CN114217646A - Arm support control method, arm support device, engineering vehicle and readable storage medium - Google Patents
Arm support control method, arm support device, engineering vehicle and readable storage medium Download PDFInfo
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- CN114217646A CN114217646A CN202111534911.9A CN202111534911A CN114217646A CN 114217646 A CN114217646 A CN 114217646A CN 202111534911 A CN202111534911 A CN 202111534911A CN 114217646 A CN114217646 A CN 114217646A
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- 238000000034 method Methods 0.000 title claims abstract description 77
- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 230000001629 suppression Effects 0.000 claims abstract description 74
- 230000009471 action Effects 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims description 21
- 238000013178 mathematical model Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 8
- 238000005299 abrasion Methods 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 230000005764 inhibitory process Effects 0.000 abstract description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
Abstract
The invention relates to a boom control method, a boom device, an engineering vehicle and a readable storage medium. The vehicle control method includes: receiving a stop signal of a rotary driving mechanism of the arm support; acquiring state information of the arm support; and controlling the rotation driving mechanism to operate according to the state information, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction. By the technical scheme, vibration of the boom after rotation stop can be effectively inhibited, the accuracy is higher, the stability and the operation efficiency of the boom in the use process can be effectively improved, meanwhile, the abrasion of the boom is reduced, the service life of the boom is prolonged, and the vibration inhibition action cannot influence the normal rotation operation of the boom.
Description
Technical Field
The invention relates to the technical field of engineering vehicles, in particular to a boom control method, a boom device, an engineering vehicle and a readable storage medium.
Background
The boom device is often applied to engineering vehicles such as a concrete pump truck and the like, and the operation range is expanded through rotation and extension of the boom device. Because the length of the arm support is usually long, vibration often occurs in the rotation process due to the action of inertia, particularly when the rotation is stopped, the vibration of the tail end of the arm support is particularly obvious, and along with the extension of the arm support, the vibration of the tail end of the arm support is further aggravated to influence the operation efficiency, and in addition, the vibration also aggravates the abrasion of the arm support to influence the service life. The prior art provides some schemes for relieving the vibration of the boom, and the rotation speed of the boom during normal rotation operation is adjusted through the working attitude information and the target inclination angle of the boom, so that the vibration of the boom is relieved.
Disclosure of Invention
In view of the above, to solve the above technical problem, the present invention provides a boom control method, a boom device, an engineering vehicle and a readable storage medium.
The invention provides a boom control method, which comprises the following steps: receiving a stop signal of a rotary driving mechanism of the arm support; acquiring state information of the arm support; and controlling the rotation driving mechanism to operate according to the state information, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction.
In one possible implementation, the steps of: controlling the rotation driving mechanism to operate according to the state information, and driving the tail end of the arm support to perform vibration suppression action opposite to the vibration direction, wherein the vibration suppression action comprises the following steps: determining a vibration suppression parameter of the rotary driving mechanism according to the state information; and controlling the rotation driving mechanism to operate by using the compensation current corresponding to the vibration suppression parameter, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction.
In a feasible implementation manner, in the boom control method, the state information includes: the tail end angular velocity information and the vibration direction information of the tail end of the arm support, the dip angle information, the posture information and the angular velocity information of each knuckle arm of the arm support and the working state information of the rotary driving mechanism are obtained; the vibration suppression parameters comprise the energizing time interval, the energizing duration and the amplitude of the compensation current; the steps are as follows: determining vibration suppression parameters of the rotary driving mechanism of the arm support according to the state information, wherein the vibration suppression parameters comprise: calling a dynamic mathematical model of the arm support to calculate the state information to obtain the electrifying time interval of the compensation current; and determining the electrifying time length and the amplitude of the compensation current according to the tail end angular velocity information of the tail end of the arm support.
In one possible implementation, the steps of: determining the energization time length and the amplitude according to the tail end angular velocity information of the tail end of the arm support, wherein the determination comprises the following steps: determining the amplitude and the period of the tail end of the arm support according to the tail end angular velocity information of the tail end of the arm support; and determining the amplitude according to the amplitude, and determining the electrifying time length according to the period.
In a possible implementation manner, the compensation current in the boom control method includes a half-cycle sine wave current or a half-cycle square wave current.
In a feasible implementation manner, the boom control method further includes the following steps: acquiring terminal angular velocity information of the tail end of the arm support in the current state; determining the tail end amplitude of the tail end of the arm support according to the tail end angular velocity information; judging whether the amplitude of the tail end is greater than or equal to an amplitude threshold value or not, and generating a judgment result; if the judgment result is yes, the steps are executed again: and acquiring the state information of the arm support.
The invention also provides a boom device, comprising: a boom; the rotary driving mechanism is in transmission connection with the arm support so as to drive the arm support to rotate; the detection component is arranged on the arm support to detect the state information of the arm support; the controller is in communication connection with the rotary driving mechanism and the detection assembly and is used for respectively receiving a stop signal of the rotary driving mechanism and state information detected by the detection assembly; and the controller receives a stop signal of the rotary driving mechanism and controls the rotary driving mechanism to operate according to the state information so as to drive the tail end of the arm support to perform vibration suppression action opposite to the vibration direction.
In a feasible implementation manner, the boom apparatus further includes: and the remote operation terminal is in communication connection with the rotary driving mechanism and is configured to be used for an operator to input an operation instruction corresponding to the rotary driving mechanism.
In one possible implementation, the detection assembly comprises a plurality of angular velocity sensors and a plurality of tilt sensors; and each knuckle arm of the arm support is provided with at least one angular velocity sensor and at least one tilt angle sensor, and the angular velocity sensor and the tilt angle sensor are in communication connection with the controller.
The invention also provides an engineering vehicle, comprising: a vehicle body; the boom device in any one of the above is arranged on the vehicle body.
The invention also provides a readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method for controlling the boom is executed
The invention has the beneficial effects that:
according to the technical scheme, the vibration of the boom after the rotation of the boom is stopped can be effectively inhibited, the accuracy is higher, the stability and the operation efficiency of the boom in the using process can be effectively improved, and meanwhile, the abrasion of the boom is reduced, and the service life of the boom is prolonged; in addition, the technical scheme of the invention controls the rotation of the arm support after the rotation of the arm support stops, and the normal rotation operation of the arm support is not influenced.
Drawings
Fig. 1 is a schematic flow chart of a boom control method according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart of a boom control method according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of a boom control method according to an embodiment of the present invention.
Fig. 4 is a schematic flow chart illustrating a boom control method according to an embodiment of the present invention.
Fig. 5 is a flowchart illustrating a boom control method according to an embodiment of the present invention.
Fig. 6 is a flowchart illustrating a boom control method according to an embodiment of the present invention.
Fig. 7 is a schematic block diagram of a boom apparatus according to an embodiment of the present invention.
Fig. 8 is a schematic block diagram of a boom device according to an embodiment of the present invention.
Fig. 9 is a schematic block diagram of a boom apparatus according to an embodiment of the present invention.
Fig. 10 is a schematic block diagram of an engineering vehicle according to an embodiment of the present invention.
Description of reference numerals:
the system comprises a 10 boom device, a 101 boom, a 102 rotation driving mechanism, a 103 detection component, a 1031 angular velocity sensor, a 1032 inclination angle sensor, a 104 controller, a 105 remote operation terminal, a 20 engineering vehicle and a 201 vehicle body.
Detailed Description
In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indicators in the embodiments of the present application (such as upper, lower, left, right, front, rear, top, bottom … …) are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The invention provides a boom control method in one embodiment, which can be applied to a boom device. As shown in fig. 1, the boom control method includes:
step S110: receiving a stop signal of a rotary driving mechanism of the arm support;
step S120: acquiring state information of the arm support;
step S130: and controlling the rotation driving mechanism to operate according to the state information, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction.
In the boom control method in this embodiment, in step S110, a signal indicating that the rotation driving mechanism of the boom stops rotating is determined, so that the following control operations are started; through the steps of S120 and S130, the state information of the boom is obtained to determine the overall state characteristics of the boom at the time, and then the rotation driving mechanism is controlled to operate according to the state information, so that the rotation driving mechanism performs corresponding actions, and further the boom tail end of the boom is driven to generate actions opposite to the vibration direction, so that the inertia of the boom tail end is offset, and vibration suppression is realized.
It should be noted that the rotation driving mechanism in the present embodiment includes, but is not limited to, an electrically controlled hydraulic motor; the state parameters of the boom can be obtained through corresponding detection components (such as an angular velocity sensor, a tilt sensor and the like).
According to the boom control method, after the boom stops rotating, the boom can generate vibration suppression action opposite to the vibration direction by adjusting the rotary driving mechanism, so that the vibration of the tail end of the boom caused by inertia is counteracted, on one hand, the accuracy of control operation is higher, the stability and the operation efficiency of the boom in the using process can be effectively improved, on the other hand, the abrasion of the boom can be effectively reduced, the service life of the boom is prolonged, excessive refitting operation of the existing boom device is not needed, and the method is easy to realize. In addition, the boom control method in the embodiment performs the control operation only after the boom rotation stops, and does not affect the normal rotation operation of the boom.
The invention provides a boom control method in one embodiment, which can be applied to a boom device. As shown in fig. 2, the boom control method includes:
step S110: receiving a stop signal of a rotary driving mechanism of the arm support;
step S120: acquiring state information of the arm support;
step S131: determining a vibration suppression parameter of the rotary driving mechanism according to the state information;
step S140: and controlling the rotation driving mechanism to operate by using the compensation current corresponding to the vibration suppression parameter, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction.
The boom control method of the present embodiment further improves step S130 on the basis of the above embodiments. Specifically, step S130 includes steps S131 and S140, determining a vibration suppression parameter that the rotation driving mechanism can suppress vibration by analyzing the state information of the boom in step S131, and then passing a compensation current corresponding to the vibration suppression parameter to the rotation driving mechanism by using the vibration suppression parameter as an operation parameter of the rotation driving mechanism in step S140, and controlling the rotation driving mechanism to operate with the vibration suppression parameter to drive the boom end of the boom to perform an action opposite to the vibration direction, so as to suppress the vibration of the boom end. After the normal rotation operation of the arm support is finished, the vibration suppression effect is realized through the current control of the rotation driving mechanism, the control accuracy and the control precision are high, an additional auxiliary device is not required, the implementation cost is low, and the application in the existing arm support device is facilitated.
The invention provides a boom control method in one embodiment, which can be applied to a boom device. As shown in fig. 3, the boom control method includes:
step S110: receiving a stop signal of a rotary driving mechanism of the arm support;
step S120: acquiring state information of the arm support;
step S132: calling a dynamic mathematical model of the arm support to calculate the state information to obtain the energizing time interval of the compensating current;
step S133: determining the electrifying duration and amplitude of the compensating current according to the tail end angular velocity information of the tail end of the arm support;
step S140: controlling the rotation driving mechanism to operate by using the compensation current corresponding to the vibration suppression parameter, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction;
wherein the state information includes: the method comprises the following steps that terminal angular velocity information and vibration direction information of the tail end of an arm support of the arm support, inclination angle information, posture information and angular velocity information of each knuckle arm of the arm support and working state information of a rotary driving mechanism are obtained; the vibration suppression parameters comprise the electrifying time interval, the electrifying time length and the amplitude of the compensation current.
The boom control method in this embodiment further improves step S130 on the basis of the above embodiment. Specifically, the state information includes terminal angular velocity information and vibration direction information of the boom tail end of the boom, and also includes inclination angle information, attitude information, angular velocity information of each joint arm of the boom, and working state information of the rotation driving mechanism; the vibration suppression parameters comprise the electrifying time interval, the electrifying time length and the amplitude of the compensation current. The cantilever crane is provided with dynamic mathematical models aiming at different states, a certain time difference exists between the rotation stop instruction of the cantilever crane and the starting action of the tail end of the cantilever crane in different states, and the state parameters of the cantilever crane and the time difference have a corresponding relation; the energizing time interval of the compensating current corresponds to the time difference, namely, the corresponding relation between the state parameter of the arm support and the energizing time interval of the compensating current can be established.
After the state parameters of the boom are obtained, in step S132, a dynamic mathematical model of the boom is called, and the state parameters are calculated and analyzed, so as to obtain an energization time interval of the compensation current as one of the vibration suppression parameters. Through step S133, the energization time length and the amplitude corresponding to the compensation current can be determined by using the terminal angular velocity information of the boom terminal. Wherein the magnitude of the compensation current is related to the maximum energizing current.
By the boom control method in the embodiment, the vibration suppression parameter of the compensation current can be accurately obtained by using the boom state parameter and the dynamic mathematical model, so that the subsequent vibration suppression action of the boom is matched with the self vibration, the effect of the vibration suppression action is further enhanced, and the phenomenon of aggravation of vibration caused by mismatching of the vibration suppression action and the self vibration of the boom can be effectively prevented.
The invention provides a boom control method in one embodiment, which can be applied to a boom device. As shown in fig. 4, the boom control method includes:
step S110: receiving a stop signal of a rotary driving mechanism of the arm support;
step S120: acquiring state information of the arm support;
step S132: calling a dynamic mathematical model of the arm support to calculate the state information to obtain the energizing time interval of the compensating current;
step S134: determining the amplitude and the period of the tail end of the arm support according to the tail end angular velocity information of the tail end of the arm support;
step S135: determining the amplitude of the compensation current according to the amplitude, and determining the duration of the compensation current according to the period;
step S140: controlling the rotary driving mechanism to operate by compensating current corresponding to vibration suppression parameters, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction;
wherein the state information includes: the method comprises the following steps that terminal angular velocity information and vibration direction information of the tail end of an arm support of the arm support, inclination angle information, posture information and angular velocity information of each knuckle arm of the arm support and working state information of a rotary driving mechanism are obtained; the vibration suppression parameters comprise the electrifying time interval, the electrifying time length and the amplitude of the compensation current.
The boom control method in this embodiment further improves step S133 on the basis of the above embodiment. Specifically, the angular velocity of the tail end of the boom is related to the amplitude and the period of the vibration, after the amplitude and the period of the tail end of the boom are determined in step S134, the amplitude of the compensation current is determined by using the amplitude of the tail end of the boom in step S135, and the energization time of the compensation current is determined by using the period of the tail end of the boom to serve as the parameter of the compensation current. Wherein the magnitude of the compensation current is related to the maximum drive current. It can be understood that the reverse vibration suppression action needs to meet a certain condition, and therefore the amplitude and the electrifying time length of the compensation current are determined according to the amplitude and the period of the tail end of the arm support, and the reverse vibration suppression action of the arm support can be matched with the self vibration. Preferably, the amplitude of the compensation current is equal to the amplitude of the tail end of the arm support, and the electrifying duration of the compensation current is equal to the period of the tail end of the arm support.
The invention provides a boom control method in one embodiment, which can be applied to a boom device. As shown in fig. 5, the boom control method includes:
step S110: receiving a stop signal of a rotary driving mechanism of the arm support;
step S120: acquiring state information of the arm support;
step S130: controlling the rotation driving mechanism to operate according to the state information, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction;
step S150: acquiring terminal angular velocity information of the tail end of the arm frame in the current state;
step S160: determining the tail end amplitude of the tail end of the arm support according to the tail end angular velocity information;
step S170: judging whether the amplitude of the tail end is greater than or equal to an amplitude threshold value or not, and generating a judgment result; if yes, go to step S120 again; if the judgment result is negative, the method steps are ended.
In the boom control method in this embodiment, steps S150 to S170 are further added on the basis of the above embodiment. Specifically, after completing a reverse vibration suppression action, the vibration of the end of the boom is reduced, and the parameters of the vibration are changed accordingly, at this time, through step S150 and step S160, the amplitude of the end of the boom in the current state can be determined, so as to determine the vibration state of the end of the boom in the current state. By the step S170, comparing the magnitude relationship between the amplitude of the tail end and the amplitude threshold value to determine whether the vibration of the tail end of the boom is within the allowable range in the current state; when the amplitude of the tail end is larger than or equal to the amplitude threshold value, the vibration of the tail end of the arm support still exceeds the allowable range, at the moment, the state information of the arm support in the current state is obtained by executing the step S120 again, and then the arm support is controlled again to perform reverse vibration suppression action through subsequent steps so as to further relieve the vibration of the tail end of the arm support until the vibration of the tail end of the arm support is weakened to be within the allowable range; when the amplitude of the tail end is smaller than the amplitude threshold value, the vibration of the tail end of the arm support is weakened to be within an allowable range, the influence of the vibration on the normal operation of the arm support is small, further reverse vibration suppression action is not needed, and the steps of the arm support control method can be finished directly. The amplitude threshold value can be set correspondingly according to different structures, materials, specifications and the like of the arm support.
By the aid of the boom control method in the embodiment, the boom can be controlled to perform multiple reverse vibration suppression actions until vibration of the tail end of the boom is weakened to an allowable range, and further vibration suppression effect is improved. In addition, the dynamic parameters of the arm support can be mastered, and the state parameters of the arm support are updated after each reverse vibration suppression action, so that the vibration suppression parameters referred by each reverse vibration suppression action can be updated in real time, and the accuracy of vibration suppression operation is further improved.
The invention provides a boom control method in one embodiment, which can be applied to a boom device. As shown in fig. 6, the boom control method includes:
step S110: receiving a stop signal of a rotary driving mechanism of the arm support;
step S120: acquiring state information of the arm support;
step S131: determining a vibration suppression parameter of the rotary driving mechanism according to the state information;
step S140: controlling the rotation driving mechanism to operate by using the compensation current corresponding to the vibration suppression parameter, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction;
step S150: acquiring terminal angular velocity information of the tail end of the arm frame in the current state;
step S160: determining the tail end amplitude of the tail end of the arm support according to the tail end angular velocity information;
step S170: judging whether the amplitude of the tail end is greater than or equal to an amplitude threshold value or not, and generating a judgment result; if yes, go to step S120 again; if the judgment result is negative, the method steps are ended.
The boom control method in this embodiment is a combination of the method steps of the foregoing embodiments, and specifically, step S130 in the foregoing embodiments is further improved, and this embodiment is one of the preferred embodiments of the present invention, and has all the beneficial effects of the boom control method in the foregoing embodiments, and details are not described here.
The invention provides a boom control method in one embodiment, which can be applied to a boom device. As shown in fig. 2, the boom control method includes:
step S110: receiving a stop signal of a rotary driving mechanism of the arm support;
step S120: acquiring state information of the arm support;
step S131: determining a vibration suppression parameter of the rotary driving mechanism according to the state information;
step S140: controlling the rotation driving mechanism to operate by using the compensation current corresponding to the vibration suppression parameter, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction;
the compensation current comprises sine wave current or square wave current.
In the boom control method in this embodiment, on the basis of the above embodiment, the form of the compensation current is further improved, and the compensation current may include a sine wave current or a square wave current. Specifically, the sine wave current is in a half period, the vibration form of the tail end of the arm support is close to the sine wave form, and the vibration in one period is similar to the sine wave form in the half period, so that the sine wave current in the half period is used as a compensation current to drive the arm support to perform reverse action, the vibration starting can be effectively inhibited, the vibration inhibition process is relatively gentle, and the stability is strong. In addition, the square wave current is used as the compensation current to control the arm support to perform reverse action, and when the vibration suppression parameter is matched with the vibration of the tail end of the arm support, the vibration suppression effect can be realized. Of course, the form of the compensation current in the boom control method of the present invention is not limited to the example in the embodiment, and other forms of currents besides the sine wave current and the square wave current may also be adopted.
It should be noted that the technical solution of the boom control method of the present invention is not limited to the method steps shown in the foregoing embodiments, and the method steps in the foregoing embodiments may also be combined according to actual needs, so as to achieve a better technical effect, for example, the boom control method in any of the foregoing embodiments may supplement the above steps S150 to S170, or in the boom control method in any of the foregoing embodiments, the compensation current of the rotation driving mechanism may also be a sine wave current or a square wave current, which is not described herein again.
In an embodiment of the present invention, a boom apparatus 10 is provided, as shown in fig. 7, the boom apparatus 10 includes a boom 101, a rotation driving mechanism 102, a detection assembly 103, and a controller 104.
The rotation driving mechanism 102 is in transmission connection with the arm support 101, and the rotation driving mechanism 102 can output power to the arm support 101 to drive the arm support 101 to rotate so as to adjust the operation position of the arm support 101. The detection component 103 is disposed on the boom 101 to detect state information of the boom 101, such as terminal angular velocity information, vibration direction information, and inclination information, attitude information, angular velocity information of each joint of the boom 101, and operation state information of the rotation driving mechanism 102, etc., of the boom 101 through the detection component 103. The rotary driving mechanism 102 and the detection component 103 are both in communication connection with the controller 104, and the controller 104 can receive a stop signal of the rotary driving mechanism 102 and the state information of the boom 101 detected by the detection component 103, and can control the operation of the rotary driving mechanism 102 and the detection component 103. The type and number of the detection components 103 may be set according to the specific situation of the boom 101.
When the controller 104 receives a stop signal of the rotation driving mechanism 102, the controller 104 can control the rotation driving mechanism 102 to operate according to the state information of the boom 101, so as to drive the boom end of the boom 101 to perform an action opposite to the vibration direction, thereby achieving the effect of suppressing the vibration.
The boom device 10 in this embodiment can effectively suppress vibration after the boom 101 stops rotating, has higher vibration suppression operation accuracy, is beneficial to improving the stability and the operation efficiency of the boom 101 in the use process, is beneficial to reducing the wear of the boom 101 and prolonging the service life of the boom 101, and the vibration suppression operation does not affect the normal rotation operation of the boom 101.
Further, the controller 104 can determine a vibration suppression parameter of the rotation driving mechanism 102 according to the state information of the boom 101, and further control the rotation driving mechanism 102 to pass through a compensation current, so that the rotation driving mechanism 102 operates with the compensation current corresponding to the vibration suppression parameter, and further drive the boom end of the boom 101 to perform an action opposite to the vibration direction. The vibration suppression parameters comprise parameters such as the energizing time interval, the energizing duration and the amplitude of the compensation current.
Further, the rotary drive mechanism 102 includes, but is not limited to, an electrically controlled hydraulic motor.
Further, in the boom device 10 of this embodiment, the controller 104 may further perform corresponding control operations on the boom driving mechanism and the detection component 103, and execute the steps of the boom control method in any of the above embodiments, so that the boom device 10 in this embodiment should also have all the beneficial effects of the boom control method in any of the above embodiments, and details are not described here.
In some embodiments of the present invention, as shown in fig. 8, the boom apparatus 10 includes a boom 101, a rotation driving mechanism 102, a detection component 103, a controller 104, and a remote operation terminal 105. On the basis of the above-described embodiment, the remote operation terminal 105 is further added. The operation of the rotary driving mechanism 102 is controlled by providing a remote operation terminal 105 in communication with the rotary driving mechanism 102 for an operator to input an operation instruction. Specifically, the remote operation terminal 105 includes, but is not limited to, a rotary multi-way valve handle, and an operator can control the action of the rotary driving mechanism 102 by operating the rotary multi-way valve handle to drive the boom 101 to rotate or stop rotating. Of course, the remote operation terminal 105 may be other forms of terminal devices, such as a mobile phone, a tablet computer, and the like.
Further, as shown in fig. 9, the detection component 103 includes a plurality of angular velocity sensors 1031 and a plurality of tilt angle sensors 1032. Each arm section of the boom 101 is provided with at least one angular velocity sensor 1031 and at least one tilt angle sensor 1032, so that the angular velocity sensor 1031 is used to obtain the angular velocity information of each arm section of the boom 101, and the tilt angle sensor 1032 is used to obtain the tilt angle information of each arm section of the boom 101; the angular velocity sensor 1031 and the tilt angle sensor 1032 are both in communication connection with the controller 104, so as to send the acquired angular velocity information and tilt angle information to the controller 104, so as to serve as reference information of the controller 104, and further determine the state information of the boom 101.
It should be noted that, in practical applications, since the number of sensors may affect the overall cost of the boom device 10, considering cost control, the number of angular velocity sensors 1031 or inclination angle sensors 1032 may be reduced as appropriate according to circumstances, for example, the angular velocity sensors 1031 or inclination angle sensors 1032 are provided only at the boom tip or at the next last joint arm, and vibration suppression control is performed with the angular velocity information and the inclination angle information of the position as references, although a certain influence may be generated on vibration suppression action, the equipment cost can be effectively controlled, and particularly when the number of joint arms of the boom 101 is large, when the influence generated on vibration suppression action is within an acceptable range, the above measures can achieve both vibration suppression effect and cost control, and are advantageously applied in practical situations.
It should be noted that the communication connection described in the above embodiments of the present invention includes a wired communication connection and a wireless communication connection.
In an embodiment of the present invention, a work vehicle 20 is provided, as shown in fig. 10, the work vehicle 20 includes a vehicle body 201 and the boom device 10 in any of the above embodiments. The arm support device 10 is arranged on the vehicle body 201 to move along with the vehicle body 201; the boom 101 of the boom device 10 can rotate relative to the vehicle body 201 under the driving of the rotation driving mechanism 102 to change the working position of the boom 101. The controller 104 of the boom device 10 can control the operations of the detection component 103 and the rotation driving mechanism 102, so that when the boom 101 stops rotating, the rotation driving mechanism 102 drives the boom 101 to perform a reverse vibration suppression action, so as to suppress vibration caused by inertia, thereby improving the stability of the boom 101.
Further, the controller 104 may be a dedicated Control element, or may be a Control element carried by the engineering Vehicle 20, such as a Vehicle Control Unit (VCU), but may also be another type of Control element.
In addition, the engineering vehicle 20 in this embodiment should have all the beneficial effects of the boom device 10 in any one of the above embodiments, and details are not described herein again.
In an embodiment of the present invention, a readable storage medium is provided, where a computer program is stored, and when the computer program is executed, the boom control method in any of the above embodiments may be executed, so as to suppress vibration of a boom.
In addition, the readable storage medium in this embodiment should have all the beneficial effects of the boom control method in any of the above embodiments, and details are not described herein again.
The basic principles of the present invention have been described above with reference to specific embodiments, but it should be noted that the advantages, effects, etc. mentioned in the present invention are only examples and are not limiting, and the advantages, effects, etc. must not be considered to be possessed by various embodiments of the present invention. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the invention is not limited to the specific details described above.
The block diagrams of devices, apparatuses, systems involved in the present invention are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It is further noted that in the apparatus and device of the present invention, the components may be disassembled and/or reassembled. These decompositions and/or recombinations are to be regarded as equivalents of the present invention.
The computer program product of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + +, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
The readable storage medium of the present invention may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalents and the like within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A boom control method is characterized by comprising the following steps:
receiving a stop signal of a rotary driving mechanism of the arm support;
acquiring state information of the arm support;
and controlling the rotation driving mechanism to operate according to the state information, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction.
2. The boom control method according to claim 1, characterized by the steps of: controlling the rotation driving mechanism to operate according to the state information, and driving the tail end of the arm support to perform vibration suppression action opposite to the vibration direction, wherein the vibration suppression action comprises the following steps:
determining a vibration suppression parameter of the rotary driving mechanism according to the state information;
and controlling the rotation driving mechanism to operate by using the compensation current corresponding to the vibration suppression parameter, and driving the tail end of the arm support to perform vibration suppression action in the direction opposite to the vibration direction.
3. The boom control method according to claim 2,
the state information includes: the tail end angular velocity information and the vibration direction information of the tail end of the arm support, the dip angle information, the posture information and the angular velocity information of each knuckle arm of the arm support and the working state information of the rotary driving mechanism are obtained;
the vibration suppression parameters comprise the energizing time interval, the energizing duration and the amplitude of the compensation current;
the steps are as follows: determining vibration suppression parameters of the rotary driving mechanism of the arm support according to the state information, wherein the vibration suppression parameters comprise:
calling a dynamic mathematical model of the arm support to calculate the state information to obtain the electrifying time interval of the compensation current;
and determining the electrifying time length and the amplitude of the compensation current according to the tail end angular velocity information of the tail end of the arm support.
4. The boom control method according to claim 3, characterized by the steps of: determining the energization time length and the amplitude according to the tail end angular velocity information of the tail end of the arm support, wherein the determination comprises the following steps:
determining the amplitude and the period of the tail end of the arm support according to the tail end angular velocity information of the tail end of the arm support;
and determining the amplitude according to the amplitude, and determining the electrifying time length according to the period.
5. The boom control method according to any of claims 2 to 4,
the compensation current comprises a half-cycle sine wave current or a square wave current.
6. The boom control method according to any one of claims 1 to 4, further comprising the steps of:
acquiring terminal angular velocity information of the tail end of the arm support in the current state;
determining the tail end amplitude of the tail end of the arm support according to the tail end angular velocity information;
judging whether the amplitude of the tail end is greater than or equal to an amplitude threshold value or not, and generating a judgment result;
if the judgment result is yes, the steps are executed again: and acquiring the state information of the arm support.
7. A boom apparatus (10), comprising:
an arm support (101);
the rotary driving mechanism (102) is in transmission connection with the arm support (101) to drive the arm support (101) to rotate;
the detection component (103) is arranged on the arm support (101) to detect the state information of the arm support (101);
a controller (104) communicatively connected with the rotary driving mechanism (102) and the detection component (103) to receive a stop signal of the rotary driving mechanism (102) and state information detected by the detection component (103), respectively;
the controller (104) receives a stop signal of the rotary driving mechanism (102), and controls the rotary driving mechanism (102) to operate according to the state information so as to drive the tail end of the arm support (101) to perform vibration suppression action opposite to the vibration direction.
8. The boom apparatus (10) of claim 7, further comprising:
a remote operation terminal (105) in communication connection with the rotary drive mechanism (102), wherein the remote operation terminal (105) is configured for an operator to input an operation instruction corresponding to the rotary drive mechanism (102).
9. Boom arrangement (10) according to claim 8,
the detection assembly (103) comprises a plurality of angular velocity sensors (1031) and a plurality of inclination sensors (1032);
wherein, each knuckle arm of the arm support (101) is provided with at least one angular velocity sensor (1031) and at least one inclination angle sensor (1032), and the angular velocity sensors (1031) and the inclination angle sensors (1032) are both in communication connection with the controller (104).
10. A work vehicle (20), comprising:
a vehicle body (201);
the boom device (10) of any of claims 7 to 9, being provided on the vehicle body (201).
11. A readable storage medium, characterized in that the readable storage medium has stored therein a computer program which, when being configured to be executed, is configured to carry out the boom control method according to any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111534911.9A CN114217646A (en) | 2021-12-15 | 2021-12-15 | Arm support control method, arm support device, engineering vehicle and readable storage medium |
| PCT/CN2022/090028 WO2023108986A1 (en) | 2021-12-15 | 2022-04-28 | Control method for boom, and boom apparatus, engineering vehicle and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111534911.9A CN114217646A (en) | 2021-12-15 | 2021-12-15 | Arm support control method, arm support device, engineering vehicle and readable storage medium |
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| CN114217646A true CN114217646A (en) | 2022-03-22 |
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| CN202111534911.9A Pending CN114217646A (en) | 2021-12-15 | 2021-12-15 | Arm support control method, arm support device, engineering vehicle and readable storage medium |
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| CN (1) | CN114217646A (en) |
| WO (1) | WO2023108986A1 (en) |
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| WO2023108986A1 (en) * | 2021-12-15 | 2023-06-22 | 三一汽车制造有限公司 | Control method for boom, and boom apparatus, engineering vehicle and readable storage medium |
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