Methods for controlling booms, boom control devices and construction machinery

Abstract

This application discloses a method for controlling a boom, a boom control device, and engineering machinery. The method includes: acquiring the target speed of the end boom among multiple booms; determining the desired angular displacement of each joint within the preset period based on the target speed and a preset period; determining the desired angular velocity of each joint based on the target speed and the desired angular displacement; acquiring the actual angular displacement of each joint; determining the control law of a PID controller based on the desired angular displacement, desired angular velocity, and actual angular displacement; and controlling the boom movement through the PID controller according to the control law of the PID controller. This application can automatically adjust the PID control parameters of the boom according to different working conditions, eliminating the need for manual adjustment. This reduces the difficulty and intensity of adjusting boom control parameters while improving the control accuracy and efficiency of the boom.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a method for controlling a boom, a boom control device, and engineering machinery. Background Technology

[0002] Aerial work platforms assist workers in completing various tasks at high altitudes through the spatial movement of their work platforms. Currently, aerial work platforms are widely used in municipal engineering, wind power, airports, equipment installation and maintenance, and other applications. As the application of aerial work platforms becomes increasingly widespread, they also face challenges such as complex operating environments and high operational difficulty, which places higher demands on the efficiency and intelligence of aerial work platform operations.

[0003] Existing aerial work platforms have the following technical drawbacks in boom motion control:

[0004] (1) After completing the Cartesian space trajectory planning, the joint trajectory needs to be planned in the joint space. However, it is difficult to ensure the consistency of the joint movements when planning the trajectory in the joint space, which results in poor end control accuracy of the boom at time t during the trajectory planning in the joint space.

[0005] (2) Fixed parameter PID control is used. For complex and ever-changing working conditions, such as the early stage when the working platform changes from rising to falling, fixed parameter PID control will have a large tracking error and cannot meet the control accuracy requirements well. Summary of the Invention

[0006] The purpose of this application is to provide a method for controlling a boom, a boom control device, and engineering machinery to solve the problems of poor accuracy and low efficiency of the boom motion control end in the prior art of aerial work platforms.

[0007] To achieve the above objectives, the first aspect of this application provides a method for controlling a boom, applied to a boom control device, the boom control device communicating with multiple booms, the multiple booms being sequentially connected via joints, the method comprising:

[0008] Obtain the target velocity of the end boom among multiple booms;

[0009] The desired angular displacement of each joint within the preset period is determined based on the target speed and the preset period.

[0010] The desired angular velocity of each joint is determined based on the target velocity and the desired angular displacement.

[0011] Obtain the actual angular displacement of each joint;

[0012] The control law of the PID controller is determined based on the desired angular displacement, desired angular velocity, and actual angular displacement.

[0013] The boom movement is controlled by the PID controller based on the control law of the PID controller.

[0014] In this embodiment of the application, determining the desired angular displacement of each joint within the preset period based on the target speed and the preset period includes:

[0015] Establish a kinematic model of the boom based on the mechanisms of multiple booms;

[0016] The duration of the preset cycle and the target velocity are processed by the boom kinematic model to obtain the expected angular displacement of each joint within the preset cycle.

[0017] In this embodiment of the application, determining the desired angular velocity of each joint based on the target velocity and the desired angular displacement includes:

[0018] Establish the inverse Jacobian matrix of the target velocity and joint velocity based on the boom kinematic model;

[0019] The target velocity and the desired angular displacement of each joint within a preset period are processed by the inverse Jacobian matrix of velocity to obtain the desired angular velocity of each joint within the preset period.

[0020] In this embodiment of the application, determining the control law of the PID controller based on the desired angular displacement, desired angular velocity, and actual angular displacement includes:

[0021] The control coefficients of the PID controller are determined based on the desired angular displacement, desired angular velocity, and actual angular displacement.

[0022] Obtain the initial control parameters of the PID controller;

[0023] Determine the target control parameters of the PID controller based on the initial control parameters and control coefficients;

[0024] The joint angular displacement error is determined based on the expected angular displacement and the actual angular displacement.

[0025] The actual angular velocity is obtained by differentiating the actual angular displacement with respect to time.

[0026] Determine the joint angular velocity error based on the desired angular velocity and the actual angular velocity;

[0027] The control law of the PID controller is determined based on the joint angular displacement error, the joint angular velocity error, and the target control parameters of the PID controller.

[0028] In this embodiment, the control law of the PID controller satisfies formula (1):

[0029]

[0030] Where τ is the control law; K is the control coefficient; Kp0 K is the proportional control parameter in the initial control parameters. d0 K is the derivative control parameter in the initial control parameters. i0 Here, represents the integral control parameter in the initial control parameters; e represents the joint angular displacement error. t represents the actual angular velocity error; t represents time.

[0031] In this embodiment of the application, determining the control coefficients of the PID controller based on the desired angular displacement, desired angular velocity, and actual angular displacement includes:

[0032] The desired angular velocity is obtained by differentiating the desired angular velocity with respect to time;

[0033] The actual angular velocity is differentiated with respect to time to obtain the actual angular acceleration;

[0034] The desired angular acceleration, desired angular displacement, and desired angular velocity are processed using a boom dynamics model to obtain the desired control torque;

[0035] The actual angular acceleration, actual angular displacement and actual angular velocity are processed using a boom dynamics model to obtain the actual control torque;

[0036] The control coefficients of the PID controller are determined based on the desired control torque and the actual control torque.

[0037] In this embodiment, the control coefficients of the PID controller satisfy formula (2):

[0038]

[0039] Where K is the control coefficient; τ nd τ is the desired control torque. n This refers to the actual control torque.

[0040] A second aspect of this application provides a boom control device, comprising:

[0041] The memory is configured to store instructions; and

[0042] The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method of controlling the boom as described above.

[0043] A third aspect of this application provides an engineering machinery, characterized in that it comprises:

[0044] Multiple booms, connected sequentially by joints; and

[0045] According to the above-mentioned boom control device, the boom control device communicates with multiple booms.

[0046] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the method of the control boom described above.

[0047] The above technical solution obtains the target speed of the end boom in multiple booms; determines the desired angular displacement of each joint within the preset period based on the target speed and preset period; determines the desired angular velocity of each joint based on the target speed and desired angular displacement; obtains the actual angular displacement of each joint; determines the control law of the PID controller based on the desired angular displacement, desired angular velocity, and actual angular displacement; and controls the boom movement through the PID controller based on the control law of the PID controller. This application can automatically adjust the PID control parameters of the boom according to different working conditions, without manual adjustment, thus reducing the difficulty and intensity of adjusting the boom control parameters while improving the control accuracy and efficiency of the boom.

[0048] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0049] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0050] Figure 1 A flowchart illustrating a method for controlling a boom according to an embodiment of this application is shown schematically;

[0051] Figure 2 A schematic diagram of a boom-type aerial work platform according to an embodiment of this application is shown.

[0052] Figure 3 A schematic diagram illustrating a PID control block diagram based on boom dynamics according to an embodiment of this application is shown.

[0053] Figure 4 The diagram illustrates a flowchart of a method for controlling a boom according to a specific embodiment of this application.

[0054] Figure 5 The schematic diagram illustrates a structural block diagram of a boom control device according to an embodiment of this application. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0056] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0057] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0058] Figure 1 A flowchart illustrating a method for controlling a boom according to an embodiment of this application is shown schematically. Figure 1 As shown in the figure, this application provides a method for controlling a boom, which is applied to a boom control device. The boom control device communicates with multiple booms, and the multiple booms are connected sequentially through joints. The method may include the following steps.

[0059] Step 101: Obtain the target speed of the end boom among multiple booms;

[0060] Step 102: Determine the desired angular displacement of each joint within the preset period based on the target speed and the preset period;

[0061] Step 103: Determine the desired angular velocity of each joint based on the target velocity and the desired angular displacement;

[0062] Step 104: Obtain the actual angular displacement of each joint;

[0063] Step 105: Determine the control law of the PID controller based on the desired angular displacement, desired angular velocity, and actual angular displacement;

[0064] Step 106: Control the boom movement through the PID controller according to the control law of the PID controller.

[0065] The method for controlling the boom in this application embodiment is applied to the boom control device of construction machinery, which also includes multiple booms, with each pair of booms connected sequentially by joints. In this application embodiment, the boom connected to the aerial work platform is used as the end boom. The boom control device first receives the target speed of the end boom sent by the input device, which is the target speed of the aerial work platform. The input device can be a speed control button or similar device. Then, using the boom kinematic model, the desired angular displacement of each joint within the preset period can be determined based on the target speed and the preset period. This boom kinematic model is established based on the boom mechanism. Calculating the desired angular displacement of each joint within the preset period using the boom kinematic model eliminates the need for trajectory planning in joint space, thereby improving the boom control efficiency. Based on the boom kinematic model, the velocity Jacobian matrix and its inverse Jacobian matrix of the boom end velocity and joint velocity can also be derived. Then, the inverse Jacobian matrix is ​​used to process the target speed and desired angular displacement to obtain the desired angular velocity of each joint. An inverse Jacobian matrix is ​​used to design the angular velocities of the joints, resulting in better coordination of joint movements and higher end-effector control precision at any given time t. Simultaneously, the actual angular displacement of each joint is acquired via sensors. Based on the acquired desired angular displacement, desired angular velocity, actual angular displacement, and the PID control parameters set during initial parameter tuning, the control law of the PID controller is determined, and the PID controller controls the boom movement according to the control law.

[0066] The above technical solution obtains the target speed of the end boom in multiple booms; determines the desired angular displacement of each joint within the preset period based on the target speed and preset period; determines the desired angular velocity of each joint based on the target speed and desired angular displacement; obtains the actual angular displacement of each joint; determines the control law of the PID controller based on the desired angular displacement, desired angular velocity, and actual angular displacement; and controls the boom movement through the PID controller based on the control law of the PID controller. This application can automatically adjust the PID control parameters of the boom according to different working conditions, without manual adjustment, thus reducing the difficulty and intensity of adjusting the boom control parameters while improving the control accuracy and efficiency of the boom.

[0067] Figure 2 A schematic diagram of a boom-type aerial work platform according to an embodiment of this application is shown. Figure 2 As shown in the embodiments of this application, determining the desired angular displacement of each joint within the preset period based on the target speed and the preset period may include:

[0068] Establish a kinematic model of the boom based on the mechanisms of multiple booms;

[0069] The duration of the preset cycle and the target velocity are processed by the boom kinematic model to obtain the expected angular displacement of each joint within the preset cycle.

[0070] In this embodiment, the boom control device can establish a boom kinematic model based on the boom's mechanism. Specifically, the boom kinematic model can include two parts: a forward kinematic model and an inverse kinematic model. Figure 2 Taking the two joints of the boom-type aerial work platform shown as an example, it is a series mechanism with 2 degrees of freedom in forward kinematics. Therefore, the relevant forward kinematic model can be established according to the screw method as follows:

[0071]

[0072] Among them, g ST (0) is the initial pose of the tower arm extension end; θ1 is the tower arm rotation angle; θ2 is the tower arm extension length; ξ1 is the unit motion rotation of the tower arm rotation joint; ξ2 is the unit motion rotation of the tower arm extension joint.

[0073] The inverse kinematics of this boom-type aerial work platform, based on geometric relationships, are as follows:

[0074]

[0075] Where L is the length of the tower arm when the extension / retraction is 0; x and z are the positions of the extension / retraction end of the tower arm on the lower axis of the base coordinate system at the current moment.

[0076] Therefore, the inverse kinematic equations of this boom-type aerial work platform are:

[0077]

[0078] After obtaining the boom kinematic model, the boom control device can use the boom kinematic model to process the duration of the preset cycle and the target speed to obtain the desired angular displacement of each joint within the preset cycle. In this embodiment, the boom kinematic model is used to calculate the desired angular displacement of each joint within the preset cycle, eliminating the need for trajectory planning in joint space and improving the control efficiency of the boom.

[0079] In this embodiment of the application, determining the desired angular velocity of each joint based on the target velocity and the desired angular displacement may include:

[0080] Establish the inverse Jacobian matrix of the target velocity and joint velocity based on the boom kinematic model;

[0081] The target velocity and the desired angular displacement of each joint within a preset period are processed by the inverse Jacobian matrix of velocity to obtain the desired angular velocity of each joint within the preset period.

[0082] In this embodiment, the velocity Jacobian matrix and the inverse velocity Jacobian matrix of the target velocity and joint velocity can be derived based on the boom kinematic model. Specifically, let... Let J represent the position of the boom tip. Then, the Jacobian matrix J of the linear velocity of the boom tip relative to the base coordinates is:

[0083] by Figure 2 Taking the two joints of the boom-type aerial work platform shown as an example, its initial pose is set as follows: Then its velocity Jacobian matrix J is: Its inverse Jacobian matrix invJ can be derived from the pseudo-inverse matrix J of the velocity Jacobian matrix J. + The inverse Jacobian matrix (invJ) can be defined and solved using a 2×3 matrix, or it can be defined and solved based on the special characteristic of the two joints moving in the same plane. In this embodiment, the solution is defined and solved based on the special characteristic of the two joints moving in the same plane. That is, based on the fact that the two joints are moving in the same plane, the inverse Jacobian matrix invJ is defined as a matrix and solved. The inverse Jacobian matrix is ​​obtained from the planar motion: By using the inverse Jacobian matrix to design the angular velocity of the joints, the coordination of the joint movements is better and the control precision of the end effector is higher at any time t.

[0084] Figure 3 A schematic diagram illustrating a PID control block diagram based on boom dynamics according to an embodiment of this application is shown. Figure 3 As shown in the embodiments of this application, determining the control law of the PID controller based on the desired angular displacement, desired angular velocity, and actual angular displacement may include:

[0085] The control coefficients of the PID controller are determined based on the desired angular displacement, desired angular velocity, and actual angular displacement.

[0086] Obtain the initial control parameters of the PID controller;

[0087] Determine the target control parameters of the PID controller based on the initial control parameters and control coefficients;

[0088] The joint angular displacement error is determined based on the expected angular displacement and the actual angular displacement.

[0089] The actual angular velocity is obtained by differentiating the actual angular displacement with respect to time.

[0090] Determine the joint angular velocity error based on the desired angular velocity and the actual angular velocity;

[0091] The control law of the PID controller is determined based on the joint angular displacement error, the joint angular velocity error, and the target control parameters of the PID controller.

[0092] Specifically, the boom control device first reads the desired angular displacement θ nd Desired angular velocity and actual angular displacement θ n The desired angular acceleration was calculated. actual angular velocity and actual angular acceleration Then, using the boom dynamics model, based on the desired angular displacement θ nd Desired angular velocity Actual angular displacement θ n Desired angular acceleration actual angular velocity and actual angular acceleration The desired control torque τ was calculated separately. nd and actual control torque τ n Finally, based on the desired control torque τ nd and actual control torque τ n The control coefficients K of the PID controller can be determined. After calculating the control coefficients K, and combining them with the initial control parameters of the PID controller, the target control parameters of the PID controller can be determined. The initial control parameters of the controller are the PID parameters K set during the initial parameter tuning. p0 K d0 and K i0 The control coefficients are compared with the PID parameters K set during the initial parameter tuning. p0 K d0 and K i0 Multiplying them together yields the target control parameter K. p K d and K i This completes the setting of the PID control parameters for boom dynamics. Then, based on the desired angular displacement θ... nd With actual angular displacement θ n The calculated joint angular displacement error e, and based on the desired angular velocity With actual angular velocity Calculated joint angular velocity error This allows for the calculation of the PID control law based on boom dynamics, thereby enabling the control of boom motion.

[0093] In this embodiment, the control law of the PID controller satisfies formula (1):

[0094]

[0095] Where τ is the control law; K is the control coefficient; K p0 K is the proportional control parameter in the initial control parameters. d0K is the derivative control parameter in the initial control parameters. i0 Here, represents the integral control parameter in the initial control parameters; e represents the joint angular displacement error. t represents the actual angular velocity error; t represents time.

[0096] In this embodiment, the PID control parameters are adjusted based on boom dynamics. Compared to traditional fixed-parameter PID control, after the initial parameter tuning, manual adjustment of the boom's PID control parameters is no longer required for different operating conditions. Therefore, it can better adapt to boom control under different operating conditions, improving not only the control accuracy and efficiency of the boom but also reducing the difficulty and intensity of adjusting the boom control parameters, and better achieving trajectory tracking at the boom end. It should be noted that the PID controller in this embodiment can be either linear PID control or nonlinear PID control.

[0097] In this embodiment of the application, determining the control coefficients of the PID controller based on the desired angular displacement, desired angular velocity, and actual angular displacement may include:

[0098] The desired angular velocity is obtained by differentiating the desired angular velocity with respect to time;

[0099] The actual angular velocity is differentiated with respect to time to obtain the actual angular acceleration;

[0100] The desired angular acceleration, desired angular displacement, and desired angular velocity are processed using a boom dynamics model to obtain the desired control torque;

[0101] The actual angular acceleration, actual angular displacement and actual angular velocity are processed using a boom dynamics model to obtain the actual control torque;

[0102] The control coefficients of the PID controller are determined based on the desired control torque and the actual control torque.

[0103] Specifically, the boom control device can first sequentially set the desired angular velocity θ nd Differentiate with respect to time t to obtain the desired angular acceleration The actual angular velocity θ n Differentiate with respect to time t to obtain the actual angular acceleration Then, a boom dynamics model is established, and the desired angular acceleration is handled using the boom dynamics model. Desired angular displacement θ nd and expected angular velocity To obtain the desired control torque τ nd The actual angular acceleration is handled using a boom dynamics model. Actual angular displacement θ n and actual angular velocity To obtain the actual control torque τ nFinally, based on the desired control torque τ nd and actual control torque τ n Determine the control coefficient K of the PID controller. Regarding the boom dynamics model, Figure 2 Taking the two joints of the boom-type aerial work platform shown as an example, the boom is a series mechanism with 2 degrees of freedom. Therefore, a dynamic model of the boom can be established according to the Lagrange method:

[0104]

[0105] Where θ represents the angular displacement of each joint of the robotic arm; ω represents the angular velocity of each joint of the robotic arm; Let θ be the angular acceleration of each joint of the robotic arm; M(θ) is the inertia matrix of the robotic arm. Let G(θ) be the centripetal force and Coriolis force matrix of the robotic arm; G(θ) be the gravity term of the robotic arm; and τ be the control law.

[0106] Friction model of boom And the interference from the external load on the robotic arm and the external environment. d A complete boom dynamics model can be obtained:

[0107]

[0108] In this embodiment, the control coefficients of the PID controller satisfy formula (2):

[0109]

[0110] Where K is the control coefficient; τ nd τ is the desired control torque. n This refers to the actual control torque.

[0111] Figure 4 A flowchart illustrating a method for controlling a boom according to a specific embodiment of this application is shown schematically. Figure 4 As shown, V is the speed at the end of the platform set by the speed adjustment button, and θ nd Let be the desired angular displacement of each joint. Let be the desired angular velocity of each joint. Let θ be the desired angular acceleration of each joint. n This represents the actual angular displacement of each joint. The actual angular velocities of each joint. K represents the actual angular acceleration of each joint. p0 K d0 K i0These are the proportional, derivative, and integral coefficients after the initial PID parameter tuning. In practical applications, the operator first sets the end-effector velocity V using the speed adjustment button. The kinematics module then calculates the desired angular displacement θ of each joint based on this end-effector velocity V and the preset time t. nd The inverse Jacobian matrix invJ is then calculated based on the end-effector velocity V and the expected angular displacement θ of each joint from the kinematic module. nd Obtain the desired angular velocity of each joint. Then The desired angular acceleration is obtained by taking the derivative with respect to time. Simultaneously, the sensor obtains the actual angular displacement θ of the joint. n (n = 1, 2, ...), θ n The actual angular acceleration is obtained by taking the derivative with respect to time. The desired angular displacement θ of each joint nd The expected angular velocity of each joint Desired angular acceleration of each joint The actual angular displacement θ of each joint n The actual angular velocity of each joint and the actual angular acceleration of each joint The signal is sent to the PID controller, which then determines the angular displacement θ of each joint. nd The expected angular velocity of each joint Desired angular acceleration of each joint The actual angular displacement θ of each joint n The actual angular velocity of each joint and the actual angular acceleration of each joint And the PID parameter K set during the initial parameter tuning p0 K d0 K i0 The boom is controlled. In this embodiment, trajectory planning in joint space is unnecessary. The angular velocities of the joints are designed based on the inverse Jacobian matrix, resulting in better coordination of joint movements and higher end-effector control accuracy at any given time t. Simultaneously, a PID control method based on boom dynamics is used. Compared to traditional fixed-parameter PID control, this not only improves the control accuracy of the boom but also reduces the difficulty and intensity of adjusting the boom control parameters, enabling better trajectory tracking of the boom end-effector.

[0112] Figure 5 A schematic block diagram of a boom control device according to an embodiment of this application is shown. Figure 5 As shown, this application provides a boom control device, which may include:

[0113] Memory 510 is configured to store instructions; and

[0114] The processor 520 is configured to retrieve instructions from the memory 510 and, when executing the instructions, to implement the aforementioned method for controlling the boom.

[0115] Specifically, in this embodiment of the application, the processor 520 can be configured to:

[0116] Obtain the target velocity of the end boom among multiple booms;

[0117] The desired angular displacement of each joint within the preset period is determined based on the target speed and the preset period.

[0118] The desired angular velocity of each joint is determined based on the target velocity and the desired angular displacement.

[0119] Obtain the actual angular displacement of each joint;

[0120] The control law of the PID controller is determined based on the desired angular displacement, desired angular velocity, and actual angular displacement.

[0121] The boom movement is controlled by the PID controller based on the control law of the PID controller.

[0122] Furthermore, the processor 520 can also be configured as follows:

[0123] Establish a kinematic model of the boom based on the mechanisms of multiple booms;

[0124] The duration of the preset cycle and the target velocity are processed by the boom kinematic model to obtain the expected angular displacement of each joint within the preset cycle.

[0125] Furthermore, the processor 520 can also be configured as follows:

[0126] Establish the inverse Jacobian matrix of the target velocity and joint velocity based on the boom kinematic model;

[0127] The target velocity and the desired angular displacement of each joint within a preset period are processed by the inverse Jacobian matrix of velocity to obtain the desired angular velocity of each joint within the preset period.

[0128] Furthermore, the processor 520 can also be configured as follows:

[0129] The control coefficients of the PID controller are determined based on the desired angular displacement, desired angular velocity, and actual angular displacement.

[0130] Obtain the initial control parameters of the PID controller;

[0131] Determine the target control parameters of the PID controller based on the initial control parameters and control coefficients;

[0132] The joint angular displacement error is determined based on the expected angular displacement and the actual angular displacement.

[0133] The actual angular velocity is obtained by differentiating the actual angular displacement with respect to time.

[0134] Determine the joint angular velocity error based on the desired angular velocity and the actual angular velocity;

[0135] The control law of the PID controller is determined based on the joint angular displacement error, the joint angular velocity error, and the target control parameters of the PID controller.

[0136] In this embodiment, the control law of the PID controller satisfies formula (1):

[0137]

[0138] Where τ is the control law; K is the control coefficient; K p0 K is the proportional control parameter in the initial control parameters. d0 K is the derivative control parameter in the initial control parameters. i0 Here, represents the integral control parameter in the initial control parameters; e represents the joint angular displacement error. t represents the actual angular velocity error; t represents time.

[0139] Furthermore, the processor 520 can also be configured as follows:

[0140] The desired angular velocity is obtained by differentiating the desired angular velocity with respect to time;

[0141] The actual angular velocity is differentiated with respect to time to obtain the actual angular acceleration;

[0142] The desired angular acceleration, desired angular displacement, and desired angular velocity are processed using a boom dynamics model to obtain the desired control torque;

[0143] The actual angular acceleration, actual angular displacement and actual angular velocity are processed using a boom dynamics model to obtain the actual control torque;

[0144] The control coefficients of the PID controller are determined based on the desired control torque and the actual control torque.

[0145] In this embodiment, the control coefficients of the PID controller satisfy formula (2):

[0146]

[0147] Where K is the control coefficient; τ nd τ is the desired control torque. n This refers to the actual control torque.

[0148] The above technical solution obtains the target speed of the end boom in multiple booms; determines the desired angular displacement of each joint within the preset period based on the target speed and preset period; determines the desired angular velocity of each joint based on the target speed and desired angular displacement; obtains the actual angular displacement of each joint; determines the control law of the PID controller based on the desired angular displacement, desired angular velocity, and actual angular displacement; and controls the boom movement through the PID controller based on the control law of the PID controller. This application can automatically adjust the PID control parameters of the boom according to different working conditions, without manual adjustment, thus reducing the difficulty and intensity of adjusting the boom control parameters while improving the control accuracy and efficiency of the boom.

[0149] This application embodiment also provides an engineering machinery, which may include:

[0150] Multiple booms, connected sequentially by joints; and

[0151] According to the above-mentioned boom control device, the boom control device communicates with multiple booms.

[0152] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described method for controlling a boom.

[0153] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can 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, etc.) containing computer-usable program code.

[0154] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can 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, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0155] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0156] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0157] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0158] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0159] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0160] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0161] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling a boom, characterized in that, An application to a boom control device, wherein the boom control device communicates with multiple booms, the multiple booms being sequentially connected via joints, the method comprising: Obtain the target speed of the end boom among the plurality of booms; The desired angular displacement of each joint within the preset period is determined based on the target speed and the preset period. The desired angular velocity of each joint is determined based on the target velocity and the desired angular displacement; Obtain the actual angular displacement of each joint; The control law of the PID controller is determined based on the desired angular displacement, the desired angular velocity, and the actual angular displacement. The boom movement is controlled by the PID controller according to the control law of the PID controller. The step of determining the control law of the PID controller based on the desired angular displacement, the desired angular velocity, and the actual angular displacement includes: determining the control coefficients of the PID controller based on the desired angular displacement, the desired angular velocity, and the actual angular displacement; obtaining the initial control parameters of the PID controller; determining the target control parameters of the PID controller based on the initial control parameters and the control coefficients; determining the joint angular displacement error based on the desired angular displacement and the actual angular displacement; differentiating the actual angular displacement with respect to time to obtain the actual angular velocity; determining the joint angular velocity error based on the desired angular velocity and the actual angular velocity; and determining the control law of the PID controller based on the joint angular displacement error, the joint angular velocity error, and the target control parameters of the PID controller.

2. The method according to claim 1, characterized in that, Determining the desired angular displacement of each joint within the preset period based on the target velocity and the preset period includes: A kinematic model of the boom is established based on the mechanism of the multiple booms; The duration of the preset cycle and the target velocity are processed by the boom kinematic model to obtain the desired angular displacement of each joint within the preset cycle.

3. The method according to claim 2, characterized in that, The step of determining the desired angular velocity of each joint based on the target velocity and the desired angular displacement includes: Based on the boom kinematic model, establish the inverse Jacobian matrix of the target velocity and the joint velocity; The target velocity and the desired angular displacement of each joint within the preset period are processed by the inverse Jacobian matrix of the velocity to obtain the desired angular velocity of each joint within the preset period.

4. The method according to claim 1, characterized in that, The control law of the PID controller satisfies formula (1): ； （1） in, For control laws; For control coefficients; This refers to the proportional control parameter in the initial control parameters; These are the derivative control parameters in the initial control parameters; These are the integral control parameters in the initial control parameters; This refers to the joint angular displacement error; This represents the actual angular velocity error. For time.

5. The method according to claim 1, characterized in that, The step of determining the control coefficients of the PID controller based on the desired angular displacement, the desired angular velocity, and the actual angular displacement includes: The desired angular velocity is differentiated with respect to time to obtain the desired angular acceleration; The actual angular velocity is differentiated with respect to time to obtain the actual angular acceleration; The desired angular acceleration, desired angular displacement, and desired angular velocity are processed using a boom dynamics model to obtain the desired control torque; The actual angular acceleration, actual angular displacement, and actual angular velocity are processed using a boom dynamics model to obtain the actual control torque; The control coefficients of the PID controller are determined based on the desired control torque and the actual control torque.

6. The method according to claim 5, characterized in that, The control coefficients of the PID controller satisfy formula (2): ；（2） in, For control coefficients; To achieve the desired control torque; This refers to the actual control torque.

7. A boom control device, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method of controlling the boom according to any one of claims 1 to 6.

8. An engineering machinery, characterized in that, include: Multiple booms, which are connected sequentially by joints; as well as According to claim 7, the boom control device communicates with the plurality of booms.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method of controlling the boom according to any one of claims 1 to 6.

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