Control method for a boom, engineering machine, storage medium and processor

Abstract

Embodiments of the present application provide a control method for an arm support, a construction machine, a storage medium and a processor. The method comprises: receiving a target speed periodically sent by an input device; determining a first angular velocity and a first angular displacement of a joint according to a time length of a current period and the target speed; determining a second angular velocity and a second angular displacement according to the first angular velocity and an angular velocity limit value; in a case where the second angular velocity of any one joint is greater than the corresponding angular velocity limit value, again determining the second angular velocity and the second angular displacement until the second angular velocity of each joint is less than or equal to the angular velocity limit value; and controlling each arm support to drive the corresponding joint to operate. The above technical solution can ensure that the speed of the joint does not exceed the limited speed, has a good protection effect on the joint, can simultaneously control multiple arm supports to drive the joint to move, has good coordination between the joints, improves the control precision of the end of the arm support, and improves the safety of the operation.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a control method for a boom, engineering machinery, storage medium, and processor. 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. This places higher demands on the efficiency and coordination of the boom and joints during operation.

[0003] Currently, aerial work platforms mainly rely on manual control, with manual movement of the hydraulic cylinders of each boom section. This results in poor stability of the boom joints, low control efficiency, and insufficient control precision. Furthermore, existing technology does not consider the coordination of each joint, making it impossible to control the operating speed of each joint. This leads to unstable operating speeds and poor coordination between joints, affecting operational safety. Summary of the Invention

[0004] The purpose of this application is to provide a control method, engineering machinery, storage medium, and processor for a boom.

[0005] To achieve the above objectives, the first aspect of this application provides a control method for a boom, applied to construction machinery. The construction machinery includes multiple booms connected in sequence, with each pair of adjacent booms connected by a joint. The control method includes:

[0006] The target speed for the end of the last boom is periodically transmitted by the receiving input device.

[0007] The first angular velocity and first angular displacement of each joint in the current cycle are determined based on the duration of the current cycle and the target velocity of the current cycle.

[0008] For any joint, if the first angular velocity of the joint is greater than the angular velocity limit of the joint, the second angular velocity and the second angular displacement of each joint in the current cycle are determined based on the first angular velocity and the angular velocity limit.

[0009] Check sequentially whether the second angular velocity of each joint in the current cycle is greater than the angular velocity limit corresponding to each joint;

[0010] If the second angular velocity of any joint is greater than the angular velocity limit corresponding to that joint, return to the step of determining the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity and the angular velocity limit of the joint, until the second angular velocity of each joint in the current cycle is less than or equal to the angular velocity limit corresponding to that joint.

[0011] Control the movement of each boom to drive the corresponding joint, so that the running speed of each joint matches the corresponding second angular velocity, and the running displacement is the corresponding second angular displacement.

[0012] In this embodiment of the application, determining the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity and the angular velocity limit of the joint includes: redetermining the target velocity of the end of the last boom in the current cycle based on the target velocity, the angular velocity limit of the joint, and the first angular velocity; and determining the second angular velocity and second angular displacement of each joint based on the redetermined target velocity and the duration of the current cycle.

[0013] In this embodiment of the application, the process of redetermining the target speed of the end of the last boom in the current cycle based on the target speed, the angular velocity limit of the joint, and the first angular velocity includes: for any joint, determining the ratio of the angular velocity limit of the joint to the first angular velocity; and redetermining the product of the target speed and the ratio as the target speed of the end of the last boom in the current cycle.

[0014] In this embodiment of the application, the control method further includes: for any joint, if the first angular velocity of the joint is greater than the angular velocity limit of the joint, adjusting the duration of the current cycle according to the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity; determining the first angular velocity and first angular displacement of each joint in the adjusted current cycle according to the adjusted duration of the current cycle and the target velocity; for any joint, if the first angular velocity of the joint in the adjusted current cycle is greater than the angular velocity limit of the joint, determining the second angular velocity and second angular displacement of each joint in the adjusted current cycle according to the first angular velocity and the angular velocity limit of the joint; sequentially determining whether the second angular velocity of each joint in the adjusted current cycle is greater than the angular velocity limit corresponding to each joint; if the second angular velocity of any joint in the adjusted current cycle is greater than the angular velocity limit corresponding to that joint, returning to the step of adjusting the duration of the current cycle according to the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity, until the second angular velocity of each joint in the adjusted current cycle is less than or equal to the angular velocity limit corresponding to that joint.

[0015] In this embodiment of the application, adjusting the duration of the current cycle based on the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity includes: for any joint, determining the ratio of the angular velocity limit of the joint to the first angular velocity; and determining the product of the duration of the current cycle and the ratio as the adjusted duration of the current cycle.

[0016] In this embodiment of the application, determining the first angular velocity and first angular displacement of each joint in the current cycle based on the duration of the current cycle and the target velocity of the current cycle includes: processing the duration of the current cycle and the target velocity using inverse kinematics to obtain the first angular displacement of each joint in the current cycle; and processing the target velocity and the first angular displacement of each joint in the current cycle using an inverse Jacobian matrix to obtain the first angular velocity of each joint in the current cycle.

[0017] In this embodiment, controlling the movement of each boom to drive the corresponding joint includes: generating a corresponding angular velocity control command based on the second angular velocity of each joint; generating a corresponding angular displacement control command based on the second angular displacement of each joint; and sending the angular velocity control command and angular displacement control command corresponding to each joint to the corresponding boom, so that the corresponding boom executes the corresponding angular velocity control command and angular displacement control command to drive the corresponding joint.

[0018] A second aspect of this application provides a processor configured to perform the above-described control method for a boom.

[0019] A third aspect of this application provides an engineering machine, comprising:

[0020] Multiple booms, with each pair of adjacent booms connected by a joint; and

[0021] The aforementioned processor.

[0022] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the aforementioned control method for a boom.

[0023] The above technical solution involves receiving the target velocity of the last boom end periodically sent by the input device; determining the first angular velocity and first angular displacement of each joint in the current cycle based on the duration of the current cycle and the target velocity of the current cycle; for any joint, if the first angular velocity of the joint is greater than the joint's angular velocity limit, determining the second angular velocity and second angular displacement of the joint in the current cycle based on the first angular velocity and the angular velocity limit; sequentially determining whether the second angular velocity of each joint in the current cycle is greater than the angular velocity limit corresponding to each joint; if the second angular velocity of any joint is greater than the angular velocity limit corresponding to that joint, returning to the step of determining the second angular velocity and second angular displacement of the joint in the current cycle based on the first angular velocity and the angular velocity limit, until the second angular velocity of each joint in the current cycle is less than or equal to the angular velocity limit corresponding to that joint; controlling the movement of each boom to drive the corresponding joint to operate, so that the operating speed of each joint matches the corresponding second angular velocity, and the operating displacement is the corresponding second angular displacement. By adopting the above technical solution, the speed of the joint can be kept within the limit, which has a good protective effect on the joint. It can also control multiple booms to drive the joint movement at the same time, so that the joints have good coordination, improve the control accuracy of the boom end, and improve the safety of operation.

[0024] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0025] 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:

[0026] Figure 1 This schematically illustrates a first flowchart of a control method for a boom according to an embodiment of this application;

[0027] Figure 2 A schematic diagram of an engineering machine according to an embodiment of this application is shown;

[0028] Figure 3 This schematically illustrates a second flow diagram of a control method for a boom according to an embodiment of this application;

[0029] Figure 4 A schematic diagram of a joint velocity redesign module according to an embodiment of this application is shown.

[0030] Figure 5 This schematically illustrates a third flow diagram of a control method for a boom according to an embodiment of this application;

[0031] Figure 6 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0032] 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.

[0033] Figure 1 The illustration schematically shows a first flow diagram of a control method for a boom according to an embodiment of this application. (See attached diagram.) Figure 1 As shown, in one embodiment of this application, a control method for a boom is provided, applied to construction machinery. The construction machinery includes multiple booms connected in sequence, with each pair of adjacent booms connected by a joint. The method includes the following steps:

[0034] Step 101: Receive the target speed for the end of the last boom, which is periodically sent by the input device.

[0035] Step 102: Determine the first angular velocity and first angular displacement of each joint in the current cycle based on the duration of the current cycle and the target velocity of the current cycle.

[0036] Step 103: For any joint, if the first angular velocity of the joint is greater than the angular velocity limit of the joint, determine the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity of the joint and the angular velocity limit.

[0037] Step 104: Determine whether the second angular velocity of each joint in the current cycle is greater than the angular velocity limit corresponding to each joint.

[0038] Step 105: If the second angular velocity of any joint is greater than the angular velocity limit corresponding to that joint, return to the step of determining the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity and the angular velocity limit of the joint, until the second angular velocity of each joint in the current cycle is less than or equal to the angular velocity limit corresponding to that joint.

[0039] Step 106: Control the movement of each boom to drive the corresponding joint to run, so that the running speed of each joint matches the corresponding second angular velocity, and the running displacement is the corresponding second angular displacement.

[0040] Construction machinery is an important component of the equipment manufacturing industry. Broadly speaking, construction machinery refers to the mechanical equipment necessary for comprehensive mechanized construction projects, including earthmoving, road construction and maintenance, mobile lifting and unloading operations, and various building projects. A joint connects two adjacent booms. Angular velocity is a physical quantity describing the speed of joint rotation. Input devices can refer to components such as speed control buttons. Angular displacement is a physical quantity describing the change in position of a joint during rotation. The processor can receive the target velocity for the end of the last boom, periodically sent by the input device. After receiving the target velocity, the processor can determine the first angular velocity and first angular displacement of each joint within the current cycle based on the duration of the current cycle and the target velocity of the current cycle. For any given joint, the processor can determine whether the first angular velocity of that joint is greater than its angular velocity limit. If the first angular velocity of the joint is greater than its angular velocity limit, the processor can determine the second angular velocity and second angular displacement of each joint within the current cycle based on the first angular velocity and the angular velocity limit. After determining the second angular velocity and second angular displacement, the processor can sequentially determine whether the second angular velocity of each joint in the current cycle is greater than the corresponding angular velocity limit for that joint. If the second angular velocity of any joint is greater than the corresponding angular velocity limit, the processor can return to the step of determining the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity and the angular velocity limit, until the second angular velocity of each joint in the current cycle is less than or equal to the corresponding angular velocity limit. The processor can control the movement of each boom to drive the corresponding joint, so that the running speed of each joint matches the corresponding second angular velocity, and the running displacement is the corresponding second angular displacement.

[0041] For example, construction machinery includes booms A1, A2, and A3 connected in one assembly. Booms A1 and A2 are connected via joint B1, and booms A2 and A3 are connected via joint B2. The processor can receive a target velocity V for the end effector of the last boom, periodically transmitted from an input device. After receiving the target velocity V, the processor can determine the first angular velocity of joint B1 based on the duration t of the current cycle and the target velocity V of the current cycle. and the first angular displacement θ1, and the first angular velocity of joint B2 And the first angular displacement θ2.

[0042] The first angular velocity at joint B1 Angular velocity greater than the limit of joint B1 In this case, the processor can determine the first angular velocity of joint B1. and angular velocity limit Determine the second angular velocity of joint B1 during the current cycle. The second angular displacement θ1′ and the second angular velocity of joint B2 within the current period And the second angular displacement θ2′. Determine the second angular velocity of joint B1 sequentially. Is it greater than the angular velocity limit of joint B1? The second angular velocity of joint B2 Is it greater than the angular velocity limit of joint B2? The second angular velocity at joint B2 Angular velocity greater than the limit of joint B2 The processor can determine the first angular velocity of joint B2. and angular velocity limit Determine the second angular velocity of joint B1 during the current cycle. The second angular displacement θ1′ and the second angular velocity of joint B2 within the current period And the second angular displacement θ2′. Until the second angular velocity of joint B1 in the current cycle. Less than or equal to the angular velocity limit And the second angular velocity of joint B2 in the current period Less than or equal to the angular velocity limit

[0043] By determining whether the angular velocity of each joint is greater than the corresponding angular velocity limit and adjusting the corresponding joint, the speed of the joint can be kept within the limit, which has a good protective effect on the joint. It can also control multiple booms to drive the joint movement at the same time, so that the joints have good coordination, improve the control accuracy of the boom end and improve the safety of operation.

[0044] The second angular velocity of joint B1 during the current cycle ≤ angular velocity limit And the second angular velocity of joint B2 in the current period ≤ angular velocity limit In this case, the processor can control the movement of booms A1, A2, and A3 to drive joints B1 and B2, so that the running speed of joint B1 matches the corresponding second angular velocity. Furthermore, the running displacement is the corresponding second angular displacement θ1′, and the running velocity of joint B2 conforms to the corresponding second angular velocity. And the displacement is the corresponding second angular displacement θ2′.

[0045] In one embodiment, determining the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity and angular velocity limit of the joint includes: redetermining the target velocity of the end of the last boom in the current cycle based on the target velocity, the angular velocity limit of the joint, and the first angular velocity; and determining the second angular velocity and second angular displacement of each joint based on the redetermined target velocity and the duration of the current cycle.

[0046] The processor can determine the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity and angular velocity limit of the joint. Specifically, the processor can redetermine the target velocity of the end effector of the last boom in the current cycle based on the target velocity, the angular velocity limit of the joint, and the first angular velocity. After redetermining the target velocity of the end effector of the last boom in the current cycle, the processor can determine the second angular velocity and second angular displacement of each joint based on the redetermined target velocity and the duration of the current cycle.

[0047] In one embodiment, redetermining the target velocity of the end of the last boom in the current cycle based on the target velocity, the angular velocity limit of the joint, and the first angular velocity includes: for any joint, determining the ratio of the angular velocity limit of the joint to the first angular velocity; and redetermining the product of the target velocity and the ratio as the target velocity of the end of the last boom in the current cycle.

[0048] The processor can determine the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity and the angular velocity limit of the joint. Specifically, for any joint, the processor can determine the ratio of the joint's angular velocity limit to the first angular velocity. The product of the target velocity and the ratio is then redefined as the target velocity of the end effector of the last boom in the current cycle. After re-determining the target velocity of the end effector of the last boom in the current cycle, the processor can determine the second angular velocity and second angular displacement of each joint based on the re-determined target velocity and the duration of the current cycle.

[0049] For example, construction machinery includes booms A1, A2, and A3 connected in one assembly. Booms A1 and A2 are connected via joint B1, and booms A2 and A3 are connected via joint B2. The processor can receive a target velocity V for the end effector of the last boom, periodically transmitted from an input device. After receiving the target velocity V, the processor can determine the first angular velocity of joint B1 based on the duration t of the current cycle and the target velocity V of the current cycle. and the first angular displacement θ1, and the first angular velocity of joint B2 And the first angular displacement θ2.

[0050] The first angular velocity at joint B1 Angular velocity greater than the limit of joint B1 In this case, the processor can determine the angular velocity limit of joint B1. and first angular velocity ratio and the ratio of the target velocity V The product is redefined as the target velocity V′ of the end of the last boom in the current cycle, i.e. The processor can determine the second angular velocity of joint B1 within the current cycle based on the redefined target velocity V′ and the duration t of the current cycle. The second angular displacement θ1′ and the second angular velocity of joint B2 within the current period And the second angular displacement θ2′.

[0051] Determine the second angular velocity of joint B1 sequentially. Is it greater than the angular velocity limit of joint B1? The second angular velocity of joint B2 Is it greater than the angular velocity limit of joint B2? The second angular velocity at joint B2 Angular velocity greater than the limit of joint B2 The processor can determine the angular velocity limit of joint B2. and first angular velocity ratio and the ratio of the target velocity V The product is redefined as the target velocity V′ of the end of the last boom in the current cycle, i.e. The processor can determine the second angular velocity of joint B1 within the current cycle based on the redefined target velocity V′ and the duration t of the current cycle. The second angular displacement θ1′ and the second angular velocity of joint B2 within the current period And the second angular displacement θ2′. Until the second angular velocity of joint B1 in the current cycle. Less than or equal to the angular velocity limit And the second angular velocity of joint B2 in the current period Less than or equal to the angular velocity limit

[0052] The second angular velocity of joint B1 during the current cycle ≤ angular velocity limit And the second angular velocity of joint B2 in the current period ≤ angular velocity limit In this case, the processor can control the movement of booms A1, A2, and A3 to drive joints B1 and B2, so that the running speed of joint B1 matches the corresponding second angular velocity. Furthermore, the running displacement is the corresponding second angular displacement θ1′, and the running velocity of joint B2 conforms to the corresponding second angular velocity. And the displacement is the corresponding second angular displacement θ2′.

[0053] In one embodiment, the control method further includes: for any joint, if the first angular velocity of the joint is greater than the angular velocity limit of the joint, adjusting the duration of the current cycle according to the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity; determining the first angular velocity and first angular displacement of each joint in the adjusted current cycle according to the adjusted duration of the current cycle and the target velocity; for any joint, if the first angular velocity of the joint in the adjusted current cycle is greater than the angular velocity limit of the joint, determining the second angular velocity and second angular displacement of each joint in the adjusted current cycle according to the first angular velocity and the angular velocity limit of the joint; sequentially determining whether the second angular velocity of each joint in the adjusted current cycle is greater than the angular velocity limit corresponding to each joint; if the second angular velocity of any joint in the adjusted current cycle is greater than the angular velocity limit corresponding to that joint, returning to the step of adjusting the duration of the current cycle according to the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity, until the second angular velocity of each joint in the adjusted current cycle is less than or equal to the angular velocity limit corresponding to that joint.

[0054] For any given joint, if the first angular velocity of that joint is greater than its angular velocity limit, the processor can adjust the duration of the current cycle based on the current cycle duration, the joint's angular velocity limit, and the first angular velocity. After adjusting the current cycle duration, the processor can determine the first angular velocity and first angular displacement of each joint within the adjusted current cycle based on the adjusted current cycle duration and the target velocity.

[0055] For any given joint, the processor can determine whether the first angular velocity of that joint in the adjusted current cycle is greater than the angular velocity limit corresponding to that joint. If the first angular velocity of that joint in the adjusted current cycle is greater than the angular velocity limit, the processor can determine the second angular velocity and second angular displacement of each joint in the adjusted current cycle based on the first angular velocity and the angular velocity limit. The processor can sequentially determine whether the second angular velocity of each joint in the adjusted current cycle is greater than the angular velocity limit corresponding to that joint. If the second angular velocity of any joint in the adjusted current cycle is greater than the angular velocity limit corresponding to that joint, the processor can return to the step of adjusting the duration of the current cycle based on the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity, until the second angular velocity of each joint in the adjusted current cycle is less than or equal to the angular velocity limit corresponding to that joint.

[0056] For example, construction machinery includes booms A1, A2, and A3 connected in one assembly. Booms A1 and A2 are connected via joint B1, and booms A2 and A3 are connected via joint B2. The processor can receive a target velocity V for the end effector of the last boom, periodically transmitted from an input device. After receiving the target velocity V, the processor can determine the first angular velocity of joint B1 based on the duration t of the current cycle and the target velocity V of the current cycle. and the first angular displacement θ1, and the first angular velocity of joint B2 And the first angular displacement θ2.

[0057] The first angular velocity at joint B1 Angular velocity greater than the limit of joint B1 In this case, the processor can determine the duration t of the current cycle and the first angular velocity of joint B1. and angular velocity limits Adjust the duration t of the current cycle. The processor can determine the second angular velocity of joint B1 within the adjusted current cycle based on the adjusted duration t′ and the target velocity V. The second angular displacement θ1′ and the second angular velocity of joint B2 within the current period And the second angular displacement θ2′.

[0058] The second angular velocity at joint B2 Angular velocity greater than the limit of joint B2 The processor can determine the first angular velocity of joint B2 within the adjusted current cycle. and angular velocity limit Determine the second angular velocity of joint B1 within the adjusted current cycle. The second angular displacement θ1′ and the second angular velocity of joint B2 within the adjusted current period. And the second angular displacement θ2′.

[0059] The processor can sequentially determine the second angular velocity of joint B1. Is it greater than the angular velocity limit of joint B1? The second angular velocity of joint B2 Is it greater than the angular velocity limit of joint B2? The second angular velocity at joint B2 Angular velocity greater than the limit of joint B2 The processor can determine the duration t of the current cycle and the first angular velocity of joint B2. and angular velocity limits Adjust the duration t of the current cycle until joint B1 reaches its second angular velocity within the adjusted current cycle. Less than or equal to the angular velocity limit And the second angular velocity of joint B2 in the current period Less than or equal to the angular velocity limit

[0060] In one embodiment, adjusting the duration of the current cycle based on the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity includes: for any joint, determining the ratio of the angular velocity limit of the joint to the first angular velocity; and determining the product of the duration of the current cycle and the ratio as the adjusted duration of the current cycle.

[0061] The processor can adjust the duration of the current cycle based on the current cycle length, the joint's angular velocity limit, and the first angular velocity. Specifically, for any given joint, the processor can determine the ratio of the joint's angular velocity limit to the first angular velocity. The adjusted current cycle length is then determined by multiplying the current cycle length by this ratio.

[0062] For example, construction machinery includes booms A1, A2, and A3 connected in one assembly. Booms A1 and A2 are connected via joint B1, and booms A2 and A3 are connected via joint B2. The processor can receive a target velocity V for the end effector of the last boom, periodically transmitted from an input device. After receiving the target velocity V, the processor can determine the first angular velocity of joint B1 based on the duration t of the current cycle and the target velocity V of the current cycle. and the first angular displacement θ1, and the first angular velocity of joint B2 And the first angular displacement θ2.

[0063] The first angular velocity at joint B1 Angular velocity greater than the limit of joint B1 In this case, the processor can determine the angular velocity limit of joint B1. and first angular velocity ratio And the current period's duration t is compared with the ratio The product of these is determined as the adjusted duration t′ of the current period, i.e.

[0064] The processor can determine the second angular velocity of joint B1 within the adjusted current cycle based on the adjusted current cycle duration t′ and the target velocity V. The second angular displacement θ1′ and the second angular velocity of joint B2 within the current period And the second angular displacement θ2′.

[0065] The second angular velocity at joint B2 Angular velocity greater than the limit of joint B2 The processor can determine the first angular velocity of joint B2 within the adjusted current cycle. and angular velocity limit Determine the second angular velocity of joint B1 within the adjusted current cycle. The second angular displacement θ1′ and the second angular velocity of joint B2 within the adjusted current period. And the second angular displacement θ2′.

[0066] The processor can sequentially determine the second angular velocity of joint B1. Is it greater than the angular velocity limit of joint B1? The second angular velocity of joint B2 Is it greater than the angular velocity limit of joint B2? The second angular velocity at joint B2 Angular velocity greater than the limit of joint B2 The processor determines the angular velocity limit of joint B2. and first angular velocity ratio And the current period's duration t is compared with the ratio The product of these is determined as the adjusted duration t′ of the current period, i.e. Until the second angular velocity of joint B1 within the adjusted current cycle Less than or equal to the angular velocity limit And the second angular velocity of joint B2 in the current period Less than or equal to the angular velocity limit

[0067] In one embodiment, determining the first angular velocity and first angular displacement of each joint in the current cycle based on the duration of the current cycle and the target velocity of the current cycle includes: processing the duration of the current cycle and the target velocity using inverse kinematics to obtain the first angular displacement of each joint in the current cycle; and processing the target velocity and the first angular displacement of each joint in the current cycle using an inverse Jacobian matrix to obtain the first angular velocity of each joint in the current cycle.

[0068] The processor can determine the first angular velocity and first angular displacement of each joint within the current cycle based on the duration of the current cycle and the target velocity of the current cycle. Specifically, the processor can use inverse kinematics to process the duration of the current cycle and the target velocity to obtain the first angular displacement of each joint within the current cycle. The processor can also use the inverse Jacobian matrix to process the target velocity and the first angular displacement of each joint within the current cycle to obtain the first angular velocity of each joint within the current cycle.

[0069] For example, such as Figure 2 As shown, the construction machinery includes a tower boom, its rotating joints, and its telescopic joints. The processor can establish a three-dimensional coordinate system (X, Y, Z axes) using the rotation center of the tower boom's rotating joints as the origin. The processor can then determine the inverse kinematics of the tower boom. Where L represents the tower arm length when the extension / retraction is zero, θ1 represents the tower arm rotation angle, θ2 represents the tower arm extension / retraction length, x represents the tower arm position on the X-axis, and z represents the tower arm position on the Z-axis. The processor can obtain the first angular displacement of the tower arm within the current cycle by processing the duration of the current cycle and the target velocity through inverse kinematics. The processor can determine the inverse Jacobian matrix invJ corresponding to the tower arm, i.e. L represents the tower arm length when the extension / retraction is 0, θ1 represents the tower arm rotation angle, and θ2 represents the extension / retraction length of the tower arm. The processor can use the inverse Jacobian matrix to process the target velocity and the first angular displacement of each joint in the current cycle to obtain the first angular velocity of each joint in the current cycle.

[0070] In one embodiment, controlling the movement of each boom to drive the corresponding joint includes: generating a corresponding angular velocity control command based on the second angular velocity of each joint; generating a corresponding angular displacement control command based on the second angular displacement of each joint; and sending the angular velocity control command and angular displacement control command corresponding to each joint to the corresponding boom, so that the corresponding boom executes the corresponding angular velocity control command and angular displacement control command to drive the corresponding joint.

[0071] The processor can receive the target velocity for the end of the last boom, periodically sent by the input device. Upon receiving the target velocity, the processor can determine the first angular velocity and first angular displacement of each joint within the current cycle, based on the duration of the current cycle and the target velocity of the current cycle. For any given joint, the processor can determine whether the first angular velocity of that joint is greater than its angular velocity limit. If the first angular velocity of that joint is greater than its angular velocity limit, the processor can determine the second angular velocity and second angular displacement of each joint within the current cycle, based on the first angular velocity and the angular velocity limit. After determining the second angular velocity and second angular displacement, the processor can sequentially determine whether the second angular velocity of each joint within the current cycle is greater than its corresponding angular velocity limit. If the second angular velocity of any joint is greater than its corresponding angular velocity limit, the processor can return to the step of determining the second angular velocity and second angular displacement of each joint within the current cycle based on the first angular velocity and the angular velocity limit, until the second angular velocity of each joint within the current cycle is less than or equal to its corresponding angular velocity limit.

[0072] When the second angular velocity of each joint is less than or equal to the corresponding angular velocity limit, the processor can generate a corresponding angular velocity control command based on the second angular velocity of each joint. It can also generate a corresponding angular displacement control command based on the second angular displacement of each joint. After generating the angular velocity and angular displacement control commands, the processor can send these commands to the corresponding boom, causing the boom to execute them to drive the corresponding joints, ensuring that the running speed of each joint matches its corresponding second angular velocity and its running displacement is the corresponding second angular displacement.

[0073] For example, construction machinery may also include boom cylinders, each connected to a corresponding boom. When the second angular velocity of each joint is less than or equal to the corresponding angular velocity limit, the processor can generate a corresponding angular velocity control command based on the second angular velocity of each joint. It can also generate a corresponding angular displacement control command based on the second angular displacement of each joint. After generating the angular velocity and angular displacement control commands, the processor can send these commands to the PID controller (controller) for each joint. This causes the PID controller to extend and retract the corresponding boom cylinder, thereby driving the boom connected to that cylinder to perform luffing motion, which in turn drives the corresponding joint to move. This ensures that the running speed of each joint matches the corresponding second angular velocity, and the running displacement is the corresponding second angular displacement.

[0074] In one embodiment, such as Figure 3As shown, the processor can receive the target velocity V for the end of the last boom, periodically sent by the user via the speed control button. Upon receiving the target velocity V, the processor can use a kinematics module to process the target velocity V and the duration t of the current cycle to obtain the first angular displacement θ of each joint within the current cycle. n (n = 1, 2, ...), where n represents the nth joint. The processor can use the inverse Jacobian matrix invJ to process the target velocity V and the first angular displacement θ of each joint in the current cycle. n (n = 1, 2, ...) to obtain the first angular velocity of each joint in the current cycle.

[0075] For any given joint, the processor can determine whether the first angular velocity of that joint is greater than the angular velocity limit of that joint, i.e., any... If the first angular velocity of any joint exceeds the angular velocity limit of that joint, the processor can use a joint velocity redesign module to redesign the angular velocities of each joint to obtain the second angular velocity of each joint.

[0076] Specifically, such as Figure 4 shown, in any In the case of, assuming That is, the first angular velocity of the s-th joint is greater than the angular velocity limit of that joint. The processor can determine the angular velocity limit of the s-th joint as the second angular velocity of the s-th joint, i.e. And determine the ratio of the first angular velocity of the s-th joint to the angular velocity limit, that is The processor can compare the target speed V with the ratio The product of these factors is determined as the redesigned target velocity V′ (i.e., the terminal velocity). After redetermining the target velocity V′, the processor can use the inverse Jacobian matrix invJ to process the redesigned target velocity V′ and the current cycle duration t to obtain the second angular velocity of each joint.

[0077] The processor can use the Jacobian matrix J to process the second angular velocity of each joint. And the kinematic module is used to process the second angular velocity. The corresponding target velocity V′ is used to obtain the second angular displacement corresponding to each joint. The processor can generate corresponding angular velocity control commands based on the second angular velocity of each joint, and corresponding angular displacement control commands based on the second angular displacement of each joint. After generating the angular velocity control commands and angular displacement control commands, the processor can send the angular displacement commands to the PID (controller) so that the PID controls the movement of the corresponding boom cylinder, thereby driving the corresponding boom to move, and thus driving the corresponding joint to move.

[0078] First angular velocity at each joint If all angular velocities are less than or equal to the angular velocity limits of the corresponding joints, the processor can generate corresponding angular velocity control commands based on the first angular velocity of each joint. It can also generate corresponding angular displacement control commands based on the first angular displacement of each joint. After generating the angular velocity and angular displacement control commands, the processor can send the angular displacement commands to the PID (controller) so that the PID controls the movement of the corresponding boom cylinder, thereby driving the boom to move and thus the corresponding joint.

[0079] In one embodiment, such as Figure 5 As shown, the processor can receive the target velocity V for the end of the last boom, periodically sent by the user via the speed control button. Upon receiving the target velocity V, the processor can use a kinematics module to process the target velocity V and the duration t of the current cycle to obtain the first angular displacement θ of each joint within the current cycle. n (n = 1, 2, ...), where n represents the nth joint. The processor can use the inverse Jacobian matrix invJ to process the target velocity V and the first angular displacement θ of each joint in the current cycle. n (n = 1, 2, ...) to obtain the first angular velocity of each joint in the current cycle.

[0080] For any given joint, the processor can determine whether the first angular velocity of that joint is greater than the angular velocity limit of that joint, i.e., any... If the first angular velocity of any joint exceeds the angular velocity limit of that joint, the processor can use a joint velocity redesign module to redesign the angular velocities of each joint to obtain the second angular velocity of each joint.

[0081] The processor can determine the first angular velocity of each joint. Second angular velocity Adjust the duration t of the current period. Specifically, in any... In the case of, assuming That is, the first angular velocity of the s-th joint is greater than the angular velocity limit of that joint. The processor can determine the angular velocity limit of the s-th joint as the second angular velocity of the s-th joint, i.e. And determine the ratio of the first angular velocity of the s-th joint to the angular velocity limit, that is The processor can compare the current cycle duration t with the ratio product The duration t′ of the adjusted current cycle is determined. The processor can determine the second angular velocity within each of the adjusted current cycles based on the duration t′ and the target velocity V. And the second angular displacement.

[0082] The processor can generate corresponding angular velocity control commands based on the second angular velocity of each joint, and corresponding angular displacement control commands based on the second angular displacement of each joint. After generating the angular velocity and angular displacement control commands, the processor can send the angular displacement commands to the PID (controller), so that the PID controls the movement of the corresponding boom cylinder, thereby driving the boom to move and thus driving the corresponding joint.

[0083] First angular velocity at each joint If all angular velocities are less than or equal to the angular velocity limits of the corresponding joints, the processor can generate corresponding angular velocity control commands based on the first angular velocity of each joint. It can also generate corresponding angular displacement control commands based on the first angular displacement of each joint. After generating the angular velocity and angular displacement control commands, the processor can send the angular displacement commands to the PID (controller) so that the PID controls the movement of the corresponding boom cylinder, thereby driving the boom to move and thus the corresponding joint.

[0084] The above technical solution involves receiving the target velocity of the last boom end periodically sent by the input device; determining the first angular velocity and first angular displacement of each joint in the current cycle based on the duration of the current cycle and the target velocity of the current cycle; for any joint, if the first angular velocity of the joint is greater than the joint's angular velocity limit, determining the second angular velocity and second angular displacement of the joint in the current cycle based on the first angular velocity and the angular velocity limit; sequentially determining whether the second angular velocity of each joint in the current cycle is greater than the angular velocity limit corresponding to each joint; if the second angular velocity of any joint is greater than the angular velocity limit corresponding to that joint, returning to the step of determining the second angular velocity and second angular displacement of the joint in the current cycle based on the first angular velocity and the angular velocity limit, until the second angular velocity of each joint in the current cycle is less than or equal to the angular velocity limit corresponding to that joint; controlling the movement of each boom to drive the corresponding joint to operate, so that the operating speed of each joint matches the corresponding second angular velocity, and the operating displacement is the corresponding second angular displacement. By adopting the above technical solution, the speed of the joint can be kept within the limit, which has a good protective effect on the joint. It can also control multiple booms to drive the joint movement at the same time, so that the joints have good coordination, improve the control accuracy of the boom end, and improve the safety of operation.

[0085] Figure 1 , 3 Figure 5 is a flowchart illustrating a control method for a boom in one embodiment. It should be understood that, although... Figure 1 , 3 The steps in flowchart 5 are shown sequentially as indicated by the arrows; however, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order in which these steps are performed, and they can be executed in other orders. Furthermore, Figure 1 , 3 At least some of the steps in 5 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0086] This application provides a processor for running a program, wherein the program executes the above-described control method for a boom during runtime.

[0087] This application provides an embodiment of engineering machinery, including:

[0088] Multiple booms, with each pair of adjacent booms connected by a joint; and

[0089] The aforementioned processor.

[0090] This application provides a storage medium storing a program that, when executed by a processor, implements the above-described control method for a boom.

[0091] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data on target velocity, first angular velocity, first angular displacement, second angular velocity, and second angular displacement. The network interface A02 communicates with external terminals via a network connection. When executed by the processor A01, the computer program B02 implements a control method for the boom.

[0092] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0093] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: receiving a target velocity for the end of the last boom periodically sent by an input device; determining a first angular velocity and a first angular displacement of each joint within the current cycle based on the duration of the current cycle and the target velocity of the current cycle; for any joint, if the first angular velocity of the joint is greater than the joint's angular velocity limit, determining a second angular velocity and a second angular displacement of each joint within the current cycle based on the first angular velocity and the angular velocity limit; sequentially determining whether the second angular velocity of each joint within the current cycle is greater than the angular velocity limit corresponding to each joint; if the second angular velocity of any joint is greater than the angular velocity limit corresponding to that joint, returning to the step of determining the second angular velocity and the second angular displacement of each joint within the current cycle based on the first angular velocity and the angular velocity limit, until the second angular velocity of each joint within the current cycle is less than or equal to the angular velocity limit corresponding to that joint; controlling the movement of each boom to drive the corresponding joint, so that the running speed of each joint matches the corresponding second angular velocity, and the running displacement is the corresponding second angular displacement.

[0094] In one embodiment, determining the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity and angular velocity limit of the joint includes: redetermining the target velocity of the end of the last boom in the current cycle based on the target velocity, the angular velocity limit of the joint, and the first angular velocity; and determining the second angular velocity and second angular displacement of each joint based on the redetermined target velocity and the duration of the current cycle.

[0095] In one embodiment, redetermining the target velocity of the end of the last boom in the current cycle based on the target velocity, the angular velocity limit of the joint, and the first angular velocity includes: for any joint, determining the ratio of the angular velocity limit of the joint to the first angular velocity; and redetermining the product of the target velocity and the ratio as the target velocity of the end of the last boom in the current cycle.

[0096] In one embodiment, the control method further includes: for any joint, if the first angular velocity of the joint is greater than the angular velocity limit of the joint, adjusting the duration of the current cycle according to the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity; determining the first angular velocity and first angular displacement of each joint in the adjusted current cycle according to the adjusted duration of the current cycle and the target velocity; for any joint, if the first angular velocity of the joint in the adjusted current cycle is greater than the angular velocity limit of the joint, determining the second angular velocity and second angular displacement of each joint in the adjusted current cycle according to the first angular velocity and the angular velocity limit of the joint; sequentially determining whether the second angular velocity of each joint in the adjusted current cycle is greater than the angular velocity limit corresponding to each joint; if the second angular velocity of any joint in the adjusted current cycle is greater than the angular velocity limit corresponding to that joint, returning to the step of adjusting the duration of the current cycle according to the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity, until the second angular velocity of each joint in the adjusted current cycle is less than or equal to the angular velocity limit corresponding to that joint.

[0097] In one embodiment, adjusting the duration of the current cycle based on the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity includes: for any joint, determining the ratio of the angular velocity limit of the joint to the first angular velocity; and determining the product of the duration of the current cycle and the ratio as the adjusted duration of the current cycle.

[0098] In one embodiment, determining the first angular velocity and first angular displacement of each joint in the current cycle based on the duration of the current cycle and the target velocity of the current cycle includes: processing the duration of the current cycle and the target velocity using inverse kinematics to obtain the first angular displacement of each joint in the current cycle; and processing the target velocity and the first angular displacement of each joint in the current cycle using an inverse Jacobian matrix to obtain the first angular velocity of each joint in the current cycle.

[0099] In one embodiment, controlling the movement of each boom to drive the corresponding joint includes: generating a corresponding angular velocity control command based on the second angular velocity of each joint; generating a corresponding angular displacement control command based on the second angular displacement of each joint; and sending the angular velocity control command and angular displacement control command corresponding to each joint to the corresponding boom, so that the corresponding boom executes the corresponding angular velocity control command and angular displacement control command to drive the corresponding joint.

[0100] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform initialization steps such as those for a control method for a boom.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0106] 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.

[0107] 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 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.

[0108] 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.

[0109] 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 control method for a boom, characterized in that, Applied to construction machinery, the construction machinery includes multiple booms connected in sequence, with each pair of adjacent booms connected by a joint, and the control method includes: The target speed for the end of the last boom is periodically transmitted by the receiving input device. The first angular velocity and first angular displacement of each joint within the current cycle are determined based on the duration of the current cycle and the target velocity of the current cycle. For any joint, if the first angular velocity of the joint is greater than the angular velocity limit of the joint, the second angular velocity and the second angular displacement of each joint in the current cycle are determined based on the first angular velocity of the joint and the angular velocity limit. Sequentially determine whether the second angular velocity of each joint in the current cycle is greater than the angular velocity limit corresponding to each joint; If the second angular velocity of any joint is greater than the angular velocity limit corresponding to that joint, return to the step of determining the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity and the angular velocity limit of the joint, until the second angular velocity of each joint in the current cycle is less than or equal to the angular velocity limit corresponding to that joint. Control the movement of each boom to drive the corresponding joint, so that the running speed of each joint matches the corresponding second angular velocity, and the running displacement is the corresponding second angular displacement.

2. The control method for a boom according to claim 1, characterized in that, The step of determining the second angular velocity and second angular displacement of each joint in the current cycle based on the first angular velocity and the angular velocity limit of the joint includes: The target velocity of the end of the last boom in the current cycle is re-determined based on the target velocity, the angular velocity limit of the joint, and the first angular velocity; The second angular velocity and second angular displacement of each joint are determined based on the redefined target velocity and the duration of the current cycle.

3. The control method for a boom according to claim 2, characterized in that, The target velocity of the end of the last boom in the current cycle is re-determined based on the target velocity, the angular velocity limit of the joint, and the first angular velocity, including: For any given joint, determine the ratio of the joint's angular velocity limit to the first angular velocity; The product of the target speed and the ratio is redefined as the target speed of the end of the last boom in the current cycle.

4. The control method for a boom according to claim 1, characterized in that, The control method further includes: For any joint, if the first angular velocity of the joint is greater than the angular velocity limit of the joint, the duration of the current cycle is adjusted according to the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity. The first angular velocity and first angular displacement of each joint within the adjusted current cycle are determined based on the duration of the current cycle and the target velocity. For any joint, if the first angular velocity of the joint in the adjusted current period is greater than the angular velocity limit of the joint, the second angular velocity and second angular displacement of each joint in the adjusted current period are determined based on the first angular velocity of the joint in the adjusted current period and the angular velocity limit. Sequentially determine whether the second angular velocity of each joint in the current adjusted cycle is greater than the angular velocity limit corresponding to each joint; If the second angular velocity of any joint in the adjusted current period is greater than the angular velocity limit corresponding to that joint, the process returns to the step of adjusting the duration of the current period based on the duration of the current period, the angular velocity limit of the joint, and the first angular velocity, until the second angular velocity of each joint in the adjusted current period is less than or equal to the angular velocity limit corresponding to that joint.

5. The control method for a boom according to claim 4, characterized in that, The step of adjusting the duration of the current cycle based on the duration of the current cycle, the angular velocity limit of the joint, and the first angular velocity includes: For any given joint, determine the ratio of the joint's angular velocity limit to the first angular velocity; The product of the current cycle duration and the ratio is determined as the adjusted current cycle duration.

6. The control method for a boom according to claim 1, characterized in that, The step of determining the first angular velocity and first angular displacement of each joint within the current cycle based on the duration of the current cycle and the target velocity of the current cycle includes: The duration of the current cycle and the target velocity are processed using inverse kinematics to obtain the first angular displacement of each joint within the current cycle; The target velocity and the first angular displacement of each joint in the current cycle are processed using an inverse Jacobian matrix to obtain the first angular velocity of each joint in the current cycle.

7. The control method for a boom according to claim 1, characterized in that, The control of each boom movement to drive the corresponding joint operation includes: Generate corresponding angular velocity control commands based on the second angular velocity of each joint; Generate corresponding angular displacement control commands based on the second angular displacement of each joint; The angular velocity control command and angular displacement control command corresponding to each joint are sent to the corresponding boom, so that the corresponding boom executes the corresponding angular velocity control command and angular displacement control command to drive the corresponding joint to move.

8. A processor, characterized in that, It is configured to perform the control method for a boom according to any one of claims 1 to 7.

9. An engineering machinery, characterized in that, include: Multiple booms, with each pair of adjacent booms connected by a joint; as well as The processor according to claim 8.

10. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to perform the control method for a boom according to any one of claims 1 to 7.

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