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Control method and system for suppressing boom vibration

A control method and boom technology, applied in general control systems, control/adjustment systems, adaptive control, etc., can solve the problems of boom vibration control and scarcity of trajectory control.

Active Publication Date: 2013-05-08
ZOOMLION HEAVY IND CO LTD
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Problems solved by technology

[0002] At present, there are very few researches on the vibration control and trajectory control of the boom during the movement process at home and abroad.

Method used

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  • Control method and system for suppressing boom vibration
  • Control method and system for suppressing boom vibration
  • Control method and system for suppressing boom vibration

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Embodiment Construction

[0021] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0022] Since the stiffness of the boom changes greatly during the movement of the boom, the system cannot be simplified into a fixed dynamic equation by static structural modeling. For this reason, the present invention proposes a vibration control scheme during the movement of the jib based on the structural dynamics model of the variable attitude jib. The telescopic folding arm of a high-altitude fire truck is used as an example for illustration below. Of course, the present invention is not limited thereto, and the present invention is applicable to any jib that requires vibration control, stability control, and / or trajectory planning.

[0023] figure 1 It ...

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Abstract

The invention discloses a control method and a system for suppressing boom vibration. The method includes the following steps: receiving current boom gesture and current velocity vectors and the current gesture includes the length vectors and the angle vectors, determining mass matrix and stiffness matrix corresponding to the current gesture according to the current gesture, plugging the mass matrix and the stiffness matrix into a structural kinetic equation of the boom, conducting active vibration control according to the structural kinetic equation, figuring out feedback gain vectors, and controlling the hydraulic pressure exerted on the boom according to the feedback gain vectors and the current velocity vectors to suppress the boom vibration. With the technical scheme, the feedback gain vectors under the current gesture can be obtained through variable gesture modeling, the hydraulic pressure can be controlled through the feedback of the feedback gain vectors and a velocity sensor, and the boom vibration can be effectively suppressed.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a control method and system for suppressing boom vibration. Background technique [0002] At present, there are very few researches on the vibration control and trajectory control of the jib during the motion process at home and abroad. Universities and research institutions at home and abroad have carried out a lot of research work on the active control of piezoelectric smart materials applied to cantilever beams. The control method is to suppress the deformation of the structure through the direct and inverse piezoelectric effects of piezoelectric materials. In addition, Komatsu and foreign excavator companies have conducted research on the vibration control of the boom structure of the excavator. Magirus, a famous foreign fire truck company, has conducted trajectory control and simple vibration reduction treatment on the boom structure of high-altitude fire trucks. Conte...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 曾光刘仰清曾亚平王曦鸣王唯金
Owner ZOOMLION HEAVY IND CO LTD
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