CN103777647B - Arm support vibration reduction control system and method and concrete distributing device - Google Patents
Arm support vibration reduction control system and method and concrete distributing device Download PDFInfo
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- CN103777647B CN103777647B CN201410053300.6A CN201410053300A CN103777647B CN 103777647 B CN103777647 B CN 103777647B CN 201410053300 A CN201410053300 A CN 201410053300A CN 103777647 B CN103777647 B CN 103777647B
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Abstract
The invention provides an arm support vibration reduction control system and method and a concrete distributing device. The arm support vibration reduction control method includes the steps of determining the passive vibration frequency of passive displacement of an arm support oil cylinder piston, determining active displacement used for decreasing the maximum amplitude of the passive displacement of the arm support oil cylinder piston according to the passive vibration frequency, generating a control signal for controlling the arm support oil cylinder piston to move according to the active displacement, and controlling the arm support oil cylinder piston to move according to the control signal. According to the arm support vibration reduction control method, the problem that in the prior art, due to the fact that an arm support system is large in vibration, the overall device performance and the construction quality are lowered can be solved.
Description
Technical field
The present invention relates to the vibration insulating system of apparatus for distributing, in particular to a kind of arm support damping control system and control
Method, concrete distributing equipment.
Background technology
It is applied at present in the engineering machinery of construction, there is the main equipment of more piece arm support due to its flexible operation just
Victory is more and more applied, such as concrete mixer and concrete spreader, and it is mainly used in continuous conveying and pours coagulation
Soil is to specifying construction location, especially in the work progress of skyscraper, hypogee and big concrete structure, high with it
Quality, high efficiency, low consumption, low cost, short construction period, the low advantage of labor intensity, progressively becoming can not in construction
The key equipment lacking.
Concrete distributing equipment mainly includes concrete pump, concrete conveying pipe and the main portion of boom system three
Point.Concrete conveying pipe hangs on boom system and with boom system together action, double feed oil of concrete pump
The continuous alternation of cylinder pushes concrete into concrete conveying pipe, and along pipeline to cloth target location.Arm support system
System is hinged two-by-two and connect and compose by oil cylinder by rotary table and each galianconism section, and generally the composition of its arm support includes
The forms such as 4 joint arms, 5 joint arms, 6 joint arms, its each arm joint pass through telescopic oil cylinder hinged two-by-two thus boom system attitude can be made many
Become, the well suited operating mode complicated and changeable in construction site.The attitudes vibration of boom system is stretched by the oil cylinder between each arm joint
Contracting is realized, and the locus of boom system to be realized by swinging of rotary table.
The each joint arm of boom system is hinged two-by-two to be launched into cloth attitude, and its dynamics and cantilever beam structure are in some sides
Face is identical, and that is, arm support is longer, and the natural frequency of its system is then lower.And boom system connects composition two-by-two by oil cylinder, its oil
Cylinder has elastic characteristic so that concrete distributing equipment is operationally vulnerable to compression and stretches.And concrete distributing equipment by
Adopt double concrete cylinder to replace the operating characteristic of continuous feeding cycle in it, inevitably produce pulsatile impact, when concrete conveying
Produce pulsatile impact frequency close to boom system natural frequency frequency multiplication when, boom system unavoidably by produce significantly shake
Dynamic, the hazard of vibration of this boom system is big, and the dynamic stress that impact construction safety produces simultaneously leads to jib structure part fatigue
And reduce service life, affect equipment overall performance and construction quality.
Content of the invention
The present invention is intended to provide a kind of arm support damping control system and control method, concrete distributing equipment, existing to solve
There is boom system vibration in technology larger and lead to the problem that equipment overall performance and construction quality reduce.
To achieve these goals, according to an aspect of the invention, it is provided a kind of arm support vibration-reducing control method, wrap
Include: determine the passive frequency of vibration of the passive displacement of arm support oil cylinder piston；Determined for reducing arm support according to passive frequency of vibration
The active displacement of the passive displacement maximum amplitude of oil cylinder piston；Generated according to this active displacement and control arm support cylinder piston motion
Control signal, and arm support oil cylinder piston action is controlled by this control signal.
Further, it is determined that the step of the passive frequency of vibration of the passive displacement of arm support oil cylinder piston includes: monitor and obtain
Take the passive displacement that arm support oil cylinder piston is produced due to vibration of arm；The passive of arm support oil cylinder piston is determined according to passive displacement
Frequency of vibration.
Further, the master of the passive displacement maximum amplitude reducing arm support oil cylinder piston is determined according to this passive frequency of vibration
The step of dynamic displacement includes: forms sine or the cosine curve of vibration of arm according to passive frequency of vibration and passive displacement matching；
Sine according to vibration of arm or cosine curve determine the sine of active displacement or cosine reducing passive displacement maximum amplitude
Curve；Sine according to active displacement or cosine curve determination can reduce passive displacement the most significantly under passive frequency of vibration
The active displacement of value.
Further, the control signal controlling arm support cylinder piston motion is generated according to this active displacement, and pass through this control
Signal processed controls the step of arm support cylinder action to include: generates active displacement signal according to the active displacement determining；According to actively
Displacement signal is to arm support oil cylinder output control electric current；The rod chamber of arm support oil cylinder and entering of rodless cavity are controlled by this control electric current
Oily and fuel-displaced.
Further, this active displacement and the phase contrast of this passive displacement are 180 degree.
Further, the maximum amplitude of this active displacement is less than or equal to the maximum amplitude of this passive displacement.
Further, the active of the passive displacement maximum amplitude reducing arm support oil cylinder piston is determined according to passive frequency of vibration
Also need before the step of displacement to determine the need for carrying out vibration damping control.
According to a further aspect in the invention, there is provided a kind of arm support damping control system, comprising: frequency of vibration obtains dress
Put, for obtaining the passive frequency of vibration of arm support oil cylinder piston vibration of arm；Piston displacement control device, for according to vibration frequency
The passive frequency of vibration that rate acquisition device obtains determines the active displacement of the passive displacement maximum amplitude reducing arm support oil cylinder piston,
And the control signal controlling arm support cylinder piston motion is generated according to active displacement；Control performs device, according to piston displacement control
The control signal that device processed generates controls the motion of arm support oil cylinder piston.
Further, arm support damping control system also includes piston displacement monitoring device, and piston displacement monitoring device is used for
Monitor and obtain the passive displacement that arm support oil cylinder piston is produced due to vibration of arm, piston displacement control device is according to passive position
Move the passive frequency of vibration determining arm support oil cylinder piston, and be determined to reduce passive displacement maximum according to this passive frequency of vibration
The active displacement of amplitude.
Further, arm support damping control system also includes vibration damping control starter, and vibration damping controls starter needing
Carry out when vibration damping controls, sending vibration damping and control enabling signal to piston displacement control device, piston displacement control device is according to subtracting
Control enabling signal of shaking controls performs device work.
According to a further aspect in the invention, there is provided a kind of concrete distributing equipment, including arm support damping control system, should
Arm support damping control system is above-mentioned arm support damping control system.
Application technical scheme, arm support vibration-reducing control method comprises determining that the passive vibration of arm support oil cylinder piston
Frequency；Determine the active displacement of the passive displacement maximum amplitude reducing arm support oil cylinder piston according to this passive frequency of vibration；According to
This active displacement generates the control signal controlling arm support cylinder piston motion, and controls arm support oil cylinder piston by this control signal
Action.By using oil cylinder piston change in displacement signal as vibration damping reference parameter, signal such as is hit, disturbs at the external factor shadow
Ring and lead to distortion degree little, therefore more accurately arm support can be carried out with vibration damping, improve the effectiveness in vibration suppression of arm support.
Brief description
The accompanying drawing constituting the part of the present invention is used for providing a further understanding of the present invention, the schematic reality of the present invention
Apply example and its illustrate, for explaining the present invention, not constituting inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 shows the jib structure figure that arm support vibration-reducing control method is acted on according to an embodiment of the invention；
Fig. 2 shows the vibration transfer principle figure that the arm support vibration-reducing control method of embodiments of the invention is utilized；
Fig. 3 shows the structure principle chart of arm support damping control system according to an embodiment of the invention；
Fig. 4 shows arm support vibration-reducing control method flow chart according to an embodiment of the invention；And
Fig. 5 shows the controlling curve figure of arm support vibration-reducing control method according to an embodiment of the invention.
Reference: 10, the first arm joint；20th, the second arm joint；30th, arm support oil cylinder；31st, rod chamber；32nd, rodless cavity；33、
Piston rod；40th, displacement transducer.
Specific embodiment
To describe the present invention in detail below with reference to accompanying drawing and in conjunction with the embodiments.It should be noted that not conflicting
In the case of, the embodiment in the application and the feature in embodiment can be mutually combined.
As shown in figure 1, the boom system that the arm support vibration-reducing control method of the present invention is acted on includes the first arm joint 10, second
Arm joint 20 and be connected to arm support oil cylinder 30, the wherein first arm joint 10 and the second arm between the first arm joint 10 and the second arm joint 20
Hinged between section 20, and adjust the angle between the first arm joint 10 and the second arm joint 20 by arm support oil cylinder 30, thus reaching
Adjust the purpose of the cloth discharge position of concrete by the attitude adjusting arm support.The attitudes vibration of boom system by each arm joint it
Between oil cylinder stretch realize, the locus of boom system to be realized by swinging of rotary table.Boom system is by multiple
Arm joint in Fig. 1 and oil cylinder combination form cantilever beam system, are wherein rigidity between the piston rod 33 of arm support oil cylinder 30 and arm joint
Connect.Concrete conveying pipe hangs on boom system with boom system together action, double feed oil of concrete pump
The continuous alternation of cylinder pushes concrete into concrete conveying pipe, and along pipeline to cloth target location.
When the vertical up-down vibration of boom system, the piston rod 33 of arm support oil cylinder 30 is led to constantly to be compressed and draw
Stretch, the intracavity of arm support oil cylinder 30 makes arm support oil cylinder 30 become an elastomer full of hydraulic oil, therefore, when arm support oil cylinder 30
Piston rod 33 leads to the same appearance of the piston within arm support oil cylinder 30 along oil cylinder cavity back and forth when constantly being compressed and stretching
Vibration, the phase place of its vibration is consistent with vibration of arm phase place, but amplitude can be greatly attenuated.The vibration characteristics of therefore arm support tail end can
To be reflected with the vibration characteristics of arm support oil cylinder piston.
Vibration transmission schematic diagram when Fig. 2 works for boom system, it is alternately defeated that concrete distributing equipment uses twin-tub
Expect to realize continuous cloth, because the reversing impact of two concrete cylinders leads to concrete flow process during twin-tub alternately conveying
Middle generation pulsatile impact, pulsatile impact is delivered on arm support and easily causes vibration of arm, and severe patient can lead to arm support resonance, when it is humorous
The frequency shaken close to arm support natural frequency frequency multiplication when, boom system will be caused to produce big amplitude resonance, and boom system is significantly
Vibration is delivered on the piston rod 33 of arm support oil cylinder 30 and leads to arm support oil cylinder piston displacement constantly to change, and therefore passes through in real time
The change in displacement situation of the piston rod 33 of arm support oil cylinder 30 in on-line monitoring concrete distributing equipment work process, you can reflect
The Vibration Condition of arm support tail end.It is controlled so as to change by the change in displacement situation of the piston rod 33 to arm support oil cylinder 30
Amplitude is in and can reach control arm frame system end vibration amplitude in certain threshold range and be in the mesh in certain scope
's.
Based on above-mentioned analysis, and combine shown in Fig. 1 and Fig. 3, according to embodiments of the invention, arm support vibration-reducing control method
Comprise determining that the passive frequency of vibration of the passive displacement of arm support oil cylinder piston；Determined according to this passive frequency of vibration and reduce arm support
The active displacement of the passive displacement maximum amplitude of oil cylinder piston；Generated according to this active displacement and control arm support cylinder piston motion
Control signal, and arm support oil cylinder piston action is controlled by this control signal.Quilt in the piston vibration obtaining arm support oil cylinder 30
After dynamic frequency of vibration, the change of passive frequency of vibration according to produced by passive displacement can obtain arm support oil cylinder 30 due to arm
The frequency of vibration of the oil cylinder stretching motion that frame vibrates and produces, such that it is able to apply the effect of respective frequencies to arm support oil cylinder 30
Power, to reduce the passive displacement that arm support oil cylinder 30 is affected by vibration of arm and produces, so by control arm support oil cylinder 30
Reduce effect of vibration produced by arm support, improve the degree of accuracy that arm support vibration damping controls.And be used as giving birth to using passive frequency of vibration
Become active displacement relevant parameter it is ensured that arm support carry out vibration damping control when, can real-time continuous ground passive to arm support
Displacement carries out active damping controls it is ensured that the seriality of damping effect power and specific aim are such that it is able to more fast and effeciently subtract
The passive displacement that little arm support is produced due to system vibration, plays effective arm support damping effect.
It is corresponding that this damping effect power can make arm support oil cylinder piston produce a passive frequency of vibration with passive displacement
Active displacement so that when passive displacement is in maximum amplitude active displacement can offset with passive displacement, thus playing
Reduce the purpose of the passive displacement maximum amplitude of arm support oil cylinder piston.This active displacement is not that arm support oil cylinder piston actually occurs
Displacement, be intended merely to easily facilitate how description is controlled and virtual displacement to passive displacement, expression be arm support only
Bear produced displacement in the case of active damping active force.The maximum amplitude of the passive displacement of arm support is a certain reference intercepting
Vibration of arm maximum amplitude in section, this maximum amplitude can be followed the change of passive displacement amplitude in reference field and accordingly be occurred
Change, therefore this passive displacement maximum amplitude is not changeless.
In the present embodiment, determine that the step of the passive frequency of vibration of the passive displacement of arm support oil cylinder piston includes: monitoring
And obtain the passive displacement that arm support oil cylinder piston is produced due to vibration of arm；Determine that described arm support oil cylinder is lived according to passive displacement
The passive frequency of vibration of plug.That is, being passive using the arm support oil cylinder piston being led to due to vibration of arm in the present embodiment
Displacement is used as the control parameter of arm support vibration damping control, monitoring arm support oil cylinder piston produced due to vibration of arm passive
On the basis of displacement, the passive displacement of arm support oil cylinder piston can be associated with the frequency of vibration of arm support oil cylinder piston, from
And the vibration damping to vibration of arm is controlled more quick and precisely.The mode of passive frequency of vibration obtaining vibration of arm can be
Multiple, because vibration of arm can be presented as the vibration of arm support itself it is also possible to be presented as the arm producing due to vibration of arm
No matter the passive displacement of frame oil cylinder piston, therefore, select which part-structure is used as calculating the passive frequency of vibration of vibration of arm
Reference be all possible, and this frequency of vibration is also consistent.And the amplitude due to vibration of arm is lived with arm support oil cylinder
The amplitude of plug displacement is also consistent, therefore, reduces the passive displacement of arm support oil cylinder piston namely the passive displacement reducing arm support.
By using arm support oil cylinder piston displacement variable signal as vibration damping reference parameter, signal is hit, disturbs etc. outer
The impact of portion factor and lead to distortion degree little, therefore more accurately arm support can be carried out with vibration damping, improve subtracting of arm support
Shake effect.When being controlled to arm support oil cylinder 30 by this control method, arm support oil cylinder when can be worked according to boom system
30 shift transformation determines the vibrational state of arm support, then arm support oil cylinder 30 is applied to stop arm support oil cylinder 30 from being sent out due to vibration
The hydraulic action of raw passive displacement, thus reducing the flexible amplitude that vibration of arm brings to arm support oil cylinder 30, reduces arm support
Vibration is to the adverse effect caused by boom system itself.
Determine the active displacement of the passive displacement maximum amplitude reducing arm support oil cylinder piston according to this passive frequency of vibration
Step includes: forms sine or the cosine curve of vibration of arm according to described passive frequency of vibration and described passive displacement matching；
The sine of the active displacement of the sine according to described vibration of arm or the cosine curve determination described passive displacement maximum amplitude of reduction
Or cosine curve；Sine according to described active displacement or cosine curve determine under described this passive frequency of vibration of determination
The active displacement of the maximum amplitude of passive displacement can be reduced.By active displacement and passive displacement be placed in same frequency of vibration it
Under, ensure that, between passive displacement and active displacement, there is the identical vibration period, easily facilitate and controlled by active displacement
Make passive displacement, realize the precise control to vibration of arm.
The control signal controlling arm support cylinder piston motion is generated according to this active displacement, and is controlled by this control signal
The step of arm support oil cylinder 30 action includes: generates active displacement signal according to the active displacement determining；According to active displacement signal
To arm support oil cylinder 30 output control electric current；The rod chamber 31 of arm support oil cylinder 30 and entering of rodless cavity 32 are controlled by this control electric current
Oily and fuel-displaced.By controlling the oil-feed of the rod chamber 31 of arm support oil cylinder 30 and rodless cavity 32 and fuel-displaced, hydraulic oil pair can be passed through
Arm support oil cylinder piston applies to stop the active force of passive displacement, thus reducing the passive displacement of arm support oil cylinder piston, reduces arm support
The vibration being occurred in work process.
Preferably, the phase contrast of this active displacement and this passive displacement is 180 degree, due to passive displacement and active displacement
Frequency of vibration is consistent, therefore so that active displacement signal all can control arm support oil cylinder 30 generation to subtract within each cycle
The active force of the passive displacement of little arm support, and so that the vibration held stationary of arm support is changed, can be in the base ensureing arm support stability
The vibration of at utmost sinking lower arm frame on plinth, improves stability and the reliability of boom system work.
In the middle of other embodiments, the active displacement of arm support oil cylinder piston and the phase contrast of passive displacement can also be not
It is 180 degree, but the phase contrast of an other fixation, and their frequency of vibration is consistent, this fixing phase contrast need to make
Arm support oil cylinder piston in a certain amount of time be increase passive displacement, but to reduce on the whole passive displacement the most significantly
Value, for being for the active displacement of honest passive displacement in a certain amount of time, itself and passive displacement itself displacement superposed
The maximum amplitude of former passive displacement can not be exceeded afterwards, and the period that passive displacement maximum amplitude is located should be located at and passive displacement
Contrary active displacement was located in the period.In the case that active displacement is consistent with the frequency of vibration of passive displacement, master can be made
Dynamic displacement and passive displacement support vibrate along this fixing phase contrast all the time, thus can also meet that arm support oil cylinder piston is reduced
The purpose of maximum displacement.
The frequency of vibration of passive displacement and active displacement can also be not consistent.In this case, active position can be made
Move the active vibration frequency with a fixation being different from passive frequency of vibration, due to the vibration of passive displacement and active displacement
Frequency and vibration period are all inconsistent, therefore, here with this kind of mode to be controlled to active displacement when, if active displacement
All the time adopt the active vibration frequency of a fixation, then during vibration damping, arise that and at a time increase passively
The phenomenon of displacement maximum amplitude, in order to avoid this kind of phenomenon, during active displacement is controlled, needs according to actively
The stack result of displacement and passive displacement the frequency of vibration of active displacement is adjusted, to ensure at any time actively
Displacement and passively displacement superposed after amplitude be all less than the maximum amplitude of passive displacement.Fixing for active vibration frequency
For situation, the phase place of active displacement can be adjusted so that active displacement can be staggered within the cycle of a fixation
Increase this period of the maximum amplitude of passive displacement, such that it is able to reduce passive displacement maximum amplitude on the whole.
Preferably, the maximum amplitude of this active displacement is less than or equal to the maximum amplitude of this passive displacement.
Step in the active displacement determining the passive displacement maximum amplitude reducing arm support oil cylinder piston according to this passive displacement
Also need to determine the need for carrying out vibration damping control before rapid.When boom system works, if the vibration not shadow that arm support produces
Ring the service behaviour of boom system, when boom system need not be carried out with vibration damping process, can not go to control boom system to be subtracted
Shake process, to lower the burden of the processing units such as processor, reduce power attenuation, improve the operational efficiency of processing unit.When need
When boom system is carried out with vibration damping control, can be as arm support damping control system input control signal is so that boom system enters
Enter vibration damping controlled state, thus reducing arm support vibration in the course of the work.
In conjunction with shown in Figure 4, according to embodiments of the invention, arm support damping control system includes: frequency of vibration obtains
Device, for obtaining the passive frequency of vibration of arm support oil cylinder piston vibration of arm；Piston displacement control device, for according to vibration
The passive frequency of vibration that frequency acquisition device obtains determines the active position of the passive displacement maximum amplitude reducing arm support oil cylinder piston
Move, and generate the control signal controlling arm support cylinder piston motion according to active displacement；Control performs device, according to piston displacement
The control signal that control device generates controls the motion of arm support oil cylinder piston.
Arm support damping control system also includes piston displacement monitoring device, and described piston displacement monitoring device is used for monitoring simultaneously
Obtain the passive displacement that described arm support oil cylinder piston is produced due to vibration of arm, piston displacement control device is according to passive displacement
Determine the passive frequency of vibration of arm support oil cylinder piston, and be determined to reduce the maximum of passive displacement according to this passive frequency of vibration
The active displacement of amplitude.Piston displacement control device can generate passive displacement changing curve according to passive displacement, and according to quilt
Dynamic displacement changing curve determines frequency of vibration and Oscillation Amplitude of passive displacement etc., is then with these parameter determinations suitable
Control electric current.
In the present embodiment, piston displacement monitoring device is sensor, and this sensor is used for measuring arm support oil cylinder piston
Position, this sensor is specifically as follows the displacement transducer 40 that inside/outside puts formula.Piston displacement control device is processor, at this
Reason utensil has the function of sampling and analysis of signal, can generate passive position according to the passive displacement that piston displacement monitoring device obtains
Shifting variable signal, and frequency of vibration and the Oscillation Amplitude of passive displacement is determined according to passive change in displacement signal, then permissible
Frequency of vibration according to passive displacement and Oscillation Amplitude determine the active position needed for maximum vibration amplitude reducing passive displacement
The Oscillation Amplitude moving, and the Oscillation Amplitude of active displacement is converted into active change in displacement signal, then active displacement is become
Change the control electric current that signal is converted to the active displacement controlling arm support oil cylinder 30, and be delivered to control performs device.Control execution
Device is hydraulic control oil circuit, hydraulic control oil circuit and the piston that rod chamber 31 with arm support oil cylinder 30 and rodless cavity 32 are connected
Displacement control device connects, and according to the control electric current that piston displacement control device sends, arm support oil cylinder 30 is controlled, in arm
When frame oil cylinder piston has the passive displacement of contraction, to the rodless cavity 32 input pressure oil of arm support oil cylinder 30, stop arm support oil cylinder
Piston retraction, when arm support oil cylinder piston has the passive displacement stretched out, to the rod chamber 31 input pressure oil of arm support oil cylinder 30,
Arm support oil cylinder piston is stoped to stretch out, thus carrying out vibration damping process to boom system.
Arm support damping control system also includes vibration damping and controls starter, and vibration damping controls starter needing to carry out vibration damping
Sending vibration damping during control controls enabling signal to piston displacement control device, and piston displacement control device controls according to vibration damping and starts
Signal controls performs device work.
The work process of the arm support damping control device of embodiments of the invention, Fig. 1 to be described with reference to Fig. 1 to Fig. 4
In displacement transducer 40 be sensor for measuring arm support oil cylinder piston position.When concrete distributing equipment works, lead to
The piston controller output control current control crossing arm support oil cylinder 30 controls performs device (electricity/hydraulic control valve block) to beat and open or close
Close the rodless cavity 32 to arm support oil cylinder 30 and input or release pressure oil, rod chamber 31 can release or input pressure oil is pushing away simultaneously
Swing arm frame oil cylinder piston is in oil cylinder piston intracavity sweeping action, the piston rod 33 of arm support oil cylinder piston action linkage arm support oil cylinder 30
Action, and the piston rod 33 of arm support oil cylinder 30 and arm support are rigidly connected, thus the first arm joint 10 and the second arm joint 20 can be made
Take down the exhibits and produce a certain degree of relative motion.When boom system be launched into the attitude shown in Fig. 1 carry out cloth work when, oil cylinder
A single-degree-of-freedom spring-damp system can be reduced to, its rigidity is certain.When boom system because the pulsation that conveying produces is rushed
Hit when leading to vibration of arm, the movement range of the first arm joint 10 and the second arm joint 20 not of uniform size so that producing phase between two-arm
To motion thus lead to arm support oil cylinder 30 piston rod 33 compressed and stretching so that arm support oil cylinder piston position is constantly sent out
Changing, the trend of its change is consistent with the vibration trend of arm support tail end and phase place with phase place.Now, available displacement transducer
40 obtain arm support oil cylinder piston position situation of change, calculate rod chamber 31 and the rodless cavity 32 that control signal controls arm support oil cylinder 30
Input or release pressure oil to adjust the position of arm support oil cylinder piston, so that the change that arm support oil cylinder piston forms active displacement is become
Gesture is so that the variation tendency of this active displacement vibrates, with boom system, the arm support oil cylinder piston passive change in displacement trend phase leading to
Phase difference 180 degree and change amplitude be less than or equal to passive displacement amplitude of variation so that arm support oil cylinder piston displacement change journey
Degree is in certain limit, you can realize the decay of boom system Oscillation Amplitude.
In conjunction with shown in Figure 5, when arm support is launched into cloth attitude and swings to cloth shots, arm support oil cylinder piston displacement is supervised
Survey device to gather and analyze current arm support oil cylinder piston position information, and with this information for arm support oil cylinder piston displacement
Equilbrium position, and the position of controlling curve in figure y=0 of Fig. 5 is x-axis, the t of in figure is the vibration period of passive displacement, and change is bent
In line, the larger bold portion of amplitude is the passive displacement changing curve before non-vibration damping, and dotted portion is that active change in displacement is bent
Line, the less achievement unit of amplitude be divided into through the vibration absorber vibration damping of the present invention after the passive displacement changing curve of piston.Arm support
System produces vibration during pump concrete, and arm support oil cylinder piston position can be led to change up and down in equilbrium position.Arm support
The change information of the piston displacement of arm support oil cylinder 30 is delivered to arm support oil cylinder piston position by the piston displacement monitoring device of oil cylinder 30
Move control device, arm support oil cylinder piston displacement control device calculates the frequency of vibration of arm support oil cylinder piston displacement signal, and utilizes
The frequency of vibration of this signal calculates a control signal and exports control actuator, controls performs device by arm support oil cylinder
30 two chambeies input or release pressure oil so that arm support oil cylinder piston produces an arm support oil cylinder piston leading to vibration of arm
Passive change in displacement is in opposite direction, the work of the arm support oil cylinder piston displacement intensity of variation that amplitude leads to less than or equal to vibration of arm
Firmly, realize arm support oil cylinder piston displacement intensity of variation and be in certain scope, thus the vibration of arm support tail end can be made to be in
In certain scope, reach the effective control to arm support vibration damping.
As shown in figure 5, when arm support damping control device is started working, piston displacement control device can read arm support oil cylinder and lives
Fill in reading arm support vibration damping control while change in displacement signal and open enable, when vibration damping control unlatching enable is detected, piston
Displacement control device then calculates the time span of arm support oil cylinder piston displacement signal a cycle, i.e. the vibration period t of signal.
First cycle time length computational methods can be: when vibration damping control open when calculate arm support oil cylinder piston displacement signal mistake
The number of times of equilibrium point, and calculate the signal points n between third time overbalance point for the first time overbalance point, by signal simultaneously
Sample rate f s that points n is multiplied by signal can get the time span that vibration damping controls unlatching a cycle, and that is, arm support oil cylinder is lived
The vibration period t of plug displacement signal, can draw the frequency of vibration f=1/t of arm support oil cylinder piston displacement signal according to vibration period t；
The second round opened is controlled then to calculate control signal in vibration damping.It is control signal output that vibration damping controls the second round opened
Starting point is the moment of arm support oil cylinder piston displacement signal third time overbalance point, and control signal is as shown in the imaginary curve of Fig. 5.Control
The computational methods of signal processed are y=a*sin(2*pi*f*T), the amplitude that wherein a exports for control signal, its size is by controlling execution
Device be the operating current of electro-hydraulic proportional valve choosing, f is arm support oil cylinder piston displacement signal frequency of vibration, and t is the sampling time
Size.By above scheme may be implemented in vibration damping control open second round be piston displacement signal third time overbalance point when
Output control signal, control signal controls electro-hydraulic proportional valve opening and closing that cylinder rod chamber 31 and rodless cavity 32 are entered to let out pressure oil,
Thus realizing the variation phase of arm support oil cylinder piston displacement and the arm support oil cylinder piston displacement change being led to by boom system vibration
180 ° of difference, its amplitude is less than or equal to arm support oil cylinder piston displacement and changes amplitude, thus the arm support oil cylinder piston displacement that can decay
Change amplitude is so as to change is in certain scope, thus arm support tail end vibration displacement being made to decay and being in certain
In amplitude range.Combined by above method and control, you can realize vibration of arm amplitude and carry out vibration damping control.
According to embodiments of the invention, concrete distributing equipment includes arm support damping control system, and this arm support vibration damping controls
System is above-mentioned arm support damping control system.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect:
1st, control vibration of arm by the use of piston oil-cylinder change in displacement as reference conditions, the external disturbance such as signal is hit
Produced distortion level is little, and it is more accurate to control, and can effectively realize arm support vibration damping.
2nd, passive displacement and active displacement have common frequency of vibration, and the phase contrast phase of passive displacement and active displacement
Difference 180 degree, so that active displacement can preferably reduce the Oscillation Amplitude of passive displacement, improves arm support damping control device
Damping property.
3rd, the vibration damping between each arm joint of arm support is controlled and is controlled by the arm support oil cylinder being connected between adjacent two arm segment
System, is capable of the comprehensive vibration damping to boom system.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of arm support vibration-reducing control method is it is characterised in that include:
Determine the passive frequency of vibration of the passive displacement of arm support oil cylinder piston；
Determine the active displacement of the passive displacement maximum amplitude for reducing arm support oil cylinder piston according to described passive frequency of vibration；
The control signal controlling arm support cylinder piston motion is generated according to this active displacement, and arm support is controlled by this control signal
Oil cylinder piston action；
Wherein, the step of the described passive frequency of vibration of passive displacement determining arm support oil cylinder piston includes:
Monitor and obtain the passive displacement that arm support oil cylinder piston is produced due to vibration of arm；
Determine the passive frequency of vibration of described arm support oil cylinder piston according to described passive displacement；
The step of the described passive frequency of vibration determining described arm support oil cylinder piston according to this passive vibration displacement includes:
Passive displacement changing curve is generated according to passive displacement, and is determined according to described passive displacement changing curve and described passively shake
Dynamic frequency；
Wherein, the described active position determining the passive displacement maximum amplitude reducing arm support oil cylinder piston according to this passive frequency of vibration
The step moved includes:
Form sine or the cosine curve of vibration of arm according to described passive frequency of vibration and described passive displacement matching；According to institute
State the sine of vibration of arm or cosine curve determines the sine of active displacement reducing described passive displacement maximum amplitude or remaining
Chord curve；
Sine according to described active displacement or cosine curve determination can reduce passive position under described passive frequency of vibration
Move the active displacement of maximum amplitude.
2. arm support vibration-reducing control method according to claim 1 is it is characterised in that described generate control according to this active displacement
The control signal of arm support oil cylinder piston movement processed, and included by the step that this control signal controls arm support cylinder action:
Active displacement signal is generated according to the active displacement determining；
According to active displacement signal to arm support oil cylinder output control electric current；
The oil-feed of the rod chamber of arm support oil cylinder and rodless cavity and fuel-displaced is controlled by this control electric current.
3. arm support vibration-reducing control method according to claim 1 is it is characterised in that this active displacement and this passive displacement
Phase contrast is 180 degree.
4. arm support vibration-reducing control method according to claim 1 is it is characterised in that the maximum amplitude of this active displacement is less than
Or it is equal to the maximum amplitude of this passive displacement.
5. arm support vibration-reducing control method according to claim 1 is it is characterised in that the passive frequency of vibration of described basis determines
Also need to determine the need for being subtracted before the step of active displacement of passive displacement maximum amplitude reducing arm support oil cylinder piston
Shake control.
6. a kind of arm support damping control system is it is characterised in that include:
Frequency of vibration acquisition device, for obtaining the passive frequency of vibration of arm support oil cylinder piston vibration of arm；
Piston displacement control device, the passive frequency of vibration for being obtained according to described frequency of vibration acquisition device determines reduction institute
State the active displacement of the passive displacement maximum amplitude of arm support oil cylinder piston, and the described arm support of control is generated according to described active displacement
The control signal of cylinder piston motion；
Control performs device, described arm support oil cylinder piston is controlled according to the control signal that described piston displacement control device generates
Motion；
Wherein, arm support damping control system also includes piston displacement monitoring device, and described piston displacement monitoring device is used for monitoring
And obtaining the passive displacement that described arm support oil cylinder piston is produced due to vibration of arm, described piston displacement control device is according to institute
State the passive frequency of vibration that passive displacement determines described arm support oil cylinder piston, and be determined to reduce according to this passive frequency of vibration
The active displacement of passive displacement maximum amplitude；Described piston displacement control device generates passive displacement according to described passive displacement and becomes
Change curve, and described passive frequency of vibration is determined according to described passive displacement changing curve；
Wherein, described piston displacement control device forms arm support according to described passive frequency of vibration and described passive displacement matching and shakes
Dynamic sine or cosine curve；Sine according to described vibration of arm or cosine curve determine the described passive displacement of reduction the most significantly
The sine of active displacement of value or cosine curve；Sine according to described active displacement or cosine curve determine in described quilt
The active displacement of passive displacement maximum amplitude can be reduced under dynamic frequency of vibration.
7. arm support damping control system according to claim 6 is it is characterised in that described arm support damping control system also wraps
Include vibration damping and control starter, described vibration damping controls starter needing to carry out sending vibration damping control startup letter when vibration damping controls
Number to described piston displacement control device, described piston displacement control device controls described in enabling signal controls according to described vibration damping
Control performs device work.
8. a kind of concrete distributing equipment, including arm support damping control system it is characterised in that described arm support damping control system
Arm support damping control system described in claim 6 or 7.
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| CN107063448B (en) * | 2017-06-09 | 2024-01-19 | 江苏中信博新能源科技股份有限公司 | Device for simulating vibration frequency of photovoltaic bracket and testing method |
| CN112937411B (en) * | 2019-12-10 | 2022-10-04 | 长沙智能驾驶研究院有限公司 | Multi-stage damping linkage control method and system for refrigeration device |
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