals, convergence that vibration control apparatus 120 can vibrate judgement realizes that vibration to whole jib is to the control that reduces direction, and constantly optimize and revise effect, make vibration control more stable, accurate.
In addition, in order to strengthen the controllability of vibration control, can set in advance the earthquake intensity threshold value (or threshold value) of vibration severity.Can be under real-time controlled conditions, the state signal that in each sampling circulation, the arm that collects is saved carries out online time and frequency domain analysis, generates the vibration severity value, estimates the body vibration earthquake intensity of jib.Take 5 sections arms joint as example, body vibration earthquake intensity value and the vibration severity threshold value of current arm support compared.If current vibration severity value less than the earthquake intensity threshold value of setting, can be selected the finishing control process or continue the state signal of arm joint is gathered; And if current vibration severity value is greater than the earthquake intensity threshold value of setting, extract dynamic characteristic parameter and according to control strategy i (t)=f (S1 (t) from dynamic characteristic parameter database 128, S2 (t), S3 (t), S4 (t), S5 (t), C (t)), calculate and amplify output and simulate dominant vector I (t).Preferably, the simulation dominant vector I (t) according to signal regulating device 130 outputs of the vibration control system of jib of the present invention is 0mA-2000mA.Then the jib body vibration after controlled is vibrated the convergence judgement, if the vibration convergence is carried out forward from optimizing with regard to continuing to controlling parameter; If vibration is dispersed, just carry out oppositely from optimizing controlling parameter, till whole control procedure lasts till that the earthquake intensity of jib body vibration is less than threshold value, this time jib active vibration control of system finishing.By introduce the earthquake intensity threshold value in system, can realize the control to vibration control system.Thereby the engineering staff can be according to engineering actual conditions and equipment situation, by the earthquake intensity threshold value being arranged realize the control to vibration control system.
Survey according to the inventor, employing is from the optimizing vibration control algorithm, and the dynamic characteristic parameter of real-time calling jib is controlled adjustment, the vibration control system that makes this jib to control response time of vibration of arm in 1s, system robustness and strong adaptability are worked more stable.Adopt the vibration control system of jib disclosed by the invention, jib can subdue the vibratory output of each arm joint more than 90% under desirable operating mode, and system stability is reliable in the energizing frequency scope of 0-0.5Hz.In addition, owing to adopting control gear to control, algorithm and relevant peripheral unit are easily adjusted and expansion.
The present invention also provides a kind of engineering machinery with jib, jib comprises the multistage arm joint that connects in turn, every section arm joint is provided with arm fuel-economizing cylinder, arm fuel-economizing cylinder comes the action of control arm joint by elongation or contraction, engineering machinery also comprises vibration control apparatus 120 or the vibration control system of above-mentioned jib, vibration control apparatus 120 in this vibration control system is connected with the arm fuel-economizing cylinder of at least one section arm joint, is used for exporting the arm joint control signal of at least one section arm joint to arm fuel-economizing cylinder.
Engineering machinery with jib is a kind of widely used engineering equipment, can make by jib is installed on moveable platform (for example, load-carrying vehicle) or other operation platforms.And by the present invention, can be under the condition of the structure that does not change existing engineering machinery, vibration control apparatus or the system of jib provided by the invention is arranged on engineering machinery.Reach prolonged mechanical working life, reduce the effect of working service cost, applicability is extensive.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned mode of execution; in technical conceive scope of the present invention; can carry out multiple simple variant to technological scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove in addition, each concrete technical characteristics described in above-mentioned embodiment in reconcilable situation, can make up by any suitable mode, for fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible compound modes.
In addition, also can carry out combination in any between various mode of execution of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (16)
1. the vibration control method of a jib, described jib comprises the multistage arm joint that connects in turn, and every section described arm joint is provided with arm fuel-economizing cylinder, and described arm fuel-economizing cylinder is controlled the action of described arm joint by elongation or contraction, it is characterized in that, described vibration control method comprises the following steps:
Receive in real time the arm nodular attitude signal of the state of at least one section arm joint of expression;
Extract the dynamic characteristic parameter of correspondence from the dynamic characteristic parameter database (128) of the dynamic characteristic parameter that stores described arm joint according to the arm nodular attitude signal that receives;
Calculate the arm joint by described arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter; And
Control the arm joint control signal of the described at least one section arm joint of parameter output according to described arm joint.
2. vibration control method according to claim 1, it is characterized in that, described arm nodular attitude signal comprises arm joint oscillating signal and arm joint attitude signal at least, and described dynamic characteristic parameter is to extract according to the joint of the arm in described arm nodular attitude signal attitude signal.
3. vibration control method according to claim 2, is characterized in that, described arm joint is controlled parameter and calculated by following formula:
i(t)＝f(S1(t)，...，Sn(t)，C(t))；
Wherein, i (t) is that described arm joint is controlled parameter, S1 (t) ... Sn (t) is the arm joint oscillating signal of described at least one section arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of described at least one section arm joint.
4. vibration control method according to claim 3, is characterized in that, when calculating arm joint control parameter by the arm nodular attitude signal that receives and the dynamic characteristic parameter that extracts:
If the arm nodular attitude signal that receives shows this arm joint vibration convergence, described arm joint is controlled parameter calculate according to controlling the identical direction of the adjustment direction of parameter with current arm joint;
Vibration is dispersed if the arm nodular attitude signal that receives shows this arm joint, according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled parameter and calculates.
5. the described vibration control method of any one claim according to claim 1-4, is characterized in that, the method also comprises and set in advance the vibration severity threshold value that characterizes described arm joint ocsillator strenght, and after receiving described arm nodular attitude signal:
Generate the vibration severity value according to the arm nodular attitude signal that receives; And
Described vibration severity value and described vibration severity threshold value are compared, during greater than described vibration severity threshold value, extract corresponding dynamic characteristic parameter when described vibration severity value from described dynamic characteristic parameter database (128).
6. the vibration control apparatus of a jib (120), described jib comprises the multistage arm joint that connects in turn, every section described arm joint is provided with arm fuel-economizing cylinder, described arm fuel-economizing cylinder is controlled the action of described arm joint by elongation or contraction, described vibration control apparatus (120) is connected with the arm fuel-economizing cylinder of at least one section arm joint, be used for exporting the arm joint control signal of described at least one section arm joint to described arm fuel-economizing cylinder, it is characterized in that, described vibration control apparatus (120) comprises the signal receiving unit (122) that connects successively, signal processing unit (124) and signal transmitting unit (126):
Described signal receiving unit (122) is used for receiving in real time the arm nodular attitude signal of the state that represents described at least one section arm joint and described arm nodular attitude signal being sent to signal processing unit (124);
Described signal processing unit (124) comprises the dynamic characteristic parameter database (128) of the dynamic characteristic parameter that stores described arm joint, and described signal processing unit (124) is used for extracting corresponding dynamic characteristic parameter, calculating the arm joint by described arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter and described arm joint control parameter is sent to signal transmitting unit (126) from described dynamic characteristic parameter database (128) according to the arm nodular attitude signal that receives;
Described signal transmitting unit (126) is used for controlling according to the arm joint that receives the arm joint control signal of the described at least one section arm joint of parameter output.
7. vibration control apparatus according to claim 6 (120), it is characterized in that, described arm nodular attitude signal comprises arm joint oscillating signal and arm joint attitude signal at least, and described dynamic characteristic parameter is to extract according to the joint of the arm in described arm nodular attitude signal attitude signal.
8. vibration control apparatus according to claim 7 (120), is characterized in that, described arm joint is controlled parameter and calculated by following formula:
i(t)＝f(S1(t)，...，Sn(t)，C(t))；
Wherein, i (t) is that described arm joint is controlled parameter, S1 (t) ..., Sn (t) is the arm joint oscillating signal of described at least one section arm joint, C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of described at least one section arm joint.
9. vibration control apparatus according to claim 8 (120), is characterized in that, described signal processing unit (124) is used for when calculating arm joint control parameter by the arm nodular attitude signal that receives and the dynamic characteristic parameter that extracts:
If the arm nodular attitude signal that receives shows this arm joint vibration convergence, described arm joint is controlled parameter calculate according to controlling the identical direction of the adjustment direction of parameter with current arm joint;
Vibration is dispersed if the arm nodular attitude signal that receives shows this arm joint, according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled parameter and calculates.
10. the described vibration control apparatus of any one claim (120) according to claim 6-9, it is characterized in that, described signal processing unit (124) also is used for setting in advance the vibration severity threshold value that characterizes described arm joint ocsillator strenght, and after receiving described arm nodular attitude signal, described signal processing unit (124) generates the vibration severity value according to the arm nodular attitude signal that receives; And
Described signal processing unit (124) also is used for described vibration severity value and described vibration severity threshold value are compared, during greater than described vibration severity threshold value, extract corresponding dynamic characteristic parameter when described vibration severity value from described dynamic characteristic parameter database (128).
11. the vibration control system of a jib, described jib comprises the multistage arm joint that connects in turn, and every section described arm joint is provided with arm fuel-economizing cylinder, and described arm fuel-economizing cylinder is controlled the action of described arm joint by elongation or contraction, it is characterized in that, described vibration control system comprises:
State monitoring apparatus (100) is used for state, and the arm nodular attitude signal of the state of the described at least one section arm joint of output expression of at least one section arm joint of Real-Time Monitoring;
Vibration control apparatus (120), this vibration control apparatus (120) and described state monitoring apparatus (100) be connected the arm fuel-economizing cylinder of at least one section arm joint and be connected, the arm joint control signal that is used for exporting described at least one section arm joint is to described arm fuel-economizing cylinder, and described vibration control apparatus (120) comprises signal receiving unit (122), signal processing unit (124) and the signal transmitting unit (126) that connects successively:
Described signal receiving unit (122) is used for receiving the arm nodular attitude signal of the state that represents described at least one section arm joint and described arm nodular attitude signal is sent to signal processing unit (124);
Described signal processing unit (124) comprises the dynamic characteristic parameter database (128) of the dynamic characteristic parameter that stores described arm joint, and described signal processing unit (124) is used for extracting corresponding dynamic characteristic parameter, calculating the arm joint by described arm nodular attitude signal and the dynamic characteristic parameter that extracts and control parameter and described arm joint control parameter is sent to signal transmitting unit (126) from described dynamic characteristic parameter database (128) according to the arm nodular attitude signal that receives;
Described signal transmitting unit (126) is used for controlling according to the arm joint that receives the arm joint control signal of the described at least one section arm joint of parameter output.
12. vibration control system according to claim 11, it is characterized in that, described arm nodular attitude signal comprises arm joint oscillating signal and arm joint attitude signal at least, and described dynamic characteristic parameter is to extract according to the joint of the arm in described arm nodular attitude signal attitude signal.
13. vibration control system according to claim 12 is characterized in that, described arm joint is controlled parameter and is calculated by following formula:
i(t)＝f(S1(t)，...，Sn(t)，C(t))；
Wherein, i (t) is that described arm joint is controlled parameter, S1 (t) ... Sn (t) is the arm joint oscillating signal of described at least one section arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of described at least one section arm joint.
14. vibration control system according to claim 13 is characterized in that, described signal processing unit (124) is used for when calculating arm joint control parameter by the arm nodular attitude signal that receives and the dynamic characteristic parameter that extracts:
If the arm nodular attitude signal that receives shows this arm joint vibration convergence, described arm joint is controlled parameter calculate according to controlling the identical direction of the adjustment direction of parameter with current arm joint;
Vibration is dispersed if the arm nodular attitude signal that receives shows this arm joint, according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled parameter and calculates.
15. the described vibration control system of any one claim according to claim 11-14, it is characterized in that, described signal processing unit (124) also is used for setting in advance the vibration severity threshold value that characterizes described arm joint ocsillator strenght, and after receiving described arm nodular attitude signal, described signal processing unit (124) generates the vibration severity value according to the arm nodular attitude signal that receives; And
Described signal processing unit (124) also is used for described vibration severity value and described vibration severity threshold value are compared, during greater than described vibration severity threshold value, extract corresponding dynamic characteristic parameter when described vibration severity value from described dynamic characteristic parameter database (128).
16. engineering machinery with jib, described jib comprises the multistage arm joint that connects in turn, every section described arm joint is provided with arm fuel-economizing cylinder, described arm fuel-economizing cylinder is controlled the action of described arm joint by elongation or contraction, it is characterized in that, described engineering machinery also comprises the vibration control system of the described jib of any one claim in claim 11 to 15, vibration control apparatus in this vibration control system (120) is connected with the described arm fuel-economizing cylinder of at least one section arm joint, is used for exporting the arm joint control signal of described at least one section arm joint to described arm fuel-economizing cylinder.
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| JP2000192660A (en) * | 1994-01-31 | 2000-07-11 | Kyokuto Kaihatsu Kogyo Co Ltd | Boom equipment for transport of fluid |
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| CN1932215B (en) * | 2006-09-30 | 2010-08-11 | 三一重工股份有限公司 | Method and apparatus for suppressing vibration of concrete pump vehicle cantilever crane |
| JP2009281299A (en) * | 2008-05-22 | 2009-12-03 | Mitsubishi Electric Corp | Electric fan |
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