CN116241079A

CN116241079A - Control method for arm support, storage medium, processor and arm support

Info

Publication number: CN116241079A
Application number: CN202211500376.XA
Authority: CN
Inventors: 佟祥伟; 尹君; 符伟杰; 吴亮
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-11-28
Filing date: 2022-11-28
Publication date: 2023-06-09

Abstract

The embodiment of the application provides a control method for an arm support, a storage medium, a processor and the arm support. The method comprises the following steps: under the condition that vibration of the arm support relative to a preset initial position is determined, determining a target arm section to be controlled in a plurality of arm sections; determining an actual vibration parameter of a target arm segment; inputting actual vibration parameters into a PID controller to determine an execution signal of a target momentum wheel corresponding to a target arm section through the PID controller; and controlling the target momentum wheel to move according to the execution signal so as to output corresponding torque, so as to control the target arm segment to stop vibrating and return to a preset initial position. Through the technical scheme, the torque for inhibiting the vibration is directly applied to the arm section of the arm support, so that the accuracy and timeliness of the arm support control are greatly improved. The arm support is controlled in a closed-loop control mode, so that the response speed is high, the arm support can be adjusted in time, and the control efficiency and the control quality of the arm support are improved.

Description

Control method for arm support, storage medium, processor and arm support

Technical Field

The present disclosure relates to the field of mechanical control, and in particular, to a control method for an arm support, a storage medium, a processor, and an arm support.

Background

Work machines often require work on a top-loading structure that has relative movement. The upper assembly structure is often composed of a plurality of sections of movable parts, and the upper assembly is suspended and stretched out in space during operation, so that a specific operation state can be formed. Taking the above-mentioned mounting structure as an arm support as an example, due to the limitation of working environment, the suspended arm support is easy to be affected by working load or external load, and the connecting pieces of the plurality of arm joints have assembly gaps and are relatively flexible, if the working load or external load is relatively large, the arm support is easy to vibrate in the working process. At present, the integral rigidity of the arm support is enhanced through structural design to adjust the vibration of the arm support, the vibration of the arm support can be adjusted through a hydraulic oil cylinder, and the arm support can be controlled by adopting an intelligent control algorithm of a position closed loop or a pressure closed loop.

However, the controllable direction of the arm support is a top loading plane, and the stability of the arm support is not regulated by adopting parts such as a hydraulic cylinder and the like in the rotation direction, so that the arm support is easy to vibrate when the arm support vibrates on the rotation plane. If parts such as a hydraulic cylinder exist on the vertical plane, external force cannot be applied to perform vibration reduction adjustment on vibration of the rotation plane, meanwhile, a rotation motor is adopted to slowly accelerate and decelerate so as to adjust stability of the arm support, long acceleration starting time and deceleration braking time are needed, control efficiency is low, and timeliness is not enough. The boom is controlled by adopting the existing intelligent control algorithm, so that the disturbance elimination control effect on dynamic load is insufficient, resonance still easily occurs near the natural frequency, and the boom control accuracy and the boom control efficiency are low.

Disclosure of Invention

The embodiment of the application aims to provide a control method for an arm support, a storage medium, a processor and the arm support.

In order to achieve the above object, a first aspect of the present application provides a control method for an arm support, including:

under the condition that vibration of the arm support relative to a preset initial position is determined, determining a target arm section to be controlled in a plurality of arm sections;

determining an actual vibration parameter of a target arm segment;

inputting actual vibration parameters into a PID controller to determine an execution signal of a target momentum wheel corresponding to a target arm section through the PID controller;

and controlling the target momentum wheel to move according to the execution signal so as to output corresponding torque, so as to control the target arm segment to stop vibrating and return to a preset initial position.

In an embodiment of the present application, the actual vibration parameter includes a first vibration parameter and/or a second vibration parameter, the PID controller includes a first PID controller corresponding to the first vibration parameter and/or a second PID controller corresponding to the second vibration parameter, and inputting the actual vibration parameter to the PID controller to determine, by the PID controller, an execution signal for a target momentum wheel corresponding to the target arm segment includes: determining a target parameter corresponding to the target arm segment when vibration is stopped and the target arm segment is positioned at a preset initial position, wherein the target parameter comprises a first target parameter corresponding to the first vibration parameter and/or a second target parameter corresponding to the second vibration parameter; determining a first difference between the first vibration parameter and the first target parameter, and/or a second difference between the second vibration parameter and the second target parameter; the first difference value is input to a first PID controller, and/or the second difference value is input to a second PID controller, so that an execution signal for a target momentum wheel corresponding to the target arm section is output through the first PID controller and/or the second PID controller.

In an embodiment of the present application, the control method further includes: after the target arm segment is adjusted through the torque, the adjusted first vibration parameter and/or the adjusted second vibration parameter corresponding to the current position of the target arm segment are/is determined; determining a first parameter difference between the first target parameter and the adjusted first vibration parameter and/or a second parameter difference between the second target parameter and the adjusted second vibration parameter; under the condition that the first parameter difference value and/or the second parameter difference value are/is consistent with a preset value, determining that the target arm joint stops vibrating and returns to a preset initial position; and under the condition that the first parameter difference value is inconsistent with the preset value, or the second parameter difference value is inconsistent with the preset value, or at least one of the first parameter difference value and the second parameter difference value is inconsistent, determining an execution signal of the target momentum wheel corresponding to the target arm section again according to the first parameter difference value and/or the second parameter difference value, and controlling the target momentum wheel to move according to the determined execution signal so as to output corresponding torque again until the first parameter difference value and/or the second parameter difference value are consistent with the preset value.

In an embodiment of the present application, the target momentum wheel includes a stator, a rotor and a stator base, the target momentum wheel is mounted on the arm segment through the stator base, and controlling the target momentum wheel to move according to the execution signal to output a corresponding torque, so as to control the target arm segment to stop vibrating and return to a preset initial position includes: the stator of the control target momentum wheel moves according to the execution signal so as to control the rotor to output corresponding first torque towards a first direction; determining a second torque of the stator base according to the first torque, wherein the direction of the second torque is a second direction opposite to the first direction; and controlling the stator base of the target momentum wheel to output a second torque towards a second direction so as to control the target arm segment corresponding to the stator base to stop vibrating and return to a preset initial position.

In an embodiment of the present application, the method further comprises: under the condition that the arm support vibrates relative to a preset initial position, determining the vibration direction of the arm support according to the current motion state of the arm support; and determining a target momentum wheel corresponding to the target arm segment according to the vibration direction.

In an embodiment of the present application, determining a target momentum wheel corresponding to a target arm segment according to a vibration direction includes: under the condition that a momentum wheel is not mounted on a target arm section, determining the arm section meeting a first preset condition as a to-be-selected arm section, and determining the momentum wheel meeting a second preset condition on the to-be-selected arm section as a target momentum wheel, wherein the first preset condition comprises that at least one momentum wheel is mounted on the arm section, and a first included angle between the straight line direction of the arm section and the vibration direction is in a first preset range; and under the condition that the momentum wheel is installed on the target arm section, determining the momentum wheel meeting the second preset condition on the target arm section as the target momentum wheel.

In an embodiment of the present application, the first preset condition further includes: the arm pitch is closest to the target arm segment.

In an embodiment of the present application, the momentum wheel is determined to satisfy a second preset condition if all of the following conditions are satisfied: a second included angle between the rotation axis direction of the momentum wheel and the vibration direction is in a second preset range; the third included angle between the rotation axis direction and the arm section straight line direction of the arm section where the momentum wheel is located is in a third preset range.

In an embodiment of the present application, determining a vibration direction of the boom according to a current motion state of the boom includes: determining the vibration direction of the arm support as a first vibration direction under the condition that the current motion state of the arm support is a rotary motion state and the arm support vibrates on a rotary plane of the arm support; and determining the vibration direction of the arm support as a second vibration direction under the condition that the current motion state of the arm support is a folding motion state and the arm support vibrates on the vertical plane of the arm support.

A second aspect of the present application provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to be configured to perform the control method for a boom described above.

A third aspect of the present application provides a processor configured to perform the above-described control method for a boom.

A fourth aspect of the present application provides a boom, the boom comprising:

a plurality of arm segments;

the momentum wheel is arranged on the arm section and is used for outputting corresponding torque according to the execution signal;

the sensor is used for collecting actual vibration parameters of the target arm joint; and

the processor described above.

In an embodiment of the present application, the momentum wheel comprises: a rotor for outputting a corresponding first torque; a stator for driving the rotor to rotate according to the execution signal; and the stator base is arranged on the arm section and is used for outputting corresponding second torque.

In an embodiment of the present application, the momentum wheel further comprises: and the first end of the rotating shaft is connected with the stator, and the second end of the rotating shaft is connected with the stator base.

Through the technical scheme, the target momentum wheel can be controlled to output corresponding torque so as to directly apply the torque for inhibiting vibration on the arm section of the arm support, the time cost and the labor cost for adjusting the arm support are reduced, and the accuracy and the timeliness of the arm support control are greatly improved. The arm support is controlled in a closed-loop control mode, the response speed is high, the arm support can be adjusted in time when the arm support vibrates, and the control efficiency and the control quality of the arm support are greatly improved.

Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:

FIG. 1 schematically illustrates an example diagram of a boom according to an embodiment of the present application;

FIG. 2 schematically illustrates an example diagram of a first momentum wheel according to an embodiment of the present application;

FIG. 3 schematically illustrates an example diagram of a second momentum wheel according to an embodiment of the present application;

FIG. 4 schematically illustrates an example diagram of a third momentum wheel according to an embodiment of the present application;

fig. 5 schematically shows a first flow diagram of a control method for a boom according to an embodiment of the present application;

FIG. 6 schematically illustrates an example diagram of a first vibration mode of a boom according to an embodiment of the present application;

FIG. 7 schematically illustrates an example diagram of a second vibration mode of a boom according to an embodiment of the present application;

FIG. 8 schematically illustrates a first application environment schematic of a boom according to an embodiment of the present application;

fig. 9 schematically illustrates a second application environment schematic of the boom according to an embodiment of the present application;

FIG. 10 schematically illustrates a third application environment schematic of a boom according to an embodiment of the present application;

fig. 11 schematically illustrates a second flow diagram of a control method for a boom according to an embodiment of the present application;

fig. 12 schematically illustrates a third flow diagram of a control method for a boom according to an embodiment of the present application;

FIG. 13 schematically illustrates an example diagram of a control momentum wheel according to an embodiment of the present application;

Fig. 14 schematically shows an internal structural view of a computer device according to an embodiment of the present application.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, 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 should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.

In one embodiment, as shown in fig. 1, an exemplary diagram of a boom is provided, the boom comprising:

a plurality of arm segments;

a processor.

The arm support can refer to a top-loading structure of the engineering machinery, wherein a plurality of arm sections of the engineering machinery can move relatively. The engineering machinery can refer to a pump truck, a crane, a fire-fighting aerial ladder and the like. Arm segments may refer to movable components. The arm support can be provided with a sensor. When the arm support is disturbed to generate vibration, the sensor arranged on the arm support can acquire the actual vibration parameters of the target arm joint. Wherein the disturbance may refer to an external effect that causes the attitude of the distal end of the arm segment to change, such as an external force effect, wind load, concrete flow, etc. The sensor may include a speed sensor, an acceleration sensor, a position sensor, and the like. The actual vibration parameters of the target arm segment may be the speed, acceleration, position, etc. of the end of the arm segment. Momentum wheels can be arranged on arm joints of the arm support so as to adjust the arm support through the momentum wheels. The momentum wheel may refer to an energy storage component with moment of inertia, which may be used to output a corresponding torque according to an execution signal.

In order to enable the torque generated by the momentum wheel to adjust and control the arm support gesture to a greater extent, and simultaneously reduce the installation cost required by installing the structural component as far as possible, the installation number and the installation position of the momentum wheel on each arm section can be set in advance. For example, one or two momentum wheels may be mounted on each arm section, or the momentum wheels may be mounted on each arm section at a predetermined interval, for the number of momentum wheels mounted on each arm section. For the installation position of the momentum wheel on each arm section, the momentum wheel can be installed at the tail end of each arm section, at the starting end of each arm section, in the middle of the arm section, or at the position of the gravity center of each arm section.

In one embodiment, as shown in FIG. 2, an exemplary diagram of a first momentum wheel is provided, the momentum wheel comprising:

a rotor for outputting a corresponding first torque;

a stator for driving the rotor to rotate according to the execution signal;

and the stator base is arranged on the arm section and is used for outputting corresponding second torque.

The momentum wheel may include a rotor, a stator, and a stator base. Wherein, the stator can be connected with the stator base, and the stator base can be installed on the arm section. The posture of the arm section can be adjusted by the momentum wheel. Specifically, when the stator drives the rotor to rotate according to the execution signal, the rotor may output the corresponding first torque. At this time, the stator and the stator base are subjected to the torque in the opposite direction, and the corresponding second torque, that is, the second torque in the opposite direction to the first torque, can be outputted. Therefore, the second torque with fixed value and orientation can be obtained on the stator base, and the posture of the arm joint connected with the stator base can be adjusted.

In one embodiment, as shown in FIG. 3, an exemplary diagram of a second momentum wheel is provided, the momentum wheel further comprising:

and the first end of the rotating shaft is connected with the stator, and the second end of the rotating shaft is connected with the stator base.

The momentum wheel may further comprise a rotating shaft, a first end of which may be connected to the stator, and a second end of which may be connected to the stator base. That is, the stator and the stator base may be connected by a rotation shaft which is controllable and capable of changing the direction of the rotation shaft.

In one embodiment, as shown in FIG. 4, an exemplary diagram of a third momentum wheel is provided.

The momentum wheel is not limited to a wheel structure but may also refer to a symmetrical or asymmetrical rod-like structure that is capable of swiveling.

Fig. 5 schematically shows a flow diagram of a control method for a boom according to an embodiment of the present application. As shown in fig. 5, in an embodiment of the present application, a control method for an arm support is provided, including the following steps:

in step 501, in the case that vibration of the boom relative to the preset initial position is determined, a target boom section to be controlled in the plurality of boom sections is determined.

Step 502, determining an actual vibration parameter of a target arm segment.

In step 503, the actual vibration parameter is input to the PID controller, so as to determine, by the PID controller, an execution signal for the target momentum wheel corresponding to the target arm segment.

And 504, controlling the target momentum wheel to move according to the execution signal to output corresponding torque so as to control the target arm segment to stop vibrating and return to a preset initial position.

Wherein the boom may comprise a plurality of boom segments. When the arm support is controlled, the processor can firstly determine whether the arm support vibrates relative to a preset initial position. The preset initial position may refer to a position of the arm rest when vibration does not occur, or may refer to a position of the arm rest when vibration is currently occurring. For example, fig. 6 schematically illustrates a first vibration mode of the boom, in which the boom vibrates left and right with respect to the middle position and is in a swing motion state. Fig. 7 schematically illustrates a second vibration mode of the boom, in which the boom vibrates up and down with respect to the middle position and is in a deployed and retracted motion. And under the condition that the arm support vibrates relative to the preset initial position, the processor can determine a target arm section to be controlled in the plurality of arm sections. For example, if the boom is in a revolving motion state and the boom includes a boom section a, a boom section B, and a boom section C, one boom section can be arbitrarily selected from the 3 boom sections as a target boom section, and vibration is damped by controlling the target boom section. For another example, if the boom is in a revolving motion state, the last arm section of the boom can influence the vibration of the boom, so the last arm section of the boom can be used as the target arm section.

In the case of determining the target arm segment, the processor may determine an actual vibration parameter of the target arm segment. Wherein the actual vibration parameters may include velocity, acceleration, etc. Further, the processor may input the actual vibration parameter to the PID controller to determine an execution signal for the target momentum wheel corresponding to the target arm segment through the PID controller. The execution signal may refer to a clockwise rotation signal or a counterclockwise rotation signal. The target momentum wheel may be a momentum wheel mounted on a target arm segment, or may be a momentum wheel mounted on other arm segments than the target arm segment. The processor can control the target momentum wheel to move according to the execution signal so as to output corresponding torque, so that the target arm segment is controlled to stop vibrating and return to a preset initial position. The motion state of the arm support at the preset initial position is a static state, and the motion speed and acceleration are zero.

In one embodiment, the method further comprises: under the condition that the arm support vibrates relative to a preset initial position, determining the vibration direction of the arm support according to the current motion state of the arm support; and determining a target momentum wheel corresponding to the target arm segment according to the vibration direction.

Under the condition that the arm support vibrates relative to the preset initial position, the processor can determine the vibration direction of the arm support according to the current motion state of the arm support. The current motion state of the arm support can be a rotary motion state or a unfolding motion state. Further, the processor may determine a target momentum wheel corresponding to the target arm segment according to the vibration direction. The target momentum wheel may be a momentum wheel mounted on a target arm segment, or may be a momentum wheel mounted on other arm segments except the target arm segment. .

In one embodiment, determining the vibration direction of the boom according to the current motion state of the boom includes: determining the vibration direction of the arm support as a first vibration direction under the condition that the current motion state of the arm support is a rotary motion state and the arm support vibrates on a rotary plane of the arm support; and determining the vibration direction of the arm support as a second vibration direction under the condition that the current motion state of the arm support is a folding motion state and the arm support vibrates on the vertical plane of the arm support.

The motion state of the arm support at present can comprise a slewing motion state and a folding motion state. When the current motion state of the arm support is a rotary motion state and the arm support vibrates on a rotary plane of the arm support, the processor can determine the vibration direction of the arm support as a first vibration direction. When the current motion state of the arm support is a folding motion state and the arm support vibrates on a vertical plane of the arm support, the processor can determine the vibration direction of the arm support as a second vibration direction.

In one embodiment, determining a target momentum wheel corresponding to a target arm segment according to a vibration direction includes: under the condition that a momentum wheel is not mounted on a target arm section, determining the arm section meeting a first preset condition as a to-be-selected arm section, and determining the momentum wheel meeting a second preset condition on the to-be-selected arm section as a target momentum wheel, wherein the first preset condition comprises that at least one momentum wheel is mounted on the arm section, and a first included angle between the straight line direction of the arm section and the vibration direction is in a first preset range; and under the condition that the momentum wheel is installed on the target arm section, determining the momentum wheel meeting the second preset condition on the target arm section as the target momentum wheel.

When the vibration direction of the arm support is perpendicular to the linear direction of a certain arm section of the arm support, the momentum wheel arranged on the arm section is controlled, so that the control efficiency of the arm support is higher. When the vibration direction of the arm support is parallel to the straight line direction of a certain arm section of the arm support, if the momentum wheel arranged on the arm section is controlled to output torque, the control efficiency of the arm support is lower. Thus, in the case where the momentum wheel is not mounted on the target arm segment, the processor may determine the arm segment satisfying the first preset condition as the arm segment to be selected. Specifically, the processor may determine, from a plurality of arm sections other than the target arm section, that a first included angle between a straight line direction in which the arm section is located and the vibration direction is in a first preset range, and an arm section provided with at least one momentum wheel is determined as the arm section to be selected. The processor may then further determine a momentum wheel on the candidate arm segment that satisfies a second preset condition as a target momentum wheel.

The arm section to be selected can be provided with at least one momentum wheel, and the installation position can be the position of the top surface of the arm support where the arm section to be selected is located or the position of the side surface of the arm support where the arm section to be selected is located. For another example, two momentum wheels may be installed on the arm segment to be selected, and the two momentum wheels may be installed at the position of the top surface of the arm frame and the position of the side surface of the arm frame, respectively. The first predetermined range may be 90 ° ± predetermined included angles. For example, if the preset included angle is 5 °, the first preset range is 85 ° to 95 °, and at this time, if the first included angle is 85 ° to 95 °, and at least one momentum wheel is installed on the arm segment corresponding to the first included angle, the arm segment corresponding to the first included angle may be determined as the arm segment to be selected. If a plurality of momentum wheels are installed on the arm segment to be selected, the momentum wheel meeting the second preset condition can be determined to be the target momentum wheel. In the case that the momentum wheel is mounted on the target arm segment, the processor may then determine the momentum wheel on the target arm segment that satisfies the second preset condition as the target momentum wheel.

In one embodiment, the first preset condition further includes: the arm pitch is closest to the target arm segment. That is, the arm segment to be selected may also be an arm segment in which at least one momentum wheel is mounted, and a first included angle between a linear direction in which the arm segment is located and a vibration direction is within a first preset range and is closest to the target arm segment. The momentum wheel meeting the second preset condition on the arm section to be selected has better vibration reduction effect on the arm frame.

In one embodiment, the momentum wheel is determined to satisfy a second preset condition if all of the following conditions are satisfied: a second included angle between the rotation axis direction of the momentum wheel and the vibration direction is in a second preset range; the third included angle between the rotation axis direction and the arm section straight line direction of the arm section where the momentum wheel is located is in a third preset range.

And under the condition that a second included angle between the rotation axis direction of the momentum wheel and the vibration direction is in a second preset range and a third included angle between the rotation axis direction and the arm section linear direction of the arm section where the momentum wheel is located is in a third preset range, determining that the momentum wheel meets a second preset condition. At this time, the processor may further determine the momentum wheel satisfying the second preset condition as the target momentum wheel. The second preset range and the third preset range may be 90 ° ± preset included angles. For example, if the second preset range is 85 ° to 95 °, the third preset range is 80 ° to 100 °, and two momentum wheels are provided on the arm section to be selected, then a second included angle and a third included angle between the rotation axis direction of each momentum wheel and the vibration direction and the straight line direction of the arm section can be determined, and the momentum wheel with the second included angle being 85 ° to 95 ° and the third included angle being 80 ° to 100 ° is determined as the target momentum wheel, so that the arm support can be adjusted by controlling the target momentum wheel.

As shown in fig. 8, a first application environment schematic of the boom is provided. The boom in fig. 8 comprises momentum wheels 1-6 and booms a-C. Fig. 8-1 is a front view of the arm support, and fig. 8-2 is a top view of the arm support. The vertical plane in which the arm support is located may refer to a plane in which the x-axis and the y-axis are located, and the rotation plane in which the arm support is located may refer to a plane in which the x-axis and the z-axis are located. As can be seen from the top view of the arm support, the arm support is in a rotary motion state and vibrates in a rotary plane, so that the vibration direction of the arm support is the first vibration direction. That is, the first vibration direction may refer to the main swing vibration direction in fig. 8-2.

As can be seen from fig. 8-2, the arm support is in a rotary motion state, and the vibration of the arm support can be relieved by controlling the arm section C, so that the arm section C can be determined as a target arm section, and the momentum wheel 3 and the momentum wheel 6 are mounted on the arm section C. If the second preset range is 85 ° to 95 °, the third preset range is 80 ° to 100 °, the second angle between the rotation axis direction and the vibration direction of the momentum wheel 6 is 90 °, and the third angle between the rotation axis direction and the straight line direction in which the arm section C is located is also 90 °, the momentum wheel 6 can be used as the target momentum wheel. Meanwhile, in order to achieve better vibration reduction effect, the momentum wheel 5 and the momentum wheel 4 can be used as alternative controlled wheels, so that vibration reduction control is carried out on the arm support in the motion state according to the momentum wheel 4, the momentum wheel 5 and the momentum wheel 6.

If the arm segment C is not provided with a momentum wheel, the arm segments a and B are perpendicular to the vibration direction, and the arm segment a is provided with a momentum wheel 1 and a momentum wheel 4, and the arm segment B is provided with a momentum wheel 2 and a momentum wheel 5, the arm segments a and B can be further determined as candidate arm segments. If the second angles between the rotation axis directions of the momentum wheel 4 and the momentum wheel 5 and the vibration direction are 90 degrees, and the third angles between the rotation axis directions and the straight line directions of the arm sections a and B are also 90 degrees, the momentum wheel 4 and the momentum wheel 5 can be determined as target momentum wheels. When the vibration reduction control is performed on the arm support, the arm section C can be subjected to vibration reduction by controlling the momentum wheel 4 and/or the momentum wheel 5, so that the arm support is subjected to vibration reduction. Further, in order to achieve a better vibration reduction effect, the arm section B closest to the arm section C may be taken as the arm section to be selected, and at this time, the momentum wheel 5 may be determined as the target momentum wheel, that is, vibration reduction control may be performed on the arm support in the motion state according to the momentum wheel 5. In order to ensure the vibration damping effect of the boom, an auxiliary control can also be performed by means of the momentum wheel 4.

As shown in fig. 9, a second application environment schematic of the boom is provided. The boom in fig. 9 comprises momentum wheels 1-6 and booms a-C. At this time, the arm support is in a folding and unfolding motion state, and the arm support vibrates in a vertical plane, so that the vibration direction of the arm support is a second vibration direction. That is, the second vibration direction may refer to the main vibration direction in fig. 9. When the arm support is in the unfolding and folding movement state, the arm section C is controlled to release the vibration of the arm support, so that the arm section C can be determined as a target arm section, and the momentum wheel 3 and the momentum wheel 6 are arranged on the arm section C. If the second preset range is 85 ° to 95 °, the third preset range is 80 ° to 100 °, the second angle between the rotation axis direction of the momentum wheel 3 and the vibration direction is 85 °, and the third angle between the rotation axis direction and the straight line direction in which the arm section C is located is 90 °, the momentum wheel 3 may be used as the target momentum wheel. Meanwhile, in order to achieve a better vibration reduction effect, the momentum wheel 2 can also be used as an alternative controlled wheel. In addition, although the straight line direction of the arm section a is parallel to the vibration direction, the control efficiency is low, when the arm support is controlled, the momentum wheel 1 can be used as an auxiliary momentum wheel to participate in the control of the arm support.

If the arm segment C is not provided with a momentum wheel, but the first preset range is 85 ° to 95 °, the first included angle between the straight line direction of the arm segment a and the main vibration direction is 170 °, the first included angle between the straight line direction of the arm segment B and the main vibration direction is 85 °, and the arm segment B is provided with the momentum wheel 2 and the momentum wheel 5, the arm segment B can be determined as the arm segment to be selected. If the second angle between the rotation axis direction of the momentum wheel 2 and the vibration direction is 90 °, and the third angle between the rotation axis direction and the straight line direction of the arm section B is also 90 °, the momentum wheel 2 can be determined as the target momentum wheel. Although the first included angle between the straight line direction of the arm section A and the main vibration direction is not in the first preset range, the control efficiency is low, and the auxiliary control can be performed through the momentum wheel 1 so as to ensure the vibration reduction effect of the arm support.

As shown in fig. 10, a third application environment schematic of the boom is provided. The boom in fig. 10 comprises momentum wheels 1-6 and booms a-C. At this time, the arm support is in a folding and unfolding motion state, and the arm support vibrates in a vertical plane, so that the vibration direction of the arm support is a second vibration direction. That is, the second vibration direction may refer to the main vibration direction in fig. 10. When the arm support is in the unfolding and folding movement state, the vibration of the arm support can be relieved by controlling the arm section A, so that the arm section A can be determined as a target arm section, and the momentum wheel 1 and the momentum wheel 4 are arranged on the arm section A. If the second preset range is 85 ° to 95 °, the third preset range is 80 ° to 100 °, the second angle between the rotation axis direction of the momentum wheel 1 and the vibration direction is 85 °, and the third angle between the rotation axis direction and the straight line direction in which the arm section a is located is 90 °, the momentum wheel 1 can be used as the target momentum wheel. Meanwhile, in order to achieve a better vibration reduction effect, although the included angles between the straight line directions of the arm sections B and C and the vibration direction are not in a preset range, the control efficiency is low, and when the arm support is controlled, the momentum wheel 2 and the momentum wheel 3 can be used as auxiliary momentum wheels to participate in the control of the arm support.

If the arm section A is not provided with a momentum wheel, the first preset range is 85-95 degrees, the first included angle between the straight line direction of the arm section B and the main vibration direction is 170 degrees, and the first included angle between the straight line direction of the arm section C and the main vibration direction is 150 degrees. Although the first included angle between the straight line direction of the arm section B and the arm section C and the main vibration direction is not in the first preset range, the control efficiency is low, the momentum wheel 2 and the momentum wheel 5 are arranged on the arm section B, and the momentum wheel 3 and the momentum wheel 6 are arranged on the arm section C. If the second included angles between the rotation axis directions of the momentum wheel 2 and the momentum wheel 3 and the vibration direction are 90 degrees, and the third included angles between the rotation axis directions of the momentum wheel 2 and the momentum wheel 3 and the straight line directions of the arm sections B and C are also 90 degrees, auxiliary control can be performed through the momentum wheel 2 and the momentum wheel 3 at the moment so as to ensure the vibration reduction effect of the arm support.

In one embodiment, the actual vibration parameters include a first vibration parameter and a second vibration parameter, the PID controller includes a first PID controller corresponding to the first vibration parameter and/or a second PID controller corresponding to the second vibration parameter, and inputting the actual vibration parameters to the PID controller to determine, by the PID controller, an execution signal for the target momentum wheel corresponding to the target arm segment includes: determining a target parameter corresponding to the target arm segment when vibration is stopped and the target arm segment is positioned at a preset initial position, wherein the target parameter comprises a first target parameter corresponding to the first vibration parameter and/or a second target parameter corresponding to the second vibration parameter; determining a first difference between the first vibration parameter and the first target parameter, and/or a second difference between the second vibration parameter and the second target parameter; the first difference value is input to a first PID controller, and/or the second difference value is input to a second PID controller, so that an execution signal for a target momentum wheel corresponding to the target arm section is output through the first PID controller and/or the second PID controller.

Wherein the actual vibration parameter may comprise the first vibration parameter and/or the second vibration parameter. The first vibration parameter may refer to a real-time velocity and the second vibration parameter may refer to a real-time acceleration. The PID controller can include a first PID controller corresponding to a first vibration parameter and/or a second PID controller corresponding to a second vibration parameter. If the first vibration parameter is real-time speed, the first PID controller can be referred to as a speed controller. If the second vibration parameter is real-time acceleration, the second PID controller may be referred to as an acceleration controller.

In the case of determining the actual vibration parameter of the target arm segment, the processor may determine a target parameter corresponding to the target arm segment when the target arm segment stops vibrating and is located at a preset initial position. Wherein the target parameters include a first target parameter corresponding to the first vibration parameter and/or a second target parameter corresponding to the second vibration parameter. If the first vibration parameter is a real-time speed, the first target parameter may refer to a target speed. If the second vibration parameter is a real-time acceleration, the second target parameter may be referred to as a target acceleration. The processor may further determine a first difference between the first vibration parameter and the first target parameter, and/or may determine a second parameter between the second vibration parameter and the second target parameter. If the first vibration parameter is a real-time velocity, the first difference may be referred to as a velocity difference. If the second vibration parameter is real-time acceleration, the second difference may be referred to as an acceleration difference. The processor may input the first difference value to the first PID controller and/or the second difference value to the second PID controller to output an execution signal for the target momentum wheel corresponding to the target arm segment through the first PID controller and/or the second PID controller.

For example, if the actual vibration parameter includes a first vibration parameter and a second vibration parameter, a first difference and a second difference may be obtained. At this time, the processor may input the first difference value to the first PID controller to output the adjustment parameter for the target arm segment through the first PID controller. The processor may further input the adjustment parameter and the second difference value to the second PID controller to output an execution signal for the target momentum wheel corresponding to the target arm segment through the second PID controller. If the actual vibration parameter comprises the first vibration parameter, a first difference value may be obtained. At this time, the processor may input the first difference value to the first PID controller to output an execution signal for the target momentum wheel corresponding to the target arm segment through the first PID controller. If the actual vibration parameter includes a second vibration parameter, a second difference value may be obtained. At this time, the processor may input a second difference value to the second PID controller to output an execution signal for the target momentum wheel corresponding to the target arm segment through the second PID controller.

In one embodiment, the control method further comprises: after the target arm segment is adjusted through the torque, the adjusted first vibration parameter and/or the adjusted second vibration parameter corresponding to the current position of the target arm segment are/is determined; determining a first parameter difference between the first target parameter and the adjusted first vibration parameter and/or a second parameter difference between the second target parameter and the adjusted second vibration parameter; under the condition that the first parameter difference value and/or the second parameter difference value are/is consistent with a preset value, determining that the target arm joint stops vibrating and returns to a preset initial position; and under the condition that the first parameter difference value is inconsistent with the preset value, or the second parameter difference value is inconsistent with the preset value, or at least one of the first parameter difference value and the second parameter difference value is inconsistent, determining an execution signal of the target momentum wheel corresponding to the target arm section again according to the first parameter difference value and/or the second parameter difference value, and controlling the target momentum wheel to move according to the determined execution signal so as to output corresponding torque again until the first parameter difference value and/or the second parameter difference value are consistent with the preset value.

After adjusting the target arm segment by the torque, the processor may determine an adjusted first vibration parameter and/or an adjusted second vibration parameter corresponding to the current position of the target arm segment. The processor may then determine a first parameter difference between the first target parameter and the adjusted first vibration parameter and/or a second parameter difference between the second target parameter and the adjusted second vibration parameter. The processor may compare the first parameter difference and the second parameter difference to preset values, respectively. And under the condition that the first parameter difference value and/or the second parameter difference value are consistent with the preset value, the processor can determine that the target arm segment stops vibrating and returns to the preset initial position. When the first parameter difference value is inconsistent with the preset value, or the second parameter difference value is inconsistent with the preset value, or at least one of the first parameter difference value and the second parameter difference value is inconsistent, the processor can redetermine an execution signal of the target momentum wheel corresponding to the target arm segment according to the first parameter difference value and/or the second parameter difference value, and can control the target momentum wheel to move according to the redetermined execution signal so as to redelivery corresponding torque until the first parameter difference value and/or the second parameter difference value is consistent with the preset value.

For example, if the actual vibration parameter includes the first vibration parameter or the second vibration parameter, the first parameter difference or the second parameter difference may be obtained. At this time, if the first parameter difference is consistent with the preset value, or if the second parameter difference is consistent with the preset value, it may be determined that the target arm segment stops vibrating and returns to the preset initial position. If the first parameter difference value is inconsistent with the preset value or the second parameter difference value is inconsistent with the preset value, the execution signal can be redetermined. If the actual vibration parameters include the first vibration parameter and the second vibration parameter, a first parameter difference value and a second parameter difference value may be obtained. At this time, if the first parameter difference value and the second parameter difference value are both consistent with the preset value, it can be determined that the target arm segment stops vibrating and returns to the preset initial position. If at least one of the first parameter difference and the second parameter difference is inconsistent with the preset value, the execution signal can be redetermined.

Taking the first vibration parameter as a real-time speed and the second vibration parameter as a real-time acceleration as an example, fig. 11 shows a second flow chart of the control method for the boom.

For a fixed-posture arm support (an arm support without an active operation signal), the processor can determine a target arm section and determine the real-time speed and the real-time acceleration of the target arm section under the condition that the arm support vibrates relative to a preset initial position. In particular, the boom may comprise a speed sensor and an acceleration sensor. The real-time speed v of the target arm section can be acquired through the speed sensor _b The real-time acceleration a of the target arm joint can be acquired through the acceleration sensor _b . Under the condition of determining the real-time speed and the real-time acceleration of the target arm segment, the processor can determine the target speed and the target acceleration corresponding to the target arm segment when the target arm segment stops vibrating and is positioned at the preset initial position. Because the arm support is an arm support with a fixed posture, the preset initial position can refer to the position of the arm support when vibration does not occur, and therefore, when the target arm segment returns to the preset initial position, the target speed and the target acceleration of the target arm segment can be 0. In this case, the processor may determine a speed difference between the real-time speed and the target speed, and may input the first difference into the PID controller a to output the adjustment parameter for the target arm segment through the PID controller a. Then, the processor may determine an acceleration difference between the real-time acceleration and the target acceleration, and may input the acceleration difference and the adjustment parameter into the PID controller b to output an execution signal for the target momentum wheel corresponding to the target arm segment through the PID controller b. The processor can control the variable frequency motor of the target momentum wheel system to output corresponding torque according to the execution signal so as to control the posture of the arm support where the target arm section is located.

Taking the first vibration parameter as the real-time speed and the second vibration parameter as the real-time acceleration as an example, fig. 12 shows a third flow chart of the control method for the boom.

Aiming at the moving arm support, the processor can determine the target arm section and determine the real-time speed and the real-time acceleration of the target arm section under the condition that the arm support vibrates relative to the preset initial position. In particular, the boom may comprise a speed sensor and an acceleration sensor. The real-time speed v of the target arm section can be acquired through the speed sensor _b The real-time acceleration a of the target arm joint can be acquired through the acceleration sensor _b . Under the condition of determining the real-time speed and the real-time acceleration of the target arm segment, the processor can firstly acquire the arm support operation signal, and can input the arm support operation signal and the current arm support gesture into an acceleration and deceleration model so as to determine the target speed v of the target arm segment _s With target acceleration a _s . Because the arm support where the target arm segment is located is the arm support in motion at this time, the preset initial position of the arm support can refer to the position where the arm support is located when the arm support vibrates initially, and therefore, when the target arm segment returns to the preset initial position, the target speed of the target arm segment may not be 0, and the target acceleration may not be 0. The processor may determine a speed difference between the real-time speed and the target speed and may input the first difference into the PID controller a to output an adjustment parameter for the target arm segment through the PID controller a. Then, the processor may determine an acceleration difference between the real-time acceleration and the target acceleration, and may input the acceleration difference and the adjustment parameter into the PID controller b to output an execution signal for the target momentum wheel corresponding to the target arm segment through the PID controller b. The processor can control the variable frequency motor of the target momentum wheel system to output corresponding torque according to the execution signal so as to control the posture of the arm support where the target arm section is located.

In one embodiment, the target momentum wheel comprises a stator, a rotor and a stator base, the target momentum wheel is mounted on the arm segment through the stator base, the control of the target momentum wheel to move according to the execution signal to output corresponding torque to control the target arm segment to stop vibrating and return to a preset initial position comprises: the stator of the control target momentum wheel moves according to the execution signal so as to control the rotor to output corresponding first torque towards a first direction; determining a second torque of the stator base according to the first torque, wherein the direction of the second torque is a second direction opposite to the first direction; and controlling the stator base of the target momentum wheel to output a second torque towards a second direction so as to control the target arm segment corresponding to the stator base to stop vibrating and return to a preset initial position.

Wherein the target momentum wheel may comprise a stator, a rotor and a stator base. The target momentum wheel may be mounted on the arm segment by a stator base. The processor may control the stator of the target momentum wheel to move according to the execution signal to control the rotor to output a corresponding first torque in a first direction. The processor may then determine a second torque of the stator base based on the first torque. Wherein the direction of the second torque is a second direction opposite to the first direction. Under the condition that the second torque is determined, the processor can control the stator base of the target momentum wheel to output the second torque towards the second direction so as to control the target arm segment corresponding to the stator base to stop vibrating and return to the preset initial position.

Fig. 13 schematically shows an example diagram of controlling a momentum wheel. The processor may control the rotor to output a corresponding momentum wheel torque in a clockwise direction. The processor may then determine the stator torque from the momentum wheel torque. Further, the processor can control the stator base of the momentum wheel to output stator torque in the anticlockwise direction, so that the target arm segment where the momentum wheel is located is controlled to return to a preset initial position.

Through the technical scheme, the target momentum wheel can be controlled to output corresponding torque, so that torque for restraining vibration is directly applied to the arm section of the arm support, the time cost and the labor cost for adjusting the arm support are reduced, the vibration of the arm support in a rotation state can be controlled, the vibration of the arm support in a unfolding state can be controlled, and the accuracy and the timeliness of the arm support control are greatly improved. The arm support is controlled in a closed-loop control mode, the response speed is high, the arm support can be adjusted in time when the arm support vibrates, and the control efficiency and the control quality of the arm support are greatly improved.

Fig. 5 is a flow chart of a control method for the boom in an embodiment. It should be understood that, although the steps in the flowchart of fig. 5 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 5 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.

In one embodiment, a storage medium is provided, on which a program is stored, which when executed by a processor, implements the control method for a boom described above.

In one embodiment, a processor is provided for running a program, where the program executes the control method for the boom described above when running.

In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 14. The computer device includes a processor a01, a network interface a02, a memory (not shown) and a database (not shown) connected by a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing data such as actual vibration parameters. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the processor a01, implements a control method for the boom.

It will be appreciated by those skilled in the art that the structure shown in fig. 14 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps: under the condition that vibration of the arm support relative to a preset initial position is determined, determining a target arm section to be controlled in a plurality of arm sections; determining an actual vibration parameter of a target arm segment; inputting actual vibration parameters into a PID controller to determine an execution signal of a target momentum wheel corresponding to a target arm section through the PID controller; and controlling the target momentum wheel to move according to the execution signal so as to output corresponding torque, so as to control the target arm segment to stop vibrating and return to a preset initial position.

In one embodiment, the actual vibration parameters include a first vibration parameter and/or a second vibration parameter, the PID controller includes a first PID controller corresponding to the first vibration parameter and/or a second PID controller corresponding to the second vibration parameter, and inputting the actual vibration parameters to the PID controller to determine, by the PID controller, an execution signal for the target momentum wheel corresponding to the target arm segment includes: determining a target parameter corresponding to the target arm segment when vibration is stopped and the target arm segment is positioned at a preset initial position, wherein the target parameter comprises a first target parameter corresponding to the first vibration parameter and/or a second target parameter corresponding to the second vibration parameter; determining a first difference between the first vibration parameter and the first target parameter, and/or a second difference between the second vibration parameter and the second target parameter; the first difference value is input to a first PID controller, and/or the second difference value is input to a second PID controller, so that an execution signal for a target momentum wheel corresponding to the target arm section is output through the first PID controller and/or the second PID controller.

In one embodiment, the first preset condition further includes: the arm pitch is closest to the target arm segment.

The present application also provides a computer program product adapted to perform a program initializing steps of a control method for a boom when executed on a data processing apparatus.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A control method for an arm rest, wherein the arm rest comprises a plurality of arm segments, the control method comprising:

under the condition that the arm support vibrates relative to a preset initial position, determining a target arm section to be controlled in the plurality of arm sections;

Determining an actual vibration parameter of the target arm segment;

inputting the actual vibration parameters to a PID controller to determine an execution signal for a target momentum wheel corresponding to the target arm section through the PID controller;

and controlling the target momentum wheel to move according to the execution signal so as to output corresponding torque, so as to control the target arm segment to stop vibrating and return to the preset initial position.

2. The control method for an arm rest according to claim 1, wherein the actual vibration parameter includes a first vibration parameter and/or a second vibration parameter, the PID controller includes a first PID controller corresponding to the first vibration parameter and/or a second PID controller corresponding to the second vibration parameter, and the inputting the actual vibration parameter to the PID controller to determine an execution signal for a target momentum wheel corresponding to the target arm segment by the PID controller includes:

determining a target parameter corresponding to the target arm segment when vibration is stopped and the target arm segment is positioned at the preset initial position, wherein the target parameter comprises a first target parameter corresponding to the first vibration parameter and/or a second target parameter corresponding to the second vibration parameter;

Determining a first difference between the first vibration parameter and the first target parameter, and/or a second difference between the second vibration parameter and the second target parameter;

and inputting the first difference value to the first PID controller and/or inputting the second difference value to the second PID controller so as to output an execution signal for the target momentum wheel corresponding to the target arm section through the first PID controller and/or the second PID controller.

3. The control method for the boom according to claim 2, characterized in that the control method further comprises:

after the target arm segment is adjusted through the torque, determining an adjusted first vibration parameter and/or an adjusted second vibration parameter corresponding to the current position of the target arm segment;

determining a first parameter difference between the first target parameter and the adjusted first vibration parameter and/or a second parameter difference between the second target parameter and the adjusted second vibration parameter;

under the condition that the first parameter difference value and/or the second parameter difference value are/is consistent with a preset value, determining that the target arm segment stops vibrating and returns to the preset initial position;

And under the condition that the first parameter difference value is inconsistent with the preset numerical value, or the second parameter difference value is inconsistent with the preset numerical value, or at least one of the first parameter difference value and the second parameter difference value is inconsistent, redetermining an execution signal of the target momentum wheel corresponding to the target arm segment according to the first parameter difference value and/or the second parameter difference value, and controlling the target momentum wheel to move according to the redetermined execution signal so as to redelivery corresponding torque until the first parameter difference value and/or the second parameter difference value is consistent with the preset numerical value.

4. The control method for the boom according to claim 1, wherein the target momentum wheel includes a stator, a rotor, and a stator base, the target momentum wheel is mounted on a boom section through the stator base, the controlling the target momentum wheel to move according to the execution signal to output a corresponding torque to control the target boom section to stop vibrating and return to the preset initial position includes:

controlling a stator of the target momentum wheel to move according to the execution signal so as to control the rotor to output corresponding first torque towards a first direction;

Determining a second torque of the stator base according to the first torque, wherein the direction of the second torque is a second direction opposite to the first direction;

and controlling a stator base of the target momentum wheel to output the second torque towards the second direction so as to control a target arm segment corresponding to the stator base to stop vibrating and return to the preset initial position.

5. The control method for a boom according to claim 1, characterized in that the method further comprises:

under the condition that the arm support vibrates relative to a preset initial position, determining the vibration direction of the arm support according to the current motion state of the arm support;

and determining a target momentum wheel corresponding to the target arm segment according to the vibration direction.

6. The control method for an arm rest according to claim 5, wherein the determining the target momentum wheel corresponding to the target arm segment according to the vibration direction includes:

under the condition that a momentum wheel is not mounted on the target arm section, determining the arm section meeting a first preset condition as a to-be-selected arm section, and determining the momentum wheel meeting a second preset condition on the to-be-selected arm section as the target momentum wheel, wherein the first preset condition comprises that at least one momentum wheel is mounted on the arm section, and a first included angle between the straight line direction of the arm section and the vibration direction is in a first preset range;

And under the condition that the momentum wheel is installed on the target arm segment, determining the momentum wheel meeting the second preset condition on the target arm segment as the target momentum wheel.

7. The control method for an arm rest according to claim 6, wherein the first preset condition further comprises: the arm segment is closest to the target arm segment.

8. The control method for a boom according to claim 6, characterized in that it is determined that the momentum wheel satisfies the second preset condition if all of the following conditions are satisfied:

a second included angle between the rotation axis direction of the momentum wheel and the vibration direction is in a second preset range;

and a third included angle between the direction of the rotation axis and the straight line direction of the arm section where the momentum wheel is located is in a third preset range.

9. The method for controlling an arm support according to claim 5, wherein determining the vibration direction of the arm support according to the current motion state of the arm support comprises:

determining the vibration direction of the arm support as a first vibration direction under the condition that the current motion state of the arm support is a rotary motion state and the arm support vibrates on a rotary plane of the arm support;

And determining the vibration direction of the arm support as a second vibration direction under the condition that the current motion state of the arm support is a folding motion state and the arm support vibrates on the vertical plane of the arm support.

10. A machine readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform the control method for a boom according to any of claims 1 to 9.

11. A processor, characterized by being configured to perform the control method for a boom according to any of claims 1 to 9.

12. An arm support, characterized in that the arm support comprises:

a plurality of arm segments;

the processor of claim 11.

13. The boom of claim 12, wherein the momentum wheel comprises:

a rotor for outputting a corresponding first torque;

a stator for driving the rotor to rotate according to the execution signal;

14. The boom of claim 13, wherein the momentum wheel further comprises: