CN103089913B - 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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- CN103089913B CN103089913B CN201110338340.1A CN201110338340A CN103089913B CN 103089913 B CN103089913 B CN 103089913B CN 201110338340 A CN201110338340 A CN 201110338340A CN 103089913 B CN103089913 B CN 103089913B
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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, relate 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 there is the engineering machinery of jib.
Background technique
The engineering machinery with jib structure is a kind of conventional machinery, and the working life of its jib and maintenance cost are not only limited to production, workmanship, more serious is limited to working strength and institute is vibrated.Especially the vibration while work, the impact that can bring persistency to jib, the mechanical property of reduction jib, the fatigue life of reducing jib, and this infringement is difficult for finding.When serious, affect service property (quality), 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.
In prior art, have the vibration control method and the device that relate to jib, 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, control vibration control method, the jib of more accurate jib vibration control apparatus, jib vibration control system and there is the engineering machinery of 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 connecting in turn, every section of arm joint is provided with arm fuel-economizing cylinder, arm fuel-economizing cylinder is by extending or shrink the action of control arm joint, and vibration control method comprises: the arm joint state signal that receives in real time the state that represents at least one section of arm joint; From store the dynamic characteristic parameter database of dynamic characteristic parameter of arm joint, extract corresponding dynamic characteristic parameter according to the arm joint state signal receiving; Save state signal by arm and calculate arm joint control parameter with the dynamic characteristic parameter extracting; And control according to arm joint the arm joint control signal that at least one section of arm of parameter generation saves.
Further, arm joint state signal at least comprises arm joint oscillating signal and arm joint attitude signal, and dynamic characteristic parameter is to extract according to the arm joint attitude signal in arm joint state signal.
Further, arm joint is controlled parameter and is calculated by following formula: i (t)=f (S1 (t) ..., Sn (t), C (t)); Wherein, i (t) is arm joint control parameter, S1 (t) ... Sn (t) is the arm joint oscillating signal of at least one section of arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of at least one section of arm joint.
Further, in the time that the arm joint state signal by receiving and the dynamic characteristic parameter that extracts calculate arm joint and control parameter: if the arm nodular state signal receiving shows this arm joint vibration convergence, described arm joint is controlled to parameter calculate according to controlling with current arm joint direction that the adjustment direction of parameter is identical; If the arm nodular state signal receiving shows this arm joint, vibration is dispersed, and according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled to 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 joint state signal: generate vibration severity value according to the arm joint state signal receiving; And vibration severity value and vibration severity threshold value are compared, in the time that vibration severity value is greater than vibration severity threshold value, from dynamic characteristic parameter database, extract corresponding dynamic characteristic parameter.
According to an aspect of the present invention, a kind of vibration control apparatus of jib is also provided, jib comprises the multistage arm joint connecting in turn, every section of arm joint is provided with arm fuel-economizing cylinder, arm fuel-economizing cylinder is by extending or shrink the action of control arm joint, vibration control apparatus is connected with the arm fuel-economizing cylinder of at least one section of arm joint, arrive arm fuel-economizing cylinder for the arm joint control signal of exporting at least one section of arm joint, vibration control apparatus comprises the signal receiving unit connecting successively, signal processing unit and signal transmitting unit: signal receiving unit is for receiving in real time the arm joint state signal of the state that represents at least one section of arm joint, and arm is saved to state signal send 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 for extracting corresponding dynamic characteristic parameter, save state signal and the dynamic characteristic parameter that extracts calculates arm joint and controls parameter and arm joint control parameter is sent to signal transmitting unit by arm from dynamic characteristic parameter database according to the arm joint state signal receiving, signal transmitting unit is for controlling the arm joint control signal of at least one section of arm joint of parameter output according to the arm joint receiving.
Further, arm joint state signal at least comprises arm joint oscillating signal and arm joint attitude signal, and dynamic characteristic parameter is to extract according to the arm joint attitude signal in arm joint state signal.
Further, arm joint is controlled parameter and is calculated by following formula: i (t)=f (S1 (t) ..., Sn (t), C (t)); Wherein, i (t) is arm joint control parameter, S1 (t) ... Sn (t) is the arm joint oscillating signal of at least one section of arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of at least one section of arm joint.
Further, when signal processing unit is controlled parameter for calculating arm joint at the arm joint state signal by receiving and the dynamic characteristic parameter that extracts: if the arm nodular state signal receiving shows this arm joint vibration convergence, described arm joint is controlled to parameter calculate according to controlling with current arm joint direction that the adjustment direction of parameter is identical; If the arm nodular state signal receiving shows this arm joint, vibration is dispersed, and according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled to parameter and calculates.
Further, signal processing unit is also for setting in advance the vibration severity threshold value that characterizes arm joint ocsillator strenght, and after receiving arm joint state signal, signal processing unit generates vibration severity value according to the arm joint state signal receiving; And signal processing unit is also for vibration severity value and vibration severity threshold value are compared, and in the time that vibration severity value is greater than vibration severity threshold value, extracts corresponding dynamic characteristic parameter from 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 connecting in turn, every section of arm joint is provided with arm fuel-economizing cylinder, arm fuel-economizing cylinder is by extending or shrink the action of control arm joint, vibration control system comprises: state monitoring apparatus, for the state of at least one section of arm of Real-Time Monitoring joint, and output represent the arm joint state signal of the state of at least one section of arm joint; Vibration control apparatus, this vibration control apparatus is connected with the arm fuel-economizing cylinder of state monitoring apparatus and at least one section of arm joint, for the arm joint control signal of exporting described at least one section of arm joint, to described arm fuel-economizing cylinder, vibration control apparatus comprises the signal receiving unit, signal processing unit and the signal transmitting unit that connect successively: signal receiving unit sends to signal processing unit for receiving the arm joint state signal of the state that represents at least one section of arm joint and arm being saved to state signal; Signal processing unit comprises the dynamic characteristic parameter database of the dynamic characteristic parameter that stores arm joint, and signal processing unit is for extracting corresponding dynamic characteristic parameter, save state signal and the dynamic characteristic parameter that extracts calculates arm joint and controls parameter and arm joint control parameter is sent to signal transmitting unit by arm from dynamic characteristic parameter database according to the arm joint state signal receiving; Signal transmitting unit is for controlling the arm joint control signal of at least one section of arm joint of parameter output according to the arm joint receiving.
Further, arm joint state signal at least comprises arm joint oscillating signal and arm joint attitude signal, and dynamic characteristic parameter is to extract according to the arm joint attitude signal in arm joint state signal.
Further, arm joint is controlled parameter and is calculated by following formula: i (t)=f (S1 (t) ..., Sn (t), C (t)); Wherein, i (t) is arm joint control parameter, S1 (t) ... Sn (t) is the arm joint oscillating signal of at least one section of arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of at least one section of arm joint.
Further, when signal processing unit is controlled parameter for calculating arm joint at the arm joint state signal by receiving and the dynamic characteristic parameter that extracts: if the arm nodular state signal receiving shows this arm joint vibration convergence, described arm joint is controlled to parameter calculate according to controlling with current arm joint direction that the adjustment direction of parameter is identical; If the arm nodular state signal receiving shows this arm joint, vibration is dispersed, and according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled to parameter and calculates.
Further, signal processing unit is also for setting in advance the vibration severity threshold value that characterizes arm joint ocsillator strenght, and after receiving arm joint state signal, signal processing unit generates vibration severity value according to the arm joint state signal receiving; And signal processing unit is also for vibration severity value and vibration severity threshold value are compared, and in the time that vibration severity value is greater than vibration severity threshold value, extracts corresponding dynamic characteristic parameter from dynamic characteristic parameter database.
According to another aspect of the present invention, a kind of engineering machinery with jib is also provided, jib comprises the multistage arm joint connecting in turn, every section of arm joint is provided with arm fuel-economizing cylinder, arm fuel-economizing cylinder is by extending or shrink the action of control arm joint, 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 of arm joint, arrives arm fuel-economizing cylinder for the arm joint control signal of exporting at least one section of arm joint.
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 monitored in real time, accurately reflect the current body vibration situation of jib.And owing to also having set up the dynamic characteristic parameter database of the dynamic characteristic parameter that stores arm joint, described dynamic characteristic parameter can be the empirical value of measuring, because experiment is that 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 obtaining, therefore the dynamic characteristic parameter obtaining by experiment can make the result calculating of arm joint control signal more accurate, and the calculating that utilization participates in arm joint control signal by the empirical value of measuring also can make to calculate rapider, 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 vibration control process more in conjunction with concrete operating mode, make vibration control effect more outstanding.Therefore, by real-time monitored results is combined with dynamic characteristic parameter, the arm joint control signal that produces is more accurate, can control the vibration of arm joint more accurately.
The engineering machinery with jib provided by the invention is owing to comprising the vibration control system of above-mentioned jib, makes the control of its jib more accurately, works more stable.
Other features and advantages of the present invention are described in detail the embodiment part subsequently.
Brief description of the drawings
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for specification, is used from explanation the present invention, but is not construed as limiting the invention with embodiment one below.In the accompanying drawings:
Fig. 1 shows the structural drawing of jib;
Fig. 2 shows according to the flow chart of the vibration control method of jib of the present invention;
Fig. 3 shows according to the vibration control method of jib of the present invention preferred implementation flow chart;
Fig. 4 shows according to the vibration control apparatus of jib of the present invention mode of execution block diagram;
Fig. 5 shows according to the vibration control system of jib of the present invention mode of execution block diagram;
Fig. 6 is the specific implementation block diagram of the vibration control system shown in Fig. 5;
Fig. 7 shows the vibration convergence process schematic diagram while 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, for description and interpretation the present invention, is not limited to the present invention.
Work surface is extended in the stretching, extension that the jib of engineering machinery can save by arm, the construction area that can enter for being not suitable for personnel.For expansion construction utilization area and convenient operation and movement, conventionally in jib bottom, the turntable being connected with jib is set.Described jib is made up of 3-6 section arm joint conventionally, each arm joint (for example connects in turn, hinged), every section of arm joint is provided with arm fuel-economizing cylinder, save the elongation of corresponding arm fuel-economizing cylinder or the action of shrinking control arm joint by controlling with every section of arm, the jib of engineering machinery and arm joint control principle are conventionally known to one of skill in the art.The present invention saves as example taking 5 sections of arms, does not represent that for vibration control apparatus, the method and system of jib provided by the invention being described and having the engineering machinery of jib, it should be noted that the present invention is only applicable to have the jib of 5 sections of arm joints.
Fig. 1 shows the structural drawing of jib.As shown in Figure 1, jib 10 connects turntable 1, jib 10 comprises: the first arm joint 201, the second arm joint 202, the 3rd arm joint 203, the 4th arm joint 204, the 5th arm joint 205, the 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 made up of 5 sections of arm joints, and each section of 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 according to the flow chart of the vibration control method of jib of the present invention.As shown in Figure 2, according to the vibration control method of jib of the present invention, comprising: S20, the arm that receives in real time the state that represents at least one section of arm joint saves state signal; S22 extracts corresponding dynamic characteristic parameter according to the arm joint state signal receiving from store the dynamic characteristic parameter database of dynamic characteristic parameter of arm joint; S24, saves state signal by arm and calculates arm joint control parameter with the dynamic characteristic parameter extracting; And S26, control parameter according to arm joint and generate the arm joint control signal that at least one section of arm saves.
Adopt vibration control method provided by the invention, can realize one or more snippets arm joint of jib is monitored in real time, can extract corresponding dynamic characteristic parameter pre-stored or that set according to the actual vibration situation of current one or more snippets arm joint, and calculate arm joint control parameter by described arm joint state signal and the dynamic characteristic parameter extracting, to generate, the arm of described one or more snippets arm joint is saved to control signal, make the vibration control of whole jib more accurate.
According to vibration control method provided by the invention, preferably, described arm joint state signal at least comprises arm joint oscillating signal and arm joint attitude signal, and described dynamic characteristic parameter is to extract according to the arm joint attitude signal in described arm joint state signal.
According to vibration control method provided by the invention, preferably, from described dynamic characteristic parameter database 128, extract corresponding dynamic characteristic parameter, calculate arm joint by described arm joint state signal and the dynamic characteristic parameter that extracts and control parameter according to the arm joint state signal receiving.Calculate arm joint according to the program setting in advance and control parameter, according to vibration control method of the present invention, provide a kind of from 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 of arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of described at least one section of arm joint.Taking the engineering machinery of the jib with 5 sections of arms joint shown in Fig. 1 as example, the vibration control method of engineering machinery jib provided by the invention is elaborated below.
Fig. 3 shows according to the vibration control method of jib of the present invention preferred implementation flow chart.As shown in Figure 3, according to vibration control method provided by the invention, first carry out initialization setting.For example, in the time that 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 joint state signal of picker arm joint, and the arm joint state signal receiving is carried out to online time and frequency domain analysis, generate 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 is less than the earthquake intensity threshold value of setting, can select 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, from dynamic characteristic parameter database 128, extract dynamic characteristic parameter and according to control strategy i (t)=f (S1 (t), 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 to vibration control (direction for example reducing to vibration or the direction of amplifying to vibration).Then the body vibration of the jib after controlled is vibrated to convergence judgement, wherein, for example, if judgement vibration convergence (, vibration reduces), vibration control unit continues to carry out forward optimizing (forward is exactly identical with the adjustment direction of current control parameter controlling parameter,,, if vibration reduces when the control parameter of current control parameter before being less than, making so to control the direction that parameter reduces is forward; If vibration reduces when the control parameter of current control parameter before being greater than, making so to control the direction that parameter increases is forward); For example, if judgement vibration (is dispersed, vibration is amplified), to controlling parameter, to carry out reverse optimizing (be exactly oppositely the adjustment opposite direction with current parameter in vibration control unit,, if vibration is amplified when the control parameter of current control parameter before being less than, make so to control direction that parameter increases for oppositely; If vibration is amplified when the control parameter of current control parameter before being greater than, make so to control direction that parameter reduces for oppositely).It should be noted that, in present embodiment, using increase or reducing is only for the object of explaining, method disclosed by the invention can be suitable for contrary 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 said method process, can realize the control of vibration, vibration is accurately controlled to reducing direction., compare by vibration severity and predefined threshold value that analysis is drawn, engineering staff can be according to engineering actual conditions and equipment situation, by earthquake intensity threshold value being arranged to realize the control to vibration control process meanwhile.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.
Carry out experiment test according to inventor at the jib under actual conditions and obtain, under desirable operating mode, the vibration control system of this jib can make 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, in Fig. 8, being positioned at middle part waveform is the vibrational waveform while opening the vibration control system of this jib, and two end portions is the vibrational waveform while not opening the vibration control system of this jib.As shown in Figure 8, transverse axis is that the time, (unit was s), and the longitudinal axis is can be from the arm support tail end displacement amount (unit is mm) of an aspect reflection vibration of arm situation.For 5 arm joint engineering machinery for test, 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.From the vibration control effect time history diagram shown in Fig. 8, can find out, 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 the signal receiving unit 122, signal processing unit 124 and the signal transmitting unit 126 that connect successively: signal receiving unit 122 sends to signal processing unit 124 for receiving in real time the arm joint state signal of the state that represents at least one section of arm joint and arm being saved to state signal; 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 for extracting corresponding dynamic characteristic parameter, save state signal and the dynamic characteristic parameter that extracts calculates arm joint and controls parameter and arm joint control parameter is sent to signal transmitting unit 126 by arm from dynamic characteristic parameter database 128 according to the arm joint state signal receiving; Signal transmitting unit 126 is for controlling the arm joint control signal of at least one section of arm joint of parameter output according to the arm joint receiving.
Technological scheme of the present invention has been set up the dynamic characteristic parameter database 128 of arm joint in signal processing unit 124, in this dynamic characteristic parameter database 128, store the dynamic characteristic parameter of arm joint, described dynamic characteristic parameter can be the empirical value according to measuring, also can be the parameter value of setting according to actual applying working condition, described dynamic characteristic parameter can be stored in dynamic characteristic parameter database 128 with the form of data sheet, because experiment is that 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 obtaining, therefore the dynamic characteristic parameter obtaining by experiment can make the result calculating of arm joint control signal more accurate, and the calculating that utilization participates in arm joint control signal by the empirical value of measuring also can make to calculate rapider, 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 vibration control process more in conjunction with concrete operating mode, make vibration control effect more outstanding.The present invention calculates arm joint control parameter by arm being saved to arm joint state signal and the dynamic characteristic parameter that monitoring obtains in real time, to produce arm joint control signal.By the arm joint control signal of generation is outputed to arm and saves corresponding arm fuel-economizing cylinder, elongation or contraction that can control arm fuel-economizing cylinder, and then realize the vibration of arm joint is accurately controlled.Preferably, the signal receiving unit 122 of vibration control apparatus 120 of the present invention is for receiving in real time the arm joint state signal of the state that represents each section of arm joint, calculate the arm joint of each section of arm joint by the arm joint state signal of each section of arm joint and the dynamic characteristic parameter of correspondence and control parameter, export thus the arm joint control signal of each section of 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 joint state signal of the state of at least one section of arm joint of expression receiving in real time can be provided by one or more sensor groups, is preferably by multiple sensor groups are set on jib and realizes.Taking the jib in Fig. 1 as example, as shown in Figure 1, the first arm joint 201, the second arm joint 202, the 3rd arm joint 203, the 4th arm joint 204, the 5th arm that 5 sensor groups (401,402,403,404,405) can be arranged at respectively jib save on 205, are used for the state of above-mentioned each arm joint to monitor in real time.As an example, the far-end that each sensor group can be arranged on each arm joint is near hinge place.In each sensor group, can comprise: vibration transducer and attitude transducer, the state signal of generation can comprise: oscillating signal and attitude signal.Vibration transducer can be conventional velocity transducer or acceleration transducer, 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 joint state signal at least comprises arm joint oscillating signal and arm joint attitude signal, and described dynamic characteristic parameter is to extract according to the arm joint attitude signal in described arm joint state signal.
According to technological scheme of the present invention, described signal processing unit 124 is for extracting corresponding dynamic characteristic parameter, calculate arm joint control parameter by described arm joint state signal and the dynamic characteristic parameter that extracts from described dynamic characteristic parameter database 128 according to the arm joint state signal receiving.Signal processing unit 124 calculates arm joint according to the program setting in advance and controls parameter, in signal processing unit 124, store from 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 of arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of described at least one section of arm joint.
Taking the above-mentioned jib with 5 sections of arm joints as example, this algorithmic notation is: i (t)=f (S1 (t), S2 (t), S3 (t), S4 (t), S5 (t), C (t)), the arm joint that wherein i (t) calculates for signal processing unit 124 (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 of arms joint from the dynamic characteristic parameter database 128 of arm joint.
Describedly can comprise summation, remainder, do the multiple computing such as variance, iteration from optimizing vibration control algorithm mapping, or use conventional control signal computational methods 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, also can be the parameter value of setting according to actual applying working condition, described dynamic characteristic parameter can be stored in dynamic characteristic parameter database 128 with the form of data sheet, the arm joint state signal of the state that can save by least one section of arm of expression receiving like this extracts the dynamic characteristic parameter C (t) corresponding to this or one group arm joint state signal from database.
The process of experimental simulation being measured to dynamic characteristic parameter below with reference to Fig. 7 describes.Fig. 7 shows the vibration convergence process schematic diagram while measuring dynamic characteristic parameter by experiment.In Fig. 7, longitudinal axis representation unit amplitude, transverse axis is time shaft (unit: S).Measuring dynamic characteristic parameter can carry out the in the situation that of simulation actual conditions.By simulation actual conditions, the state signal of acquisition arm joint (as, Oscillation Amplitude, vibration frequency, arm joint attitude etc.); By 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 arm joint controls parameter i (t) and utilizes this arm joint to control parameter i (t) arm joint is controlled; Then the Vibration Condition of controlled postbrachium joint is judged, for example, if judgement vibration convergence (, 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; For example, if (, vibration is amplified) dispersed in 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, deposit the value of parameters C now (t) in dynamic characteristic parameter database 128 as 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, locate to test paying close attention to a certain discrete point in frequency in frequency range (as, resonant frequency point), to determine the dynamic characteristic parameter of this Frequency point place arm joint of current attitude.As C (t) initial value value (0.52mm/mA is set,-46.8 °), wherein 0.52mm/mA is output stable state amplitude/input stable state amplitude of arm joint,-46.8 ° of output signals that are arm joint (as, oscillating signal) relative input signal (as, arm joint control signal) lagging phase angle, by the Vibration Condition of controlled postbrachium joint is restrained to judgement, by above-mentioned from 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 monitored in real time, can extract corresponding dynamic characteristic parameter pre-stored or that set according to the actual vibration situation of current one or more snippets arm joint, and calculate arm joint by described arm joint state 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 according to the vibration control system of jib of the present invention mode of execution block diagram.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, for the state of at least one section of arm of Real-Time Monitoring joint, and output represent the arm joint state signal of the state of at least one section of arm joint; The vibration control apparatus 120 being 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 of arm joint, arrive described arm fuel-economizing cylinder for the arm joint control signal of exporting described at least one section of arm joint, vibration control apparatus 120 comprises the signal receiving unit 122, signal processing unit 124 and the signal transmitting unit 126 that connect successively: signal receiving unit 122 sends to signal processing unit 124 for receiving the arm joint state signal of the state that represents at least one section of arm joint and arm being saved to state signal; 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 for extracting corresponding dynamic characteristic parameter, save state signal and the dynamic characteristic parameter that extracts calculates arm joint and controls parameter and arm joint control parameter is sent to signal transmitting unit 126 by arm from dynamic characteristic parameter database 128 according to the arm joint state signal receiving; Signal transmitting unit 126 is for controlling the arm joint control signal of at least one section of arm joint of parameter output according to the arm joint receiving.The action that arm fuel-economizing cylinder can save control signal elongation or shrink control arm joint according to arm is to reach the object 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 monitored in real time, can extract corresponding dynamic characteristic parameter pre-stored or that set according to the actual vibration situation of current one or more snippets arm joint, and calculate arm joint by described arm joint state 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 the vibration control system shown in Fig. 5, described vibration control system also comprises: signal conditioner 110, be connected between state monitoring apparatus 100 and vibration control apparatus 120, for the state signal of state monitoring apparatus 100 is amplified, the processing such as filtering, then signal after treatment is exported to vibration control apparatus 120; Signal regulating device 130, be connected between vibration control apparatus 120 and arm fuel-economizing cylinder, carry out the processing such as power amplification for the signal i (t) that vibration control apparatus 120 is exported, 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 control to vibration control system, specific implementation can be: the signal processing unit 124 in vibration control apparatus 120 can also vibrate convergence judgement to jib, vibrating effect is evaluated; Wherein, if for example, judgement vibration convergence (, 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; For example, if (, vibration is amplified) dispersed in judgement vibration, vibration control apparatus 120 carries out reverse optimizing (being exactly oppositely the adjustment opposite direction with current parameter) to controlling parameter.By feedback, from state monitoring apparatus 100 Real-time Obtaining vibrational state signals, the convergence judgement that vibration control apparatus 120 can vibrate, realizes the vibration of whole jib 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, under real-time controlled conditions, in each sampling circulation, carry out online time and frequency domain analysis to the state signal of the arm joint collecting, generate vibration severity value, evaluate the body vibration earthquake intensity of jib.Save as example taking 5 sections of arms, body vibration earthquake intensity value and vibration severity threshold value to current arm support compare.If current vibration severity value is less than the earthquake intensity threshold value of setting, can select 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, from dynamic characteristic parameter database 128, extract dynamic characteristic parameter and according to control strategy i (t)=f (S1 (t), 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) exporting according to the signal regulating device 130 of the vibration control system of jib of the present invention is 0mA-2000mA.Then the jib body vibration after controlled is vibrated to convergence judgement, if 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 jib active vibration control of system finishing.By introduce earthquake intensity threshold value in system, can realize the control to vibration control system.Thereby engineering staff can be according to engineering actual conditions and equipment situation, by earthquake intensity threshold value being arranged to realize the control to vibration control system.
Survey according to inventor, adopt from optimizing vibration control algorithm, the dynamic characteristic parameter of real-time calling jib is controlled adjustment, the vibration control system that makes this jib to the control response time of vibration of arm in 1s, system robustness and strong adaptability, work more stable.Adopt the vibration control system of jib disclosed by the invention, jib, within the scope of the energizing frequency of 0-0.5Hz, can subdue each arm and save more than 90% vibratory output, and system stability is reliable under desirable operating mode.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 connecting in turn, every section of arm joint is provided with arm fuel-economizing cylinder, arm fuel-economizing cylinder is by extending or shrink the action of control arm joint, 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 of arm joint, arrives arm fuel-economizing cylinder for the arm joint control signal of exporting at least one section of arm joint.
The engineering machinery with jib is a kind of widely used engineering equipment, can for example, by jib manufacture being installed on moveable platform (, load-carrying vehicle) or other operation platforms.And by the present invention, can, under the condition of structure that does not change existing engineering machinery, the vibration control apparatus of jib provided by the invention or system be arranged in 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; within the scope of technical conceive 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.
It should be noted that in addition, each concrete technical characteristics described in above-mentioned embodiment, in reconcilable situation, can combine 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 connecting in turn, and every section of described arm joint is provided with arm fuel-economizing cylinder, and described arm fuel-economizing cylinder is by extending or shrink the action of controlling described arm joint, it is characterized in that, described vibration control method comprises the following steps:
Receive in real time the arm joint state signal of the state that represents at least one section of arm joint;
According to the arm joint state signal receiving dynamic characteristic parameter corresponding to extraction from store the dynamic characteristic parameter database (128) of dynamic characteristic parameter of described arm joint;
Calculate arm joint by described arm joint state signal with the dynamic characteristic parameter extracting and control parameter; And
Control the arm joint control signal of the described at least one section of 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 joint state signal at least comprises arm joint oscillating signal and arm joint attitude signal, and described dynamic characteristic parameter is to extract according to the arm joint attitude signal in described arm joint state 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 of arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of described at least one section of arm joint.
4. vibration control method according to claim 3, is characterized in that, in the time that the arm joint state signal by receiving and the dynamic characteristic parameter extracting calculate arm joint control parameter:
If the arm nodular state signal receiving shows this arm joint vibration convergence, described arm joint is controlled to parameter calculate according to controlling with current arm joint direction that the adjustment direction of parameter is identical;
If the arm nodular state signal receiving shows this arm joint, vibration is dispersed, and according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled to parameter and calculates.
5. according to the vibration control method described in any one claim in claim 1-4, it is characterized in that, the method also comprises the vibration severity threshold value that sets in advance the described arm joint of sign ocsillator strenght, and after receiving described arm joint state signal:
Generate vibration severity value according to the arm joint state signal receiving; And
Described vibration severity value and described vibration severity threshold value are compared, in the time that described vibration severity value is greater than described vibration severity threshold value, from described dynamic characteristic parameter database (128), extract corresponding dynamic characteristic parameter.
6. the vibration control apparatus of a jib (120), described jib comprises the multistage arm joint connecting in turn, every section of described arm joint is provided with arm fuel-economizing cylinder, described arm fuel-economizing cylinder is by extending or shrink the action of controlling described arm joint, described vibration control apparatus (120) is connected with the arm fuel-economizing cylinder of at least one section of arm joint, arrive described arm fuel-economizing cylinder for the arm joint control signal of exporting described at least one section of arm joint, it is characterized in that, described vibration control apparatus (120) comprises the signal receiving unit (122) connecting successively, signal processing unit (124) and signal transmitting unit (126):
Described signal receiving unit (122) is for receiving in real time the arm joint state signal of the state that represents described at least one section of arm joint and described arm joint state 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 for extracting corresponding dynamic characteristic parameter, calculate arm joint control parameter and described arm joint control parameter is sent to signal transmitting unit (126) by described arm joint state signal and the dynamic characteristic parameter that extracts from described dynamic characteristic parameter database (128) according to the arm joint state signal receiving;
Described signal transmitting unit (126) is for controlling the arm joint control signal of the described at least one section of arm joint of parameter output according to the arm joint receiving.
7. vibration control apparatus according to claim 6 (120), it is characterized in that, described arm joint state signal at least comprises arm joint oscillating signal and arm joint attitude signal, and described dynamic characteristic parameter is to extract according to the arm joint attitude signal in described arm joint state 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 of arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of described at least one section of arm joint.
9. vibration control apparatus according to claim 8 (120), it is characterized in that, when described signal processing unit (124) is controlled parameter for calculating arm joint at the arm joint state signal by receiving and the dynamic characteristic parameter extracting:
If the arm nodular state signal receiving shows this arm joint vibration convergence, described arm joint is controlled to parameter calculate according to controlling with current arm joint direction that the adjustment direction of parameter is identical;
If the arm nodular state signal receiving shows this arm joint, vibration is dispersed, and according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled to parameter and calculates.
10. according to the vibration control apparatus (120) described in any one claim in claim 6-9, it is characterized in that, described signal processing unit (124) is also for setting in advance the vibration severity threshold value that characterizes described arm joint ocsillator strenght, and after receiving described arm joint state signal, described signal processing unit (124) generates vibration severity value according to the arm joint state signal receiving; And
Described signal processing unit (124) is also for comparing described vibration severity value and described vibration severity threshold value, in the time that described vibration severity value is greater than described vibration severity threshold value, from described dynamic characteristic parameter database (128), extract corresponding dynamic characteristic parameter.
The vibration control system of 11. 1 kinds of jibs, described jib comprises the multistage arm joint connecting in turn, and every section of described arm joint is provided with arm fuel-economizing cylinder, and described arm fuel-economizing cylinder is by extending or shrink the action of controlling described arm joint, it is characterized in that, described vibration control system comprises:
State monitoring apparatus (100), for the state of at least one section of arm of Real-Time Monitoring joint, and output represent the arm joint state signal of the state of described at least one section of arm joint;
Vibration control apparatus (120), this vibration control apparatus (120) is connected with the arm fuel-economizing cylinder of described state monitoring apparatus (100) and described at least one section of arm joint, arrive described arm fuel-economizing cylinder for the arm joint control signal of exporting described at least one section of arm joint, described vibration control apparatus (120) comprises the signal receiving unit (122), signal processing unit (124) and the signal transmitting unit (126) that connect successively:
Described signal receiving unit (122) is for receiving the arm joint state signal of the state that represents described at least one section of arm joint and described arm joint state 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 for extracting corresponding dynamic characteristic parameter, calculate arm joint control parameter and described arm joint control parameter is sent to signal transmitting unit (126) by described arm joint state signal and the dynamic characteristic parameter that extracts from described dynamic characteristic parameter database (128) according to the arm joint state signal receiving;
Described signal transmitting unit (126) is for controlling the arm joint control signal of the described at least one section of arm joint of parameter output according to the arm joint receiving.
12. vibration control systems according to claim 11, it is characterized in that, described arm joint state signal at least comprises arm joint oscillating signal and arm joint attitude signal, and described dynamic characteristic parameter is to extract according to the arm joint attitude signal in described arm joint state signal.
13. vibration control systems according to claim 12, 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 of arm joint, and C (t) is the dynamic characteristic parameter corresponding with the arm joint attitude signal of described at least one section of arm joint.
14. vibration control systems according to claim 13, is characterized in that, when described signal processing unit (124) is controlled parameter for calculating arm joint at the arm joint state signal by receiving and the dynamic characteristic parameter extracting:
If the arm nodular state signal receiving shows this arm joint vibration convergence, described arm joint is controlled to parameter calculate according to controlling with current arm joint direction that the adjustment direction of parameter is identical;
If the arm nodular state signal receiving shows this arm joint, vibration is dispersed, and according to the direction of controlling the adjustment opposite direction of parameter with current arm joint, described arm joint is controlled to parameter and calculates.
15. according to the vibration control system described in any one claim in claim 11-14, it is characterized in that, described signal processing unit (124) is also for setting in advance the vibration severity threshold value that characterizes described arm joint ocsillator strenght, and after receiving described arm joint state signal, described signal processing unit (124) generates vibration severity value according to the arm joint state signal receiving; And
Described signal processing unit (124) is also for comparing described vibration severity value and described vibration severity threshold value, in the time that described vibration severity value is greater than described vibration severity threshold value, from described dynamic characteristic parameter database (128), extract corresponding dynamic characteristic parameter.
16. 1 kinds have the engineering machinery of jib, described jib comprises the multistage arm joint connecting in turn, every section of described arm joint is provided with arm fuel-economizing cylinder, described arm fuel-economizing cylinder is by extending or shrink the action of controlling described arm joint, it is characterized in that, described engineering machinery also comprises the vibration control system of the jib described in any one claim in claim 11 to 15, vibration control apparatus (120) in this vibration control system is connected with the described arm fuel-economizing cylinder of at least one section of arm joint, arrives described arm fuel-economizing cylinder for the arm joint control signal of exporting described at least one section of arm joint.
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| CN1633654A (en) * | 2002-01-11 | 2005-06-29 | 活力震动公司 | Semi-active shock absorber control system |
| 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 |
| CN202677093U (en) * | 2011-10-31 | 2013-01-16 | 中联重科股份有限公司 | Vibration control device and system of arm support, engineering machinery with arm support |
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| JP3443018B2 (en) * | 1994-01-31 | 2003-09-02 | 極東開発工業株式会社 | Boom device for fluid transport |
| JP5311879B2 (en) * | 2008-05-22 | 2013-10-09 | 三菱電機株式会社 | Fan |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1633654A (en) * | 2002-01-11 | 2005-06-29 | 活力震动公司 | Semi-active shock absorber control system |
| 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 |
| CN202677093U (en) * | 2011-10-31 | 2013-01-16 | 中联重科股份有限公司 | Vibration control device and system of arm support, engineering machinery with arm support |
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| JP特开2000-192660A 2000.07.11 * |
| JP特开2009-281299A 2009.12.03 * |
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