Method and device for suppressing residual vibration of boom

Abstract

The invention provides a method and a device for suppressing residual oscillation of a cantilever crane, which are applied to an engineering machine. The engineering machine comprises the cantilever crane and an actuating mechanism for controlling the movement of the cantilever crane. The method comprises the following steps of acquiring indication information reflecting the oscillation amplitude of the cantilever crane; determining the oscillation situation of the cantilever crane according to the variation trend of the indication information, wherein the oscillation situation comprises the oscillation direction of the cantilever crane; controlling the actuating mechanism to apply the interference force for reducing the oscillating amplitude of the cantilever crane onto the cantilever crane in the current oscillation direction of the cantilever crane according to the oscillation situation under the situation that the cantilever crane stops movement and the residual oscillation of the cantilever crane is started. By utilizing the technical scheme, the technical problems in the prior art that the time for stabilizing the cantilever crane is long, the residual oscillation amplitude is large and the like can be solved, so that the cantilever crane can be rapidly stabilized after the variable-amplitude movement is stopped, and the working efficiency is improved.

Description

technical field

[0001] The invention relates to the field of engineering machinery, in particular to a method and device for suppressing residual vibration of a boom. Background technique

[0002] In some construction machinery, jib structures are sometimes used, such as concrete pump trucks and fire-fighting aerial ladder trucks. The following uses fire-fighting aerial ladder trucks as an example to illustrate. The fire ladder truck is the main rescue tool in fire rescue, but because its boom is a cantilever beam, its inherent flexibility will cause a lot of residual vibration when the boom moves from motion to stop, and when performing rescue tasks, it is necessary to wait until the end It can be safely carried out after sufficient time of vibration. This will obviously delay the time for the fire ladder truck to rescue.

[0003] like figure 1 As shown, when the boom of the fire ladder needs to move from point a to point b, there are two methods for eliminating residual...

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