Control method and system of directional injection device, directional injection device and fire fighting truck

Abstract

The invention provides a control method and system of a directional injection device, the directional injection device and a fire fighting truck, and the method comprises the steps: firstly obtaining a first-order modal frequency of a boom structure, and calculating a natural period according to the first-order modal frequency; adjusting injection parameters of the directional injection device to control injection recoil force; monitoring the change of the jet recoil force; under the condition that the change of the jet recoil force does not meet the preset change requirement, the adjusting step and the monitoring step are executed repeatedly till the change of the jet recoil force meets the preset change requirement; the preset change requirement is represented as a proportional relation between the change of the jet recoil force and the inherent period. By controlling the change of the jet recoil force, the impact response of the boom structure under the excitation of the jet recoil force is greatly reduced, the dynamic load coefficient and the residual vibration are reduced, the weight and the cost of the boom structure do not need to be increased, and the jet timeliness is high.

Description

Technical Field

[0001] The present invention relates to the field of fire fighting technology, and in particular to a control method and system of a directional spraying device, a directional spraying device and a fire fighting truck. Background Art

[0002] In the design of fire trucks with booms, the directional spray device and the boom are two core components. The directional spray device is usually installed at the end of the boom, and the boom mainly adopts a telescopic or folding structure design. This design enables the fire truck to adapt to different rescue scenarios and achieve the best spray position by adjusting the length and angle of the boom. Traditional directional spray devices, such as fire monitors, will be excited by step-type recoil force at the moment of change in spray force, resulting in a significant increase in boom deformation and stress response. This vibration not only affects the accuracy of spray positioning, but may also damage the boom structure, reducing the stability and safety of the boom structure.

[0003] There are two traditional solutions to deal with the problem of instantaneous step excitation caused by changes in the jet force. The first is to reduce the impact deformation by increasing the rigidity of the boom structure, but increasing the rigidity of the boom structure will increase the weight and cost of the boom structure. The second is to reduce the gradient of the jet force change to make the recoil force change smoothly. A lower jet force gradient will result in a long time to reach the specified jet flow rate, affecting the timeliness of the jet. Summary of the invention

[0004] The present invention provides a control method and system for a directional spraying device, a directional spraying device and a fire truck, which are used to solve the defects of the prior art that the weight and cost of the structure are increased and the timeliness of the spraying is affected. The present invention controls the change of the spraying recoil force, greatly reduces the impact response of the boom structure under the excitation of the spraying recoil force, reduces the dynamic load coefficient and the residual vibration, does not need to increase the weight and cost of the boom structure, and has a high spraying timeliness.

[0005] The present invention provides a control method for a directional injection device, comprising: obtaining a first-order modal frequency of a boom structure, and calculating a natural period according to the first-order modal frequency; the natural period is used to analyze the impact response of the boom structure under the excitation of the injection recoil force of the directional injection device; adjusting the injection parameters of the directional injection device to control the injection recoil force; monitoring the change of the injection recoil force; when the change of the injection recoil force does not meet the preset change requirement, repeatedly executing the adjustment step and the monitoring step until the change of the injection recoil force meets the preset change requirement; the preset change requirement is characterized by the proportional relationship between the change of the injection recoil force and the natural period.

[0006] According to a control method for a directional injection device provided by the present invention, the first-order modal frequency is obtained by analyzing the modal parameters of the boom structure along the injection direction in a working deployed state according to a finite element method or a vibration test method.

[0007] According to a control method for a directional injection device provided by the present invention, the injection parameters of the directional injection device are adjusted to control the injection recoil force, including: adjusting the control parameters of the injection pump and valve system of the directional injection device to control the injection recoil force to change according to a diagonal step excitation, and the duration of the diagonal segment of the diagonal step excitation is a positive integer multiple of the natural period.

[0008] According to a control method for a directional injection device provided by the present invention, from time 0 to the time of the oblique line segment duration, the impulse response gradually increases from 0 to a static response; at the time after the oblique line segment duration, the impulse response is constant to the static response.

[0009] According to a control method for a directional injection device provided by the present invention, the linear shape of the impact response is an oblique line; the time of the linear bending point of the oblique line impact response is a positive integer multiple of the natural period.

[0010] According to a control method for a directional injection device provided by the present invention, the linear shape of the impulse response is a positive vector shape; the time of the linear bending point of the positive vector-shaped impulse response is the time of the natural period. N +0.5 times, N Is a positive integer.

[0011] According to a control method for a directional injection device provided by the present invention, the linear shape of the impulse response is a cycloid; the time of the linear bending point of the cycloid-shaped impulse response is the time of the natural period. P times, P is a positive integer not less than 2.

[0012] The present invention also provides a control system for a directional injection device, comprising: an acquisition module, used to acquire the first-order modal frequency of a boom structure, and calculate the natural period based on the first-order modal frequency; the natural period is used to analyze the impact response of the boom structure under the excitation of the injection recoil force of the directional injection device; an adjustment module, used to adjust the injection parameters of the directional injection device to control the injection recoil force; a monitoring module, used to monitor the change of the injection recoil force; an execution module, used to repeat the adjustment step and the monitoring step when the change of the injection recoil force does not conform to a preset excitation linear shape, until the change of the injection recoil force meets the preset change requirement; the preset change requirement is characterized by the proportional relationship between the change of the injection recoil force and the natural period.

[0013] The present invention also provides a directional injection device, including a control system of the directional injection device.

[0014] The present invention also provides a fire truck, comprising the control system of the directional injection device or the directional injection device.

[0015] The present invention provides a control method, system, directional injection device and fire truck for a directional injection device, which first obtains the first-order modal frequency of the boom structure and calculates the natural period according to the first-order modal frequency; adjusts the injection parameters of the directional injection device to control the injection recoil force; monitors the change of the injection recoil force; when the change of the injection recoil force does not meet the preset change requirements, repeats the adjustment steps and the monitoring steps until the change of the injection recoil force meets the preset change requirements; the preset change requirements are characterized by the proportional relationship between the change of the injection recoil force and the natural period. The present invention greatly reduces the impact response of the boom structure under the excitation of the injection recoil force, reduces the dynamic load coefficient and the residual vibration, does not need to increase the weight and cost of the boom structure, and has a high injection timeliness. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of a control method of a directional injection device provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the oblique line step excitation provided by the present invention.

[0019] Figure 3 It is a schematic diagram of the undamped single-degree-of-freedom system provided by the present invention.

[0020] Figure 4 This is the impulse response spectrum of the oblique step excitation provided by the present invention.

[0021] Figure 5 It is the impulse response spectrum of the oblique line, normal vector and cycloid step signals provided by the present invention.

[0022] Figure 6 It is a structural schematic diagram of a control system of a directional injection device provided by the present invention.

[0023] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] At the moment when the spray force of a fire monitor or other liquid (gas) directional spray device changes, the liquid (gas) spray recoil force it receives will change rapidly from one value to another, forming a step-type spray recoil force excitation. Under this excitation, the deformation and stress response of the arm mounted with the fixed directional spray device will be significantly greater than the response under the same magnitude of static force, leading to a series of problems.

[0026] The dynamic load coefficient of step-type excitation is usually much larger than 1.0, which will cause the boom of the fixed injection device to vibrate significantly. On the one hand, it will affect the injection positioning. On the other hand, excessive impact load will cause the boom structure itself and the load of the ground support system to change significantly, affecting the working stability of the boom equipment. In addition, the boom structure will produce a large amount of stress and strain. Under repeated impact, the damage will continue to accumulate, and the boom structure may eventually fail. In the prior art, this problem is addressed by increasing the structural rigidity or reducing the gradient of the injection force change, but these methods increase the weight and cost of the structure and affect the timeliness of the injection.

[0027] Please refer to Figure 1 , Figure 1 A schematic flow chart of a control method for a directional injection device provided by the present invention.

[0028] In order to solve the technical problems existing in the prior art, the present invention provides a control method for a directional injection device, comprising: 101: Obtain the first-order modal frequency of the boom structure, and calculate the natural period according to the first-order modal frequency; the natural period is used to analyze the impact response of the boom structure under the excitation of the jet recoil force of the directional jet device; 102: adjusting the injection parameters of the directional injection device to control the injection recoil force; 103: Monitor the change of jet recoil force; 104: When the change of the jet recoil force does not meet the preset change requirement, repeat the adjustment step and the monitoring step until the change of the jet recoil force meets the preset change requirement; the preset change requirement is characterized by the proportional relationship between the change of the jet recoil force and the inherent period.

[0029] The present invention provides a control method for a directional injection device, which aims to optimize the impact response of a boom structure under the action of the injection recoil force by precisely controlling the injection parameters. First, the first-order modal frequency of the boom structure is obtained, because it is directly related to the main vibration mode of the boom structure under the action of the injection recoil force. The acquisition of the first-order modal frequency can be achieved by performing a modal analysis on the boom structure through experimental testing or numerical simulation. Modal analysis is used in structural dynamics to determine the natural frequency and modal shape of a structure. Experimental testing usually involves installing sensors on the boom structure, then applying dynamic loads to it to excite vibrations, and identifying modal parameters by measuring the responses. Numerical simulation uses finite element analysis (FEA) software to calculate the modal parameters by establishing a mathematical model of the boom structure and applying corresponding boundary conditions and loads. The first-order modal frequency is obtained f 0 (unit: Hz), calculate the corresponding natural period T =1 / f 0 (unit: seconds). The natural period is the time required for the boom structure to complete a complete vibration cycle. It is a key parameter for the subsequent control strategy design because it determines the dynamic characteristics of the boom during the injection process. Then adjust the injection parameters of the directional injection device, including the flow rate, pressure and valve opening of the injection pump, to control the injection recoil force. The adjustment of these parameters is achieved through a closed-loop control system. The closed-loop control system dynamically adjusts the injection parameters based on the deviation between the injection recoil force monitored in real time and the preset excitation linear shape to ensure that the change of the injection recoil force conforms to the preset excitation linear shape and the change time of the linear shape is proportional to the natural period (the preset change requirement is characterized by the proportional relationship between the change of the injection recoil force and the natural period). The preset excitation linear shape is designed according to the natural period of the boom, and the change time of the preset excitation linear shape is proportional to the natural period to ensure that the change of the injection recoil force matches the dynamic characteristics of the boom. During the implementation process, if the change of the injection recoil force does not conform to the preset excitation linear shape, the closed-loop control system will repeat the adjustment and monitoring steps until the change of the injection recoil force is consistent with the preset excitation linear shape. This process ensures the stability and safety of the boom structure during the injection process.

[0030] The control method of the directional injection device of the present invention is not only applicable to test and debugging scenarios, but also applicable to actual use scenarios, so as to reduce the impact response of the boom structure under the excitation of the injection recoil force of the directional injection device.

[0031] In addition, it is necessary to explain: Static load: The load does not change with time (or changes very slowly and steadily) and keeps the acceleration of each component of the component zero (or negligible).

[0032] Dynamic load: The load changes rapidly with time and causes a significant change in the acceleration of the component (the system generates inertia forces).

[0033] Dynamic load coefficient: the ratio of the maximum dynamic load to the static load.

[0034] Step load: A load that changes suddenly at a certain moment, usually changing rapidly from one value to another.

[0035] Mode: The natural vibration characteristics of a structure. Each mode has a specific natural frequency, damping ratio and modal shape.

[0036] Modal frequency: The natural frequency corresponding to each mode.

[0037] Modal analysis: The process of obtaining the modal parameters of each order of a structure through calculation or experimental analysis. The essence of modal analysis is to calculate the eigenvalues ​​and eigenvectors of the structural vibration characteristic equation.

[0038] The present invention controls the change of the jet recoil force (designs a specific jet force change waveform and duration) to greatly reduce the impact response of the boom structure under the excitation of the jet recoil force, reduce the dynamic load coefficient and residual vibration, and does not need to increase the weight and cost of the boom structure, thereby achieving high jet timeliness.

[0039] As a preferred embodiment, the first-order modal frequency is obtained by analyzing the modal parameters of the boom structure along the ejection direction in the working deployment state according to the finite element method or the vibration test method.

[0040] In this embodiment, the finite element method is used to calculate the first-order modal frequency of the boom structure along the ejection direction in the working unfolded state. f 0. Specifically, a three-dimensional geometric model of the boom structure is established using professional finite element analysis software. The boom model includes various components of the boom, such as the telescopic arm, turntable, legs, etc., and defines material properties in detail, such as elastic modulus, Poisson's ratio, and density. Then, boundary conditions are applied to the boom model to simulate the support and constraint conditions of the boom in actual work. For example, the base of the boom may be fixed to simulate its fixed state on the ground. In modal analysis, the eigenvalue problem is solved, which is in the form of:

[0041] in, K is the stiffness matrix of the boom, M is the mass matrix of the boom, is the natural frequency of the boom.

[0042] By solving this equation, a series of natural frequencies and corresponding mode shapes can be obtained. After all the modal frequencies are obtained, the first modal frequency along the injection direction is identified. f0. The first modal frequency is the smallest non-zero frequency and corresponds to the mode in which the boom is most likely to vibrate in the direction of the jet. Once the first modal frequency is determined, the corresponding natural period can be calculated.

[0043] Vibration testing provides a means of experimental verification. In vibration testing, acceleration sensors are installed at key locations on the boom, and vibrations of known frequencies are applied using an exciter or other excitation device. By collecting and analyzing the response data from these sensors, spectrum analysis techniques can be used to identify the first-order modal frequency.

[0044] Whether through finite element analysis or vibration testing, the first-order modal frequency obtained is the basis for the subsequent control strategy design. The accuracy of this frequency is crucial to ensure the stability and safety of the boom during the injection process.

[0045] As a preferred embodiment, the injection parameters of the directional injection device are adjusted to control the injection recoil force, including: adjusting the control parameters of the injection pump and valve system of the directional injection device to control the injection recoil force to change according to a diagonal step excitation, and the duration of the diagonal segment of the diagonal step excitation is a positive integer multiple of the natural period.

[0046] Please refer to Figure 2 , Figure 2 A schematic diagram of the oblique line step excitation provided by the present invention.

[0047] In this embodiment, the control parameters of the injection pump and valve system, such as flow rate, pressure, opening, etc., are adjusted manually or automatically, so that the injection recoil force changes to meet the oblique line step excitation and ensure the oblique line segment length (injection recoil force adjustment time) for T A positive integer multiple of . Set to T , 2 T , 3 T ... NT hour( N is a positive integer), the maximum response of the structure is equivalent to the response under static conditions, and there is no residual vibration. In actual engineering applications, in order to keep the structural swing at a low level, the The error does not exceed .

[0048] At the beginning of injection, at the end of injection, or when the injection force changes, no matter what the starting and ending values ​​of the injection force change are, the step excitation requirements of the oblique line segment are Set to T The positive integer multiples of can reduce the maximum deformation response and residual vibration amplitude of the boom.

[0049] Of course, the dynamic model can also be used to predict future responses and adjust the changes in the injection force accordingly to achieve the optimal control effect.

[0050] Consider factors that may affect the change of injection force in the actual operating environment, such as temperature and pressure changes, and adjust the control strategy accordingly.

[0051] As a preferred embodiment, from time 0 to the time of the oblique line segment duration, the impulse response gradually increases from 0 to the static response; at the time after the oblique line segment duration, the impulse response is constant as the static response.

[0052] As a preferred embodiment, the linear shape of the impulse response is an oblique line; the time of the linear bending point of the oblique line impulse response is a positive integer multiple of the natural period.

[0053] In this embodiment, the theoretical calculation of the response of the boom structure under oblique step excitation and the conditions for obtaining the minimum response are described.

[0054] Please refer to Figure 3 , Figure 3 Schematic diagram of the undamped single-degree-of-freedom system provided by the present invention.

[0055] For an undamped single-degree-of-freedom system, when subjected to an oblique step excitation, the impulse response (dynamic response u ( t )) has the following solution:

[0056] in is the static response solution, is the natural circular frequency of the system.

[0057] u c = F ( t ) / k ;in, F ( t ) is the acting force, k is the stiffness coefficient of the system.

[0058] visible, When , the impulse response will gradually increase with time; When , the impact response is a static response superimposed with a cosine free vibration, and the ratio of the amplitude of the free vibration to the static response is , the dynamic load coefficient is .

[0059] The horizontal axis of the shock response spectrum is the time of the oblique line segment. With the natural period The ratio of the vertical axis is the maximum response of the boom structure. Static response ratio (i.e. dynamic load coefficient).

[0060] When the duration of the oblique line segment is very short, that is, the change of the jet recoil force is completed in an instant, the dynamic load coefficient of the boom can be close to 2.0 at most, and its residual vibration amplitude is equal to the deformation caused by the static force. That is, the maximum deformation is equivalent to twice the static load, and there will be continuous vibration after the step impact, and the amplitude is equal to the static load deformation.

[0061] If the slash time The inherent period A positive integer multiple of At this moment, the impulse response gradually increases from 0 to , After time, the system response is constant , free vibration is no longer superimposed. That is, the dynamic load coefficient is 1.0.

[0062]

[0063] An undamped single degree of freedom system describes an ideal system that vibrates in only one direction in structural dynamics. This system is often used to simplify the dynamic analysis of complex structures so that their response to external excitations can be more easily understood and predicted. In the absence of damping, there is no energy dissipation in the system, which means that the vibration does not decay over time. This embodiment considers an undamped system, but in actual applications, adding appropriate damping can help reduce vibrations and improve the stability of the system. By optimizing the structural design (such as adding supports or changing materials), the natural frequency and damping characteristics of the system can be changed, thereby reducing vibrations.

[0064] As a preferred embodiment, the linear shape of the impulse response is a positive vector shape; the time of the linear bending point of the positive vector shape impulse response is N +0.5 times, N Is a positive integer.

[0065] As a preferred embodiment, the linear shape of the impulse response is a cycloid; the time of the linear inflection point of the cycloid-shaped impulse response is the natural period. P times, P is a positive integer not less than 2.

[0066] Please refer to Figure 4 , Figure 4 The impulse response spectrum of the oblique step excitation provided by the present invention.

[0067] Please refer to Figure 5 , Figure 5 The present invention provides the impulse response spectra of oblique-line, spur-shaped and cycloid-shaped step signals.

[0068] In actual engineering, the jet recoil force change section is not necessarily a diagonal line, but can also take other linear shapes. The change in waveform will affect the position of each low point of the impact spectrum line. If the jet recoil force change section uses other linear shapes, its duration setting scheme should be changed to ensure that the dynamic load coefficient is 1.0. For example, if the impact response line shape of the jet recoil force change section uses a positive vector shape instead of a diagonal line shape, the duration should be set to 1.5 T , 2.5 T , 3.5 T …( N +0.5) T The time of the linear bending point of the cycloid impulse response is the natural period P times, P A positive integer not less than 2, for example, set to 2 T , 3 T … PT .

[0069] The control system of the directional injection device provided by the present invention is described below. The control system of the directional injection device described below and the control method of the directional injection device described above can be referred to each other.

[0070] Please refer to Figure 6 , Figure 6 A schematic structural diagram of a control system of a directional injection device provided by the present invention.

[0071] The present invention also provides a control system for a directional injection device, comprising: an acquisition module 1, used to acquire the first-order modal frequency of the boom structure, and calculate the natural period according to the first-order modal frequency; the natural period is used to analyze the impact response of the boom structure under the excitation of the injection recoil force of the directional injection device; an adjustment module 2, used to adjust the injection parameters of the directional injection device to control the injection recoil force; a monitoring module 3, used to monitor the change of the injection recoil force; an execution module 4, used to repeat the adjustment steps and the monitoring steps when the change of the injection recoil force does not meet the preset change requirements, until the change of the injection recoil force meets the preset change requirements; the preset change requirements are characterized by the proportional relationship between the change of the injection recoil force and the natural period.

[0072] The directional injection device provided by the present invention is described below. The directional injection device described below and the control method of the directional injection device described above can be referred to each other.

[0073] The present invention also provides a directional injection device, including a control system of the directional injection device.

[0074] The fire truck provided by the present invention is described below. The fire truck described below and the control method of the directional injection device described above can be referred to each other.

[0075] The present invention also provides a fire truck, comprising the control system of the directional injection device or the directional injection device.

[0076] Figure 7 An example of a structural diagram of an electronic device is shown in FIG. Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the control method of the directional injection device, the method comprising: obtaining the first-order modal frequency of the arm structure, and calculating the natural period according to the first-order modal frequency; the natural period is used to analyze the impact response of the arm structure under the injection recoil excitation of the directional injection device; adjusting the injection parameters of the directional injection device to control the injection recoil; monitoring the change of the injection recoil; when the change of the injection recoil does not meet the preset change requirement, repeating the adjustment step and the monitoring step until the change of the injection recoil meets the preset change requirement; the preset change requirement is characterized by the proportional relationship between the change of the injection recoil and the natural period.

[0077] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0078] On the other hand, the present invention also provides a computer program product, which includes a computer program, and the computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method of the directional injection device provided by the above-mentioned methods, and the method includes: obtaining the first-order modal frequency of the boom structure, and calculating the natural period based on the first-order modal frequency; the natural period is used to analyze the impact response of the boom structure under the excitation of the injection recoil force of the directional injection device; adjusting the injection parameters of the directional injection device to control the injection recoil force; monitoring the change of the injection recoil force; when the change of the injection recoil force does not meet the preset change requirements, repeating the adjustment step and the monitoring step until the change of the injection recoil force meets the preset change requirements; the preset change requirements are characterized by the proportional relationship between the change of the injection recoil force and the natural period.

[0079] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the control method of the directional injection device provided by the above-mentioned methods, the method comprising: obtaining the first-order modal frequency of the boom structure, and calculating the natural period based on the first-order modal frequency; the natural period is used to analyze the impact response of the boom structure under the excitation of the injection recoil force of the directional injection device; adjusting the injection parameters of the directional injection device to control the injection recoil force; monitoring the change of the injection recoil force; when the change of the injection recoil force does not meet the preset change requirements, repeating the adjustment step and the monitoring step until the change of the injection recoil force meets the preset change requirements; the preset change requirements are characterized by the proportional relationship between the change of the injection recoil force and the natural period.

[0080] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0081] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a directional injection device, characterized in that: include: Obtaining the first-order modal frequency of the boom structure, and calculating the natural period according to the first-order modal frequency; The natural period is used to analyze the impact response of the boom structure under the excitation of the jet recoil force of the directional jet device; adjusting the injection parameters of the directional injection device to control the injection recoil force; monitoring a change in the ejection recoil force; When the change of the jet recoil force does not meet the preset change requirement, the adjusting step and the monitoring step are repeated until the change of the jet recoil force meets the preset change requirement; the preset change requirement is characterized by the proportional relationship between the change of the jet recoil force and the natural period.

2. The control method of the directional injection device according to claim 1, characterized in that: The first-order modal frequency is obtained by analyzing the modal parameters of the boom structure along the ejection direction in the working deployment state according to the finite element method or the vibration test method.

3. The control method of the directional injection device according to claim 1, characterized in that: The step of adjusting the injection parameters of the directional injection device to control the injection recoil force comprises: The control parameters of the injection pump and valve system of the directional injection device are adjusted to control the injection recoil force to change according to the oblique step excitation, and the oblique segment length of the oblique step excitation is a positive integer multiple of the natural period.

4. The control method of the directional injection device according to claim 3, characterized in that: From time 0 to the time of the oblique line segment duration, the impulse response gradually increases from 0 to a static response; at the time after the oblique line segment duration, the impulse response is constant as the static response.

5. The control method of the directional injection device according to claim 1, characterized in that: The linear shape of the impulse response is an oblique line; the time of the linear bending point of the oblique line-shaped impulse response is a positive integer multiple of the natural period.

6. The control method of the directional injection device according to claim 1, characterized in that: The linear shape of the impulse response is a positive vector shape; the time of the linear bending point of the positive vector-shaped impulse response is the time of the natural period. N +0.5 times, N Is a positive integer.

7. The control method of the directional injection device according to claim 1, characterized in that: The linear shape of the impulse response is a cycloid; the time of the linear bending point of the cycloid-shaped impulse response is the time of the natural period. P times, P is a positive integer not less than 2.

8. A control system for a directional injection device, characterized in that: include: An acquisition module, used for acquiring the first-order modal frequency of the boom structure, and calculating the natural period according to the first-order modal frequency; The natural period is used to analyze the impact response of the boom structure under the excitation of the jet recoil force of the directional jet device; An adjustment module, used for adjusting the injection parameters of the directional injection device to control the injection recoil force; A monitoring module, used for monitoring the change of the injection recoil force; An execution module is used to repeatedly execute the adjustment step and the monitoring step when the change of the injection recoil force does not meet the preset change requirement, until the change of the injection recoil force meets the preset change requirement; the preset change requirement is characterized by the proportional relationship between the change of the injection recoil force and the inherent period.

9. A directional spraying device, characterized in that: A control system comprising the directional injection device according to claim 8.

10. A fire truck, characterized in that: A control system comprising the directional injection device according to claim 8 or the directional injection device according to claim 9.

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