An optimization method for luffing mechanism

Abstract

The present application relates to the technical field of luffing mechanism design, and provides an optimization method for a luffing mechanism, the optimization method comprising: determining a preset rotation angle of a first angle and a preset number of rotations to the preset rotation angle; starting the luffing cylinder, obtaining the angle difference between the first angle after the current rotation and the first angle after the previous rotation in two adjacent rotations within the preset number of rotations, and defining the angle difference as a first change value; obtaining the flow difference between the input flow of the luffing cylinder after the current rotation and the input flow after the previous rotation in two adjacent rotations, and defining the flow difference as a second change value; when the difference between two adjacent first change values ​​is a first preset value, determining the difference between two adjacent second change values ​​to be a second preset value. The optimization method for a luffing mechanism provided in the present application can improve the smoothness of the working arm.

Description

Technical Field

[0001] The present application relates to the technical field of luffing mechanism design, and in particular to an optimization method for a luffing mechanism. Background Art

[0002] In the related art, the luffing mechanism is mainly designed with the luffing cylinder force as the maximum value, which results in reduced smoothness of the working arm. Summary of the Invention

[0003] In view of this, an embodiment of the present application hopes to provide an optimization method for a variable amplitude mechanism to improve the smoothness of the working arm.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application discloses an optimization method for a luffing mechanism, wherein the luffing mechanism includes a working arm, a turntable, and a luffing cylinder. The turntable is rotatably disposed on a platform. One end of the working arm is connected to the turntable. A first angle is formed between the working arm and the turntable. A working cabin is provided at the other end of the working arm. The luffing cylinder is telescopically supported between the turntable and the working arm. The luffing cylinder is used to drive the working arm to rotate to increase or decrease the angle value of the first angle. The optimization method includes:

[0006] Determining a preset rotation angle of the first angle and a preset number of rotations to the preset rotation angle;

[0007] Starting the luffing cylinder, obtaining an angle difference between the first angle after the current rotation and the first angle after the previous rotation in two adjacent rotations during the preset number of rotations, and defining the angle difference as a first variation value; obtaining a flow rate difference between an input flow rate of the luffing cylinder after the current rotation and the input flow rate after the previous rotation in two adjacent rotations, and defining the flow rate difference as a second variation value;

[0008] When the difference between two adjacent first change values ​​is a first preset value, it is determined that the difference between two adjacent second change values ​​is a second preset value.

[0009] In one embodiment, the optimization method includes:

[0010] Define the connection point between the working arm and the turntable as point A, the connection point between the working arm and the luffing cylinder as point B, and the connection point between the luffing cylinder and the turntable as point C. Construct triangle ABC by connecting point A, point B, and point C. Define AB of triangle ABC as the first side, BC of triangle ABC as the second side, and AC of triangle ABC as the third side. The first side and the first side form the first angle.

[0011] Construct a rectangular coordinate system, with point A as the coordinate origin and the coordinates of point B as the design variables;

[0012] The coordinates of point B are optimized by establishing a multi-objective function.

[0013] In one embodiment, it is determined that the triangle ABC satisfies the triangle establishment condition;

[0014] The length of the first side is greater than the minimum installation distance of the luffing cylinder and less than the maximum installation distance of the luffing cylinder.

[0015] In one embodiment, the optimization method includes:

[0016] Obtaining a minimum length value of the second side and a maximum length value of the second side during the rotation of the first side;

[0017] A ratio of the maximum length of the second side to the minimum length of the second side meets a preset condition.

[0018] In one embodiment, the optimization method includes:

[0019] It is defined that in the preset number of rotations, the difference between the length of the second side after the current rotation and the length of the second side after the previous rotation is a third change value;

[0020] Constructing a first objective function: the difference between two adjacent third change values;

[0021] Obtain the minimum value of the first objective function.

[0022] In one embodiment, the optimization method includes:

[0023] Constructing a second objective function: accumulating the difference between every two adjacent second change values;

[0024] Obtain the minimum value of the second objective function.

[0025] In one embodiment, the optimization method includes:

[0026] The first side and the second side form a second angle;

[0027] Constructing a third objective function: a derivative of the maximum value of the product of the sine value of the second angle and the length of the first side;

[0028] Obtaining a minimum value of the third objective function.

[0029] In one embodiment, the input flow rate of the luffing cylinder is the product of the stroke of the luffing cylinder and the cross-sectional area of ​​the cylinder barrel of the luffing cylinder.

[0030] In one embodiment, the preset rotation angle is -5° to 80°.

[0031] In one embodiment, the preset number of rotations is not less than a third preset value.

[0032] An optimization method for a variable-length mechanism disclosed in an embodiment of the present application first determines a preset rotation angle of a first angle, so as to ensure that the working arm can be lifted to a specified height; then, by determining a preset number of rotations, the optimization accuracy is determined; then, a first change value between the first angle after the current rotation and the first angle after the previous rotation in two adjacent rotations is obtained; a second change value between the input flow of the variable-length cylinder after the current rotation and the input flow after the previous rotation is obtained; and when it is determined that the difference between each two adjacent first change values ​​is a first preset value, the difference between each two adjacent second change values ​​is determined to be a second preset value. That is to say, after each rotation of the working arm, the angle value of the first angle will increase or decrease compared with the previous rotation, and when the difference between the first change values ​​of the first angle between every two rotations is a first preset value, the difference between the second change values ​​of the input flow of the corresponding two rotations of the variable amplitude cylinder can be made to be a second preset value, thereby ensuring that the extension and contraction amount of the variable amplitude cylinder will not undergo a large mutation during two adjacent rotations. In this way, the smoothness of the working arm can be improved, and the displacement of the working cabin located at the other end of the working arm will not undergo a large mutation, thereby improving the smoothness and stability of the rising or falling of the working cabin, and improving the comfort and operator experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic structural diagram of an aircraft de-icing vehicle provided in one embodiment of the present application;

[0034] Figure 2 A schematic structural diagram of an amplitude-changing mechanism provided in another embodiment of the present application;

[0035] Figure 3 A schematic flow chart of a method for optimizing a luffing mechanism provided in yet another embodiment of the present application;

[0036] Figure 4 Schematic diagram of the rotation analysis of the luffing mechanism.

[0037] Description of Reference Numerals

[0038] Aircraft de-icing vehicle 100; luffing mechanism 1; working arm 11; turntable 12; luffing cylinder 13; cylinder barrel 131; piston rod 132; working cabin 2; vehicle 3. DETAILED DESCRIPTION

[0039] It should be noted that, unless there is a conflict, the embodiments and technical features in the embodiments of this application can be combined with each other, and the detailed description in the specific implementation method should be understood as an explanation of the purpose of this application and should not be regarded as an improper restriction on this application.

[0040] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments. The descriptions of "first", "second", etc. in the embodiments of the present application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly including at least one feature. In the description of the embodiments of the present application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0041] In order to facilitate understanding of the optimization method of a variable mechanism provided in the embodiment of the present application, the variable amplitude mechanism is first introduced. Figure 1 and Figure 2 The luffing mechanism 1 includes a working arm 11, a turntable 12, and a luffing cylinder 13. The turntable 12 is rotatably mounted on a platform. For example, the platform can be the roof of the vehicle 3. One end of the working arm 11 is connected to the turntable 12. This allows the working arm 11 to rotate horizontally to accommodate work in different directions.

[0042] A first angle is formed between the working arm 11 and the turntable 12. The working cabin 2 is disposed at the other end of the working arm 11. A luffing cylinder 13 is retractably supported between the turntable 12 and the working arm 11. The luffing cylinder 13 is used to rotate the working arm 11 to increase or decrease the value of the first angle. Thus, the first angle is varied by the retractable movement of the luffing cylinder 13, thereby tilting the working cabin 2 at a predetermined angle, thereby facilitating operations for personnel within the working cabin 2.

[0043] The present invention provides an aircraft de-icing vehicle 100. Figure 1 The aircraft de-icing vehicle 100 includes a vehicle 3, a telescopic mechanism, a leveling structure, a working cabin 2, and the luffing mechanism 1 of the above embodiment. In this way, the working cabin 2 and the operating personnel can be sent to a designated working height to perform de-icing operations on the surface of the aircraft, thereby reducing the risk of accidents caused by ice, snow or frost on the aircraft surface and improving safety.

[0044] The present application provides another aspect of an optimization method for a variable amplitude mechanism. Figure 3, optimization methods include:

[0045] S1. Determine a preset rotation angle of the first angle and a preset number of rotations to the preset rotation angle;

[0046] S2. Starting the luffing cylinder, obtaining an angle difference between the first angle after the current rotation and the first angle after the previous rotation in two adjacent rotations during the preset number of rotations, and defining the angle difference as a first variation value; obtaining a flow rate difference between an input flow rate of the luffing cylinder after the current rotation and the input flow rate after the previous rotation in two adjacent rotations, and defining the flow rate difference as a second variation value;

[0047] S3. When the difference between two adjacent first change values ​​is a first preset value, determine that the difference between two adjacent second change values ​​is a second preset value.

[0048] The optimization method of the changing mechanism provided in the embodiment of the present application first determines the preset rotation angle of the first angle, so as to ensure that the working arm 11 can be lifted to the specified height, and then determines the optimization accuracy by determining the preset number of rotations, and then obtains the first change value between the first angle after the current rotation and the first angle after the previous rotation in two adjacent rotations, obtains the second change value between the input flow of the variable amplitude cylinder 13 after the current rotation and the input flow after the previous rotation, and when it is determined that the difference between each two adjacent first change values ​​is the first preset value, it is determined that the difference between the two adjacent second change values ​​is the second preset value. That is to say, after each rotation of the working arm 11, the angle value of the first angle will increase or decrease compared with the previous rotation, and when the difference between the first change values ​​of the first angle between every two rotations is a first preset value, the difference between the second change values ​​of the input flow of the corresponding two rotations of the variable length cylinder 13 can be made to be a second preset value, thereby ensuring that the extension and contraction amount of the variable length cylinder 13 will not undergo a large mutation during two adjacent rotations. In this way, the smoothness of the working arm 11 can be improved, and the displacement of the working cabin 2 located at the other end of the working arm 11 will not undergo a large mutation, thereby improving the smoothness and stability of the rise or fall of the working cabin 2, and the comfort and operator experience are good.

[0049] It should be noted that the preset rotation angle refers to the angle that the variable amplitude mechanism 1 is designed to achieve. The preset rotation angle is related to the maximum operating height, operating range and parameters of the entire machine, such as a de-icing vehicle. The preset rotation angle is the angle requirement that the variable amplitude mechanism 1 must meet by inverting the operating parameters of the entire machine.

[0050] It should be noted that the first change value mentioned here refers to: the angle change value of the first angle after each rotation. For example, taking the rising of the working arm 11 as an example, the angle value of the first angle after the last rotation is 5°, and the angle value of the first angle after another rotation is 6°. In this way, the first change value is 1°.

[0051] It should be noted that the second change value here refers to the change value of the input flow rate of the luffing cylinder after each rotation. For example, taking the rising of the working arm 11 as an example, the input flow rate of the luffing cylinder after the last rotation is 10m 3 After one more rotation, the input flow of the variable amplitude cylinder is 20m 3 , so the second change value is 10m 3 .

[0052] It should be noted that the first change value after the first rotation in the preset number of rotations is the difference compared to the initial angle of the first angle, that is, when the working arm 11 is not rotating, its first angle has an initial angle, for example, the initial angle can be 0°.

[0053] It should be noted that when the input flow of the luffing cylinder 13 changes, the extension and contraction amount of the luffing cylinder 13 will change, thereby causing the working arm 11 to rise or fall.

[0054] For example, in one embodiment, the rotation frequency of the working arm 11 can be 1Hz, 2Hz or 10Hz, etc., that is, the time of each rotation in the preset number of rotations is uniform, so that the smoothness of the working arm 11 when rising and falling can be improved, and the movement fluctuation of the luffing mechanism 1 when rising and falling can be reduced. For example, taking the rising working arm 11 as an example, the rotation frequency of the working arm 11 is 1Hz, that is, it rotates once per 1s, and the angle of the first angle increases by 2° after one rotation. After two rotations, the initial angle of the first angle is 5°. At this time, the input flow rate of the luffing cylinder 13 is 10m 3 That is to say, in the first rotation, the angle of the first angle increases from 5° to 7°, and the input flow of the variable amplitude cylinder 13 increases from 10m 3 becomes 20m 3 , the second rotation, the angle of the first angle increases from 7° to 8°, at this time the input flow of the variable amplitude cylinder 13 increases from 20m 3 becomes 30m 3 , then the first change value is 2°, the first preset value is 0°, and the second change value is 10m 3 , the second preset value is 0°.

[0055] In one embodiment, please refer to Figure 2 and Figure 4The optimization method includes: S4, defining the connection point between the working arm and the turntable as point A, the connection point between the working arm and the luffing cylinder as point B, and the connection point between the luffing cylinder and the turntable as point C, connecting point A, point B, and point C to construct a triangle ABC, defining AB of the triangle ABC as a first side, defining BC of the triangle ABC as a second side, and defining AC of the triangle ABC as a third side, wherein the first side and the first side form a first angle;

[0056] S5. Construct a rectangular coordinate system with point A as the origin and the coordinates of point B as design variables;

[0057] S6. Optimize the coordinates of point B by establishing a multi-objective function.

[0058] For example, see Figure 2 and Figure 4 In triangle ABC, point A is the connection hinge between the working arm 11 and the turntable 12, point C is the connection hinge between the cylinder 131 of the luffing cylinder 13 and the turntable 12, and point B is the connection hinge between the working arm 11 and the piston rod 132 of the luffing cylinder 13. Point B is on the working arm 11, and point C is on the turntable 12. The first side is marked as L. AB , the second side is denoted as L BC , the third side is denoted as L AC Here, by establishing a multi-objective function, the optimal solution set under various weight conditions can be obtained. In this way, the coordinates of point B can be optimized in a more thoughtful, comprehensive and detailed manner, thereby improving the smoothness of the luffing mechanism 1.

[0059] In one embodiment, please refer to Figure 2 and Figure 4 , determine that triangle ABC meets the triangle formation condition. Exemplarily, the sum of the length of the first side and the length of the second side is greater than the length of the third side, and the difference between the length of the first side and the length of the second side is less than the length of the third side.

[0060] In one embodiment, the length of the second side is no less than the minimum installation distance of the luffing cylinder 13 and no greater than the maximum installation distance of the luffing cylinder 13. For example, the minimum installation distance is equal to the fixed length of the luffing cylinder 13 plus the stroke; the maximum installation distance is equal to the minimum installation distance plus the stroke. In this way, while ensuring that triangle ABC meets the conditions for a triangle to be formed, it can also ensure that the luffing cylinder 13 can extend and retract normally. It should be noted that the fixed length is the sum of the exposed length of the piston rod 132, the guide sleeve length, the piston length, and the structural length of the cylinder barrel 131.

[0061] It should be noted that since the coordinates of point B are design variables, the lengths of the first and second sides are the variations, that is, the length of the luffing cylinder 13 is the variation. When the working arm 11 rises, the length of the luffing cylinder 13 is the initial length plus the variation. When the working arm 11 descends, the length of the luffing cylinder 13 is the initial length plus the stroke minus the variation. The variation is the cumulative sum of one or more first variation values.

[0062] Exemplarily, in one embodiment, the fixed length needs to be maintained within a certain range so that the work can be performed stably.

[0063] In one embodiment, the optimization method includes: S7, obtaining a minimum length value of the second side and a maximum length value of the second side during the rotation of the first side;

[0064] S8. The ratio of the maximum length of the second side to the minimum length of the second side meets a preset condition.

[0065] For example, the ratio of the maximum length of the second side to the minimum length of the second side may be between 1.62 and 1.85, thereby ensuring that the luffing cylinder 13 can work normally and cover more working positions.

[0066] In one embodiment, the optimization method includes: S9, defining that, in the preset number of rotations, a difference between a length of the second side after a current rotation and a length of the second side after a previous rotation is a third change value;

[0067] S10, constructing a first objective function: the difference between two adjacent third change values;

[0068] S11. Obtain the minimum value of the first objective function.

[0069] For example, see Figure 2 and Figure 4 , the first included angle is recorded as θ, the length of the second side is recorded as L, the preset number of rotations is recorded as n, taking the rising working arm 11 as an example, the preset rotation angle is 80°, the preset number of rotations n is 80 times, the initial angle of the first included angle θ is 0°, then each time it rotates, the angle of the first included angle increases by 1°, and the difference between two adjacent first change values ​​is recorded as △θ=(θ i+2 -θ i+1 )-(θ i+1 -θ i ), at this time, the difference of the third change value of the length of the second side corresponding to each difference of the first change value is △L=(L i+2 -L i+1 )-(L i+1 -L i) is the first objective function, where i = [0, n]. Then, there are n-1 such as 79 △L and n-1 such as 79 objective function values. Then, the minimum value is taken among the n-1 such as 79 objective function values. Here, taking the minimum value means that the difference between the two third change values ​​is very small, that is, the two third change values ​​are the same or tend to be the same. In this way, when the first side is rotated, every time the first angle increases or decreases by an identical or tending to be the same first change value, the length of the corresponding second side will also increase or decrease by an identical or tending to be the same third change value. In this way, the shaking amplitude of the working cabin 2 during operation can be reduced, so that the fluctuation of the working cabin 2 when rising and falling is small, the smoothness and stability of the working arm 11 are improved, and the operator has a good experience.

[0070] For example, in one embodiment, please refer to Figure 4 , △ABC is the initial state, θ is the initial angle of the first angle, and side BC is the initial length of the second side; △AB1C is the shape of the first side after one rotation, △θ1 is the first change value of the first angle after the first rotation compared with the initial angle, and △L1 is the third change value of the second side after the first rotation compared with the initial length; △AB2C is the shape of the first side after two rotations, △θ2 is the first change value of the first angle after the second rotation compared with the first angle after the first rotation, and △L2 is the third change value of the second side after the second rotation compared with the second side after the first rotation.

[0071] In one embodiment, the optimization method includes: S12, constructing a second objective function: accumulating the difference between every two adjacent second change values;

[0072] S13. Obtain the minimum value of the second objective function.

[0073] That is to say, the difference between every two second change values ​​is accumulated, that is, n-1 △Ls are accumulated, and then the sum is minimized. In this way, on the one hand, the requirement for taking the minimum value of each △L can be strengthened to meet the target expectation and have high optimization accuracy; on the other hand, the n-1 △Ls can complement each other to ensure that at the preset rotation angle, the stroke of the variable amplitude cylinder 13 meets the overall expectation.

[0074] In one embodiment, please refer to Figure 2 and Figure 4 The optimization method includes: S9, the first side and the second side form a second angle.

[0075] That is to say, ∠ABC is the second angle, and ∠BAC is the first angle.

[0076] S10. Construct a third objective function: a derivative of the maximum value of the product of the sine value of the second angle and the length of the first side;

[0077] S11. Obtain the minimum value of the third objective function.

[0078] Exemplarily, the third objective function is: 1 / max(L AB × Sin(∠ABC)) to find the minimum value of the third objective function, that is, the maximum value of the lever arm of the luffing cylinder 13. In this way, by obtaining the maximum value of the lever arm of the luffing cylinder 13, the force on the luffing cylinder 13 can be reduced, the service life of the luffing cylinder 13 can be increased, and the smoothness of the movement of the luffing mechanism 1 can also be improved.

[0079] It should be noted that the product of the force on the boom cylinder 13 and its lever arm is equal to the product of the gravity of the working arm 11, the working cabin 2 and the corresponding stress arm plus the moment at the end of the working arm 11. The product of the gravity of the working arm 11, the working cabin 2 and the corresponding stress arm and the moment at the end of the working arm 11 are all known quantities. In this way, the greater the lever arm of the working arm 11, the smaller the force on the boom cylinder 13.

[0080] It should be noted that the lever arm of the variable amplitude cylinder 13 is not the third side L AC , but point A is opposite to the second side L BC Draw a vertical line, which is the lever arm of the luffing cylinder 13.

[0081] Exemplarily, in one embodiment, different weights are designed to sort the solution sets and optimal solutions of the first objective function, the second objective function, and the third objective function.

[0082] For example, in one embodiment, the luffing mechanism 1 may be optimized and designed using a multi-objective genetic algorithm.

[0083] In one embodiment, the input flow rate of the luffing cylinder 13 is the product of the stroke of the luffing cylinder 13 and the cross-sectional area of ​​the barrel 131 of the luffing cylinder 13. It should be noted that a cavity is formed within the barrel 131, and the piston rod 132 is located within the cavity, dividing the cavity into a large cavity and a small cavity. The large cavity is the cavity without the piston rod 132, and the small cavity is the cavity with the piston rod 132. Thus, when the working arm 11 rises, the input flow rate enters the large cavity. The change in the stroke of the large cavity and the change in the first angle meet the optimization design objectives. The input flow rate at this time is the product of the stroke of the luffing cylinder 13 and the cross-sectional area of ​​the large cavity. When the working arm 11 descends, the input flow rate enters the small cavity. At this time, the input flow rate is the product of the stroke of the luffing cylinder 13 and the cross-sectional area of ​​the small cavity. The change in the first angle between the small chamber stroke and the working arm 11 when it descends is consistent with the change in the first angle between the large chamber stroke and the working arm 11 when it rises. That is to say, when the working arm 11 rises and falls, the difference in the third change value of the stroke of the variable amplitude cylinder 13 and the difference in the first change value of the first angle are consistent. For example, the first change value of the rise is 2°, the first preset value is 0°, the third change value is 10mm, and the difference between the two adjacent third change values ​​is 0°. Then the first change value of the descent is also 2°, the first preset value is 0°, the third change value is 10mm, and the difference between the two adjacent third change values ​​is 0°. It's just that when it descends, the input flow of the small chamber is less than that of the large chamber, but the first change value, the first preset value, the third change value and the difference between the two adjacent third change values ​​are consistent.

[0084] In terms of control, the input flow is controlled according to the flow size of the small cavity to control the stroke of the variable amplitude cylinder 13.

[0085] In one embodiment, the preset rotation angle is -5° to 80°. Thus, by setting a suitable preset rotation angle, the operating angle of the working cabin 2 can be increased to adapt to different working positions.

[0086] In one embodiment, the preset number of rotations is not less than a third preset value. Specifically, the third preset value is a preset rotation angle. For example, if the preset rotation angle is 80°, the preset number of rotations may be 80 times. Each rotation causes the first angle to change by 1°. Thus, 1° corresponds to one array, facilitating subsequent data processing by software.

[0087] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, and improvements that fall within the spirit and principles of the present application are intended to be within the scope of protection of the present application.

Claims

1. A method for optimizing a variable amplitude mechanism, characterized in that: The luffing mechanism includes a working arm, a turntable, and a luffing cylinder. The turntable is rotatably arranged on a platform. One end of the working arm is connected to the turntable. A first angle is formed between the working arm and the turntable. A working cabin is provided at the other end of the working arm. The luffing cylinder is telescopically supported between the turntable and the working arm. The luffing cylinder is used to drive the working arm to rotate to increase or decrease the angle value of the first angle. The optimization method includes: Determining a preset rotation angle of the first angle and a preset number of rotations to the preset rotation angle; Starting the luffing cylinder, obtaining an angle difference between the first angle after the current rotation and the first angle after the previous rotation in two adjacent rotations during the preset number of rotations, and defining the angle difference as a first variation value; obtaining a flow rate difference between an input flow rate of the luffing cylinder after the current rotation and the input flow rate after the previous rotation in two adjacent rotations, and defining the flow rate difference as a second variation value; When the difference between two adjacent first change values ​​is a first preset value, it is determined that the difference between two adjacent second change values ​​is a second preset value.

2. The optimization method according to claim 1, characterized in that The optimization method comprises: Define the connection point between the working arm and the turntable as point A, the connection point between the working arm and the luffing cylinder as point B, and the connection point between the luffing cylinder and the turntable as point C. Construct triangle ABC by connecting point A, point B, and point C. Define AB of triangle ABC as the first side, BC of triangle ABC as the second side, and AC of triangle ABC as the third side. The first side and the first side form the first angle. Construct a rectangular coordinate system, with point A as the coordinate origin and the coordinates of point B as the design variables; The coordinates of point B are optimized by establishing a multi-objective function.

3. The optimization method according to claim 2, characterized in that Determine that triangle ABC satisfies the triangle formation condition; The length of the first side is greater than the minimum installation distance of the luffing cylinder and less than the maximum installation distance of the luffing cylinder.

4. The optimization method according to claim 2, characterized in that The optimization method comprises: Obtaining a minimum length value of the second side and a maximum length value of the second side during the rotation of the first side; A ratio of the maximum length of the second side to the minimum length of the second side meets a preset condition.

5. The optimization method according to claim 2, characterized in that: The optimization method comprises: It is defined that in the preset number of rotations, the difference between the length of the second side after the current rotation and the length of the second side after the previous rotation is a third change value; Constructing a first objective function: the difference between two adjacent third change values; Obtain the minimum value of the first objective function.

6. The optimization method according to claim 5, characterized in that: The optimization method comprises: Constructing a second objective function: accumulating the difference between every two adjacent second change values; Obtain the minimum value of the second objective function.

7. The optimization method according to claim 2, characterized in that: The optimization method comprises: The first side and the second side form a second angle; Constructing a third objective function: a derivative of the maximum value of the product of the sine value of the second angle and the length of the first side; Obtaining a minimum value of the third objective function.

8. The optimization method according to claim 1, characterized in that: The input flow of the luffing cylinder is the product of the stroke of the luffing cylinder and the cross-sectional area of ​​the cylinder barrel of the luffing cylinder.

9. The optimization method according to claim 1, characterized in that: The preset rotation angle is -5° to 80°.

10. The optimization method according to claim 1, characterized in that: The preset number of rotations is not less than a third preset value.

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