Controller, system and method used for active control of boom vibration

Abstract

The invention discloses a controller, a system and a method used for the active control of boom vibration. The controller (100) comprises a signal collecting unit (10), wherein the signal collecting unit (10) is used for collecting the vibration signal of the boom vibration and the attitude signal of the boom attitude and converting the vibration signal and the attitude signal to the vibration data and the attitude data, a boom dynamic property obtaining unit (20) is used for obtaining the boom dynamic property corresponding to the attitude data converted by the signal collecting unit (10), and a vibration controlling unit (30) is used for calculating the controlling signal according to the vibration data and the boom dynamic property, and outputting the controlling signal to the actuating and controlling unit of the boom section. By means of adopting the attitude signal, the device obtains the dynamic property of the boom under the current attitude, combines the vibration signal and figures out the controlling signal to control the actuating and controlling unit of the boom section, thereby achieving the goal of better active vibration reduction.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a controller, system and method for active vibration control of a boom. Background technique [0002] Construction machinery with a boom (such as a concrete pump truck) has a large extension of the boom when it is working. It is a cantilever beam structure in mechanics, and the force is more complicated and it is prone to vibration. The vibration of the concrete pump truck boom is one of the important factors affecting the performance and construction quality of the pump truck. If the vibration is too large, the hose at the end of the boom frame cannot be positioned accurately, and the dynamic stress generated at the same time directly affects the fatigue life of the pump truck. With the development of high-pressure, large-displacement pumping and ultra-long boom technology, more and more attention has been paid to the vibration of the boom, and the demand for how to effectiv...

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Problems solved by technology

[0003] One of the existing methods of actively suppressing the vibration of the boom is to add a suppression cylinder and adjust the movement of the suppression cylinder to achieve the purpose of vibration reduction. However, this method needs to increase the suppression cylinder and modify the mechanical structure, which is more complicated to implement; another One way is as recorded in CN102071809A, collecting the vibration amplitude and angle parameters of the boom to control the electromagnetic proportional valve to achieve the purpose of vibration reduction, but this method can only play a simple active suppression role and is not accurate enough

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