Vibration suppression method and device for engineering machinery, storage medium and engineering machinery

Abstract

The embodiment of the invention provides a vibration suppression method and device for engineering machinery, a storage medium and the engineering machinery. The method comprises the steps that under the condition that the pumping system is in an operation state, the arm support inclination angle of an arm support and a first system parameter, related to tail end vibration of the arm support, of a driving system are obtained; determining the amplitude of the tail end of the arm support, and determining the compensation amplitude of the tail end of the arm support according to the determined amplitude and preset amplitude control parameters of the arm support; the arm support inclination angle, the first system parameters and the determined compensation amplitude are input into a driving response model to determine driving currents for all the power devices in the at least one power device, the driving response model represents the arm support inclination angle, the first system parameters of the driving system and the amplitude of the tail end of the arm support, and the driving current of all the power devices in the at least one power device is determined. The corresponding relation with the driving current of each power device is obtained; and the determined driving current is output to the corresponding power device, so that the vibration of the cantilever crane is effectively reduced, and the vibration suppression effect of the cantilever crane of the engineering machinery is improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical control technology, and in particular to a vibration suppression method, device, storage medium and engineering machinery for engineering machinery. Background Art

[0002] At present, construction machinery such as concrete pump trucks are equipped with booms, which will cause boom vibrations during operation. For example, for concrete pump trucks, their main function is to pump and pour premixed concrete to a designated location. However, in the process of conveying concrete through concrete pipes, concrete will generate periodic loads on the pipes. If the load frequency is close to the frequency of the boom itself, it will cause the boom to resonate, causing the boom to vibrate violently, and even worse, it will cause the boom structure to crack, causing safety accidents.

[0003] In the prior art, the boom of the engineering machinery is controlled to reduce vibration by displacement compensation. When performing displacement compensation, this method determines the stroke deviation between the initial stroke and the current stroke of the piston, and drives the piston in the boom cylinder to move accordingly through the control parameters corresponding to the stroke deviation. When the cylinder is pushed, it is easy to cause additional inertia force, causing the boom of the engineering machinery to generate certain vibrations, resulting in poor vibration suppression effect of the boom of the engineering machinery. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a vibration suppression method, device, storage medium and engineering machinery for engineering machinery, so as to solve the problem of poor vibration suppression effect on the boom of engineering machinery in the prior art.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a vibration suppression method for engineering machinery, the engineering machinery comprising a pumping system, a boom and a drive system, the drive system comprising at least one power device, and the vibration suppression method comprising:

[0006] When the pumping system is in an operating state, obtaining a boom inclination angle of the boom and a first system parameter of the driving system associated with the vibration of the end of the boom;

[0007] Determining the amplitude of the end of the boom, and determining the compensation amplitude of the end of the boom according to the determined amplitude and a preset amplitude control parameter of the boom;

[0008] Inputting the boom inclination angle, the first system parameter, and the determined compensation amplitude into a drive response model to determine a drive current for each power device in at least one power device, wherein the drive response model represents a corresponding relationship between the boom inclination angle, the first system parameter of the drive system, and the amplitude of the end of the boom, and the drive current of each power device;

[0009] The determined driving current is output to the corresponding power device.

[0010] In an embodiment of the present application, the drive response model is constructed by the following steps: obtaining the first historical system parameters and historical driving current associated with the end vibration of the boom, the historical boom inclination angle of the boom, and the historical amplitude of the end of the boom of the drive system when the pumping system is not in an operating state; inputting the first historical system parameters, the historical boom inclination angle, and the historical amplitude into a preset first network model, so that the first network model outputs the historical driving current of each power unit to train the first network model; when the first network model meets the preset first training completion condition, determining that the training of the first network model is completed, the trained first network model is the drive response model.

[0011] In an embodiment of the present application, determining the amplitude of the end of the boom includes: obtaining a second system parameter of the pumping system associated with the vibration of the end of the boom; inputting the boom inclination angle and the second system parameter into an amplitude prediction model so that the amplitude prediction model outputs the amplitude, wherein the amplitude prediction model characterizes the correspondence between the second system parameter of the pumping system and the boom inclination angle of the boom, and the amplitude of the end of the boom.

[0012] In an embodiment of the present application, the amplitude prediction model is constructed by the following steps: obtaining a second historical system parameter of the pumping system associated with the vibration of the end of the boom and the historical boom inclination angle of the boom, as well as the corresponding historical amplitude of the end of the boom when the pumping system is in an operating state; inputting the second historical system parameter and the historical boom inclination angle into a preset second network model so that the second network model outputs the corresponding historical amplitude of the end of the boom to train the second network model; when the second network model meets a preset second training completion condition, determining that the training of the second network model is completed, and the trained second network model is the amplitude prediction model.

[0013] In an embodiment of the present application, the engineering machinery further includes a monitoring system, the monitoring system includes a displacement sensor, and determining the amplitude of the end of the boom includes: determining the amplitude of the end of the boom by means of the displacement sensor.

[0014] In the embodiment of the present application, the amplitude includes a lateral amplitude and a longitudinal amplitude.

[0015] In an embodiment of the present application, determining the compensation amplitude of the end of the boom according to the determined amplitude and the preset amplitude control parameter of the boom includes: obtaining the preset compensation amplitude of the end of the boom; judging whether the sum of the absolute values ​​of the preset compensation amplitude and the amplitude is less than or equal to the preset amplitude control parameter; when the sum of the absolute values ​​is less than or equal to the preset amplitude control parameter, determining the preset compensation amplitude as the compensation amplitude.

[0016] In an embodiment of the present application, the vibration suppression method also includes: when the sum of the absolute values ​​is greater than the preset amplitude control parameter, adjusting the preset compensation amplitude; determining the new preset compensation amplitude based on the adjusted preset compensation amplitude; returning to the step of determining whether the sum of the absolute values ​​between the preset compensation amplitude and the amplitude is less than or equal to the preset amplitude control parameter, until the sum of the absolute values ​​is less than or equal to the preset amplitude control parameter.

[0017] In an embodiment of the present application, the vibration suppression method also includes: after outputting the determined driving current to the corresponding power device to suppress the vibration of the boom, obtaining the actual amplitude of the end of the boom; determining the adaptive parameters of the driving current for each power device according to the actual amplitude of the end and the preset amplitude control parameters; adjusting the driving current of each power device according to the adaptive parameters, and outputting the adjusted driving current to the corresponding power device.

[0018] A second aspect of the present application provides a vibration suppression device for engineering machinery, comprising:

[0019] a memory configured to store instructions;

[0020] The processor is configured to call instructions from the memory and implement the above-mentioned vibration suppression method for engineering machinery when executing the instructions.

[0021] A third aspect of the present application provides an engineering machine, comprising:

[0022] Boom;

[0023] A pumping system for performing pumping operations;

[0024] A drive system, including at least one power device, for controlling the operation of the boom;

[0025] a monitoring system, including an inclination sensor for monitoring an inclination angle of the boom;

[0026] The above-mentioned vibration suppression device for engineering machinery.

[0027] In the embodiment of the present application, the monitoring system further includes:

[0028] A displacement sensor is used to monitor the amplitude of the end of the boom.

[0029] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configures the processor to execute the above-mentioned vibration suppression method for engineering machinery.

[0030] Through the above technical scheme, the compensation amplitude of the end of the boom is determined according to the predicted amplitude and the amplitude control parameter of the boom, a drive response model is constructed, and the drive response model is used to obtain the driving current of each power unit. The hydraulic parameters of each power unit, the posture parameters of the boom and the compensation amplitude of the end of the boom are input into the drive response model, so that the drive response model outputs the driving current of each power unit, and each driving current is sent to the corresponding power unit, so that the boom is driven by each power unit to complete the vibration suppression of the boom. When suppressing the vibration of the boom of the engineering machinery, no additional inertia force will be caused, the vibration of the boom will be effectively reduced, and the vibration suppression effect of the boom of the engineering machinery will be improved.

[0031] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0033] Figure 1 A schematic diagram of a flow chart of a vibration suppression method for engineering machinery according to an embodiment of the present application is schematically shown;

[0034] Figure 2 A schematic diagram of an amplitude prediction model according to an embodiment of the present application is schematically shown;

[0035] Figure 3 A schematic diagram of a driving response model according to an embodiment of the present application is schematically shown;

[0036] Figure 4 A schematic diagram of adaptive vibration suppression of an engineering machinery boom according to an embodiment of the present application is schematically shown;

[0037] Figure 5 A schematic diagram of a flow chart of a vibration suppression method for engineering machinery according to another embodiment of the present application is shown;

[0038] Figure 6 A schematic diagram of an engineering machine according to an embodiment of the present application is schematically shown;

[0039] Figure 7 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0040] Description of Reference Numerals

[0041] I. Inclination sensor; II. Intelligent flow meter;

[0042] III. Pressure sensor; IV. Temperature sensor;

[0043] V. Pressure sensor; VI. Cleanliness sensor;

[0044] VII. Viscosity sensor. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0046] It should be noted that if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0047] Figure 1 The flowchart of the vibration suppression method for engineering machinery according to the embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a vibration suppression method for an engineering machine is provided, the engineering machine includes a pumping system, a boom and a drive system, the drive system includes at least one power device, and includes the following steps:

[0048] Step 101: When the pumping system is in operation, obtain a boom inclination angle of the boom and a first system parameter of the driving system associated with the vibration of the end of the boom.

[0049] The engineering machinery in this embodiment includes traditional engineering machinery, for example, also includes new energy vehicles used in the field of engineering machinery, such as new energy pump trucks, new energy cranes, and new energy aerial work vehicles. In addition, the engineering machinery in this embodiment also belongs to intelligent networked machinery. The engineering machinery includes a sensor / perception system, a communication system, etc., and collects vehicle operation data and vehicle surrounding environment information through the sensor / perception system in the vehicle, and realizes network connection with other vehicles and the cloud through the communication system, and shares the collected vehicle operation data, vehicle surrounding environment information, etc. to the cloud and other authorized vehicles to realize data sharing, remote analysis, intelligent driving and other operations.

[0050] The engineering machinery may include a pumping system, a boom and a drive system. The pumping system may include a concrete pump for performing a pumping operation to deliver concrete to a target location. The drive system may include at least one power device. The power device may be a device for controlling the movement of a turntable and a boom of the engineering machinery, for example, a hydraulic cylinder and a hydraulic pump.

[0051] If the pumping system is in operation, the end of the boom is in a posture that can reach the target position. The processor can obtain the boom inclination angle of the boom and the first system parameter of the drive system associated with the end vibration of the boom. The first system parameter may include the hydraulic oil temperature when the drive system is operating, the oil pressure of each power unit when the drive system is operating, the oil viscosity and the oil cleanliness. Among them, the oil viscosity represents the fluidity of the hydraulic oil. The oil cleanliness represents the impurity degree of the hydraulic oil.

[0052] In one embodiment, the engineering machinery may further include a monitoring system, which may include an inclination sensor, a temperature sensor, a pressure sensor, a cleanliness sensor, and a viscosity sensor. Among them, the inclination sensor is used to collect the inclination angle of the boom, the temperature sensor can be used to monitor the hydraulic oil temperature when the drive system is operating, the pressure sensor can be used to monitor the oil pressure when the drive system is operating, the cleanliness sensor can be used to monitor the fluidity of the hydraulic oil, and the viscosity sensor can be used to monitor the impurity level of the hydraulic oil. After the sensor collects the corresponding data, it can send the collected data to the processor in real time through a predefined transmission method. Among them, the transmission method can be CAN bus transmission and WIFI transmission.

[0053] Step 102: Determine the amplitude of the end of the boom, and determine the compensation amplitude of the end of the boom according to the determined amplitude and a preset amplitude control parameter of the boom.

[0054] When the pumping system is operating, the boom will vibrate. The processor can determine the amplitude of the end of the boom, and can determine the compensation amplitude of the end of the boom according to the determined amplitude and the preset amplitude control parameter of the boom. The preset amplitude control parameter can be set according to demand, for example, by custom configuration in advance, or according to the driver's driving experience data for the construction machinery. The preset amplitude control parameter can be set as small as possible, for example, it can be set to 0.

[0055] The amplitude of the end of the boom can be determined based on a sensor. In an embodiment of the present application, the engineering machine further includes a monitoring system, the monitoring system includes a displacement sensor, and determining the amplitude of the end of the boom includes: determining the amplitude of the end of the boom through the displacement sensor.

[0056] The engineering machinery further includes a monitoring system, which includes a displacement sensor. The displacement sensor can be installed on the arm section where the end of the boom is located, and can be used to monitor the amplitude of the end of the boom. After the displacement sensor monitors the amplitude of the end of the boom, it can send the amplitude of the end of the boom to the processor. The processor can obtain the amplitude of the end of the boom.

[0057] In the embodiment of the present application, the amplitude includes a transverse amplitude and a longitudinal amplitude. The displacement sensor can collect the transverse amplitude and the longitudinal amplitude of the end of the arm, and send the transverse amplitude and the longitudinal amplitude to the processor, and the processor can obtain the transverse amplitude and the longitudinal amplitude of the end of the arm. Among them, the transverse and longitudinal in this embodiment can be determined based on the right-hand rule with the end of the arm as the origin.

[0058] The amplitude of the end of the boom can be determined based on an amplitude prediction model. The amplitude prediction model can be obtained based on big data training. Before determining the amplitude of the end of the boom, an amplitude prediction model can be constructed. For example, machine learning or neural network is trained to obtain the amplitude prediction model.

[0059] In an embodiment of the present application, the amplitude prediction model is constructed by the following steps: obtaining a second historical system parameter of the pumping system associated with the vibration of the end of the boom and the historical boom inclination angle of the boom, as well as the corresponding historical amplitude of the end of the boom when the pumping system is in an operating state; inputting the second historical system parameter and the historical boom inclination angle into a preset second network model so that the second network model outputs the corresponding historical amplitude of the end of the boom to train the second network model; when the second network model meets a preset second training completion condition, determining that the training of the second network model is completed, and the trained second network model is the amplitude prediction model.

[0060] Before determining the amplitude of the end of the boom through the amplitude prediction model, the second historical system parameters of the pumping system associated with the vibration of the end of the boom and the historical boom inclination angle of the boom, as well as the corresponding historical amplitude of the end of the boom, can be obtained when the pumping system is in an operating state. That is, the training data used when training the preset second network model is collected under the excitation of the pumping shock. Among them, the second historical system parameters may include historical pumping gears, historical full pipe rates, and historical pumping pressures.

[0061] The second historical system parameter and the historical boom inclination angle are input into the preset second network model so that the second network model outputs the corresponding historical amplitude of the end of the boom to train the second network model. When the second network model meets the preset second training completion condition, it can be determined that the second network model training is completed, and the trained second network model is an amplitude prediction model. The preset second training completion condition may include that the number of iterations reaches a preset number, and / or the prediction accuracy is within a preset range or less than a preset value, and / or the prediction error is within a preset range or less than a preset value, etc.

[0062] like Figure 2 As shown, a schematic diagram of an amplitude prediction model is provided. The amplitude prediction model can be obtained based on big data training. Specifically, the material condition, full pipe rate, pumping gear, pumping pressure and boom inclination angle under the pumping state can be obtained as the input of the big data training, and the lateral end amplitude and longitudinal end amplitude of the boom can be obtained as the output of the big data training. Machine learning or neural network is trained to obtain the corresponding relationship model, that is, the amplitude prediction model. The amplitude prediction model can predict the lateral end amplitude and longitudinal end amplitude of the boom based on the material condition, full pipe rate, pumping gear, pumping pressure and boom inclination angle obtained in real time.

[0063] In an embodiment of the present application, determining the amplitude of the end of the boom includes: obtaining a second system parameter of the pumping system associated with the vibration of the end of the boom; inputting the boom inclination angle and the second system parameter into an amplitude prediction model so that the amplitude prediction model outputs the amplitude, wherein the amplitude prediction model characterizes the correspondence between the second system parameter of the pumping system and the boom inclination angle of the boom, and the amplitude of the end of the boom.

[0064] Among them, the second system parameter may include material conditions, pumping gear, full pipe rate and pumping pressure. In one embodiment, the engineering machinery may also include a monitoring system, and the monitoring system may include a flow meter and a pressure sensor. Among them, the flow meter may be installed at the hose of the engineering machinery, and the flow meter can be used to monitor the delivery flow of concrete at the hose. The flow meter sends the detected delivery flow to the processor, and the processor can obtain the delivery flow, and can obtain the piston area and piston speed of the concrete delivery pump. The processor can determine the theoretical delivery flow of concrete based on the piston area and piston speed, and then determine the full pipe rate based on the acquired delivery flow and theoretical delivery flow. The pressure sensor can monitor the pumping pressure of the pumping system during the pumping process.

[0065] The processor can obtain a second system parameter of the pumping system associated with the vibration of the end of the boom, and can input the boom inclination angle and the second system parameter into the amplitude prediction model, so that the amplitude prediction model outputs the amplitude of the end of the boom. The amplitude prediction model characterizes the correspondence between the second system parameter of the pumping system and the boom inclination angle of the boom, and the amplitude of the end of the boom. By predicting the amplitude of the end of the boom through the amplitude prediction model, a more accurate amplitude prediction result can be obtained, without the need for additional sensors to measure the amplitude of the end of the boom, thereby reducing the installation cost of the engineering machinery.

[0066] In one embodiment, after acquiring the real-time boom inclination angle and the second system parameter and determining the amplitude of the end of the boom through the amplitude prediction model, the processor may update the amplitude prediction model according to the set of data to optimize the amplitude prediction model.

[0067] In an embodiment of the present application, determining the compensation amplitude of the end of the boom according to the determined amplitude and the preset amplitude control parameter of the boom includes: obtaining the preset compensation amplitude of the end of the boom; judging whether the sum of the absolute values ​​of the preset compensation amplitude and the amplitude is less than or equal to the preset amplitude control parameter; when the sum of the absolute values ​​is less than or equal to the preset amplitude control parameter, determining the preset compensation amplitude as the compensation amplitude.

[0068] The processor may obtain a preset compensation amplitude of the end of the boom, and may determine whether the sum of the absolute values ​​of the preset compensation amplitude and the amplitude is less than or equal to a preset amplitude control parameter. If the sum of the absolute values ​​of the preset compensation amplitude and the amplitude is less than or equal to the preset amplitude control parameter, that is, the amplitude of the end of the boom can be controlled within a certain range through the preset compensation amplitude, the processor may determine the preset compensation amplitude as the compensation amplitude. The preset compensation amplitude may include a preset lateral compensation amplitude and / or a preset longitudinal compensation amplitude. The preset amplitude control parameter may include a preset lateral amplitude control parameter and / or a preset longitudinal amplitude control parameter.

[0069] In an embodiment of the present application, the vibration suppression method also includes: when the sum of the absolute values ​​is greater than the preset amplitude control parameter, adjusting the preset compensation amplitude; determining the new preset compensation amplitude based on the adjusted preset compensation amplitude; returning to the step of determining whether the sum of the absolute values ​​between the preset compensation amplitude and the amplitude is less than or equal to the preset amplitude control parameter, until the sum of the absolute values ​​is less than or equal to the preset amplitude control parameter.

[0070] If the sum of the absolute values ​​of the preset compensation amplitude and the amplitude is greater than the preset amplitude control parameter, that is, it may be difficult to control the amplitude of the end of the arm within a certain range through the preset compensation amplitude in the future, the processor can adjust the preset compensation amplitude, determine the new preset compensation amplitude with the adjusted preset compensation amplitude, and return to the step of determining whether the sum of the absolute values ​​of the preset compensation amplitude and the amplitude is less than or equal to the preset amplitude control parameter, until the sum of the absolute values ​​is less than or equal to the preset amplitude control parameter.

[0071] Step 103: Input the boom inclination angle, the first system parameter and the determined compensation amplitude into a drive response model to determine the drive current for each power unit in at least one power unit, wherein the drive response model characterizes the correspondence between the boom inclination angle, the first system parameter of the drive system and the amplitude of the end of the boom, and the drive current of each power unit.

[0072] The drive response model can be obtained based on big data training. Before determining the drive current of each power device, the drive response model can be constructed first. For example, machine learning or neural network is trained to obtain the drive response model.

[0073] In an embodiment of the present application, the drive response model is constructed by the following steps: obtaining the first historical system parameters and historical driving current associated with the end vibration of the boom, the historical boom inclination angle of the boom, and the historical amplitude of the end of the boom of the drive system when the pumping system is not in an operating state; inputting the first historical system parameters, the historical boom inclination angle, and the historical amplitude into a preset first network model, so that the first network model outputs the historical driving current of each power unit to train the first network model; when the first network model meets the preset first training completion condition, determining that the training of the first network model is completed, the trained first network model is the drive response model.

[0074] When constructing the drive response model, the first historical system parameters and historical driving current of the drive system associated with the vibration of the end of the boom, the historical boom inclination angle of the boom, and the historical amplitude of the end of the boom can be obtained when the pumping system is not in an operating state.

[0075] In order to establish the relationship between the action state of the driver and the response of the end of the boom, the training data used in training the preset first network model can be collected under the excitation of the hydraulic driving force, that is, without pumping pulses. The training data used in training the preset first network model can be collected when the arm is rocking or extending and retracting. The scenarios of the collected training data include but are not limited to the action of the rotary table hydraulic motor or the cylinder on a single boom, which can allow multiple components in the drive system to be actuated simultaneously.

[0076] The first historical system parameter includes the historical hydraulic oil temperature when the drive system is operating, the historical oil pressure of each power unit when the drive system is operating, the historical oil viscosity, and the historical oil cleanliness. The waveform of the historical drive current does not have to be consistent. For example, the waveform of the historical drive current can use a common signal waveform, such as a combination of square waves, pulse waves, harmonics, and step signals, to reflect the randomness of the waveform signal.

[0077] The first historical system parameter, the historical boom inclination angle and the historical amplitude are input into the preset first network model so that the first network model outputs the historical driving current of each power device to train the first network model. When the first network model meets the preset first training completion condition, it is determined that the training of the first network model is completed, and the trained first network model is the drive response model. The preset first training completion condition may include that the number of iterations reaches the preset number, and / or the prediction accuracy is within a preset range or less than a preset value, and / or the prediction error is within a preset range or less than a preset value, etc.

[0078] like Figure 3 As shown, a schematic diagram of a drive response model is provided. The amplitude prediction model can be obtained based on big data training. Specifically, the hydraulic oil temperature, oil pressure, oil viscosity, oil cleanliness, boom inclination angle and end amplitude can be obtained as inputs during big data training, and the driving current of each power unit in the drive system can be obtained as output during big data training to obtain a corresponding relationship model, that is, a drive response model. The drive response model predicts the driving current of each power unit based on the real-time acquired hydraulic oil temperature, oil pressure, oil viscosity, oil cleanliness, boom inclination angle, and the determined compensation amplitude.

[0079] The processor can input the boom inclination angle, the first system parameter and the determined compensation amplitude into the drive response model to determine the drive current for each power unit in at least one power unit, wherein the drive response model characterizes the correspondence between the boom inclination angle, the first system parameter of the drive system and the amplitude of the end of the boom, and the drive current of each power unit.

[0080] In one embodiment, after the processor obtains the real-time boom inclination angle, the first system parameter and the determined compensation amplitude, and determines the driving current of each power device through the driving response model, the driving response model can be updated according to the set of data to optimize the driving response model.

[0081] Step 104: Output the determined driving current to the corresponding power device.

[0082] The processor can output the determined driving power of each power device to the corresponding power device, and drive the boom to move through each power device to suppress the vibration of the boom.

[0083] In an embodiment of the present application, the vibration suppression method also includes: after outputting the determined driving current to the corresponding power device to suppress the vibration of the boom, obtaining the actual amplitude of the end of the boom; determining the adaptive parameters of the driving current for each power device according to the actual amplitude of the end and the preset amplitude control parameters; adjusting the driving current of each power device according to the adaptive parameters, and outputting the adjusted driving current to the corresponding power device.

[0084] After the determined driving current is output to the corresponding power device to suppress the vibration of the boom, the actual amplitude of the end of the boom, that is, the actual amplitude of the end of the boom after the vibration is suppressed, is obtained. The actual amplitude of the end may include the actual lateral amplitude of the end and the actual longitudinal amplitude of the end. The processor may determine the adaptive parameters of the driving current for each power device according to the actual amplitude of the end and the preset amplitude control parameter. Specifically, the processor may compare the actual amplitude of the end with the preset amplitude control parameter to generate the corresponding adaptive parameters.

[0085] The processor may adjust the driving current of each power device according to the adaptive parameters. Specifically, the processor may compensate the driving current of each power device determined by the adaptive parameters to obtain an adjusted driving current. The processor may output the adjusted driving current to the corresponding power device to optimize the vibration suppression of the boom, thereby causing the boom to generate a smaller amplitude, further improving the vibration suppression effect of the boom.

[0086] When compensating the driving current of each power device, the adjusted driving current can be determined in the following manner:

[0087] I K =KI

[0088] Among them, I K refers to the adjusted driving current of each power device, K refers to the adaptive parameter, and I refers to the driving current of each power device.

[0089] like Figure 4As shown, a schematic diagram of adaptive vibration suppression of an engineering machinery boom is provided.

[0090] The big data controller can obtain pumping parameters, drive parameters and boom parameters from the pumping system, drive system and boom system respectively. Among them, the pumping parameters may include material conditions, full pipe rate, pumping gear and pumping pressure. The drive parameters may include hydraulic oil temperature, oil pressure, oil cleanliness and oil viscosity. The boom parameters may include the boom inclination angle.

[0091] The big data controller can determine the driving current (I in the figure) of each power device in the driving system based on the pumping parameters, driving parameters and boom parameters, and output the driving current to the driving system, acting on the boom system, causing the boom amplitude to weaken. After that, the displacement sensor installed on the boom can monitor the actual amplitude of the end of the boom in real time, and the actual amplitude of the end of the boom can be input into the adaptive parameter controller. The adaptive parameter controller can compare the actual amplitude with the theoretical amplitude issued by the big data controller to obtain an adaptive parameter (K ​​in the figure). The adaptive parameter K can be obtained by the following formula:

[0092]

[0093] Among them, R is the adaptive control coefficient, which is a preset constant; A th Represents the theoretical amplitude issued by the big data controller, A real Represents the actual amplitude.

[0094] The adaptive parameter and the driving current of each power device can be superimposed, that is, the driving current of each power device is compensated to obtain the adjustment current of each power device (I K ), and applies the adjustment current of each power device to the corresponding power device, so that the end of the boom produces a smaller actual amplitude.

[0095] like Figure 5 As shown, a flow chart of another vibration suppression method for engineering machinery is provided.

[0096] When pumping starts, the monitoring system can monitor the material condition, pumping gear, pumping flow, pumping pressure and boom inclination in real time and send them to the control system. After receiving the corresponding data, the control system can predict the lateral amplitude and longitudinal amplitude of the end of the boom through the amplitude prediction model. Specifically, the full pipe rate can be determined according to the pumping flow, and the material condition, pumping gear, full pipe rate, pumping pressure and boom inclination are input into the amplitude prediction model, so that the amplitude prediction model outputs the lateral amplitude X of the end of the boom. 1 and longitudinal amplitude Y 1 .

[0097] The control system can be based on the preset lateral threshold X 2 and preset vertical threshold Y 2 , and use the driving response model to determine the driving current I of each power device in the driving system. Among them, the preset lateral threshold and the preset longitudinal threshold satisfy the following relationship: |X 1 +Y 2 |≤a,|Y 1 +Y 2 |≤b. a and b refer to the preset lateral amplitude control parameter and the preset longitudinal amplitude control parameter, respectively. a and b can be as small as possible. The control system can set the preset lateral threshold value X 2 and preset vertical threshold Y 2 As a response to the driving response model, the driving current I of each power unit can be inferred, and the driving current information can be transmitted to the driving system to complete intelligent vibration reduction.

[0098] Through the above technical scheme, the compensation amplitude of the end of the boom is determined according to the predicted amplitude and the amplitude control parameter of the boom, a drive response model is constructed, and the drive response model is used to obtain the driving current of each power unit. The hydraulic parameters of each power unit, the posture parameters of the boom and the compensation amplitude of the end of the boom are input into the drive response model, so that the drive response model outputs the driving current of each power unit, and each driving current is sent to the corresponding power unit, so that the boom is driven by each power unit to complete the vibration suppression of the boom. When suppressing the vibration of the boom of the engineering machinery, no additional inertia force will be caused, the vibration of the boom will be effectively reduced, and the vibration suppression effect of the boom of the engineering machinery will be improved.

[0099] Figure 1 and Figure 5 FIG. 1 is a flow chart of a vibration suppression method for engineering machinery in one embodiment. It should be understood that although Figure 1 and Figure 5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 and Figure 5 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed 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 part of the sub-steps or stages of other steps.

[0100] In an embodiment of the present application, a vibration suppression device for engineering machinery is provided, comprising:

[0101] a memory configured to store instructions;

[0102] The processor is configured to call instructions from the memory and implement the above-mentioned vibration suppression method for engineering machinery when executing the instructions.

[0103] In an embodiment of the present application, there is provided an engineering machine, comprising:

[0104] Boom;

[0105] A pumping system for performing pumping operations;

[0106] A drive system, including at least one power device, for controlling the operation of the boom;

[0107] a monitoring system, including an inclination sensor for monitoring an inclination angle of the boom;

[0108] Vibration suppression device for construction machinery.

[0109] The engineering machinery may include a pumping system, a boom, a drive system, a monitoring system, and a vibration suppression device for the engineering machinery. The pumping system may include a concrete pump for performing a pumping operation to deliver concrete to a target location. The drive system may include at least one power device. The power device may be a device for controlling the movement of a turntable and a boom of the engineering machinery, for example, a hydraulic cylinder and a hydraulic pump. The monitoring system includes an inclination sensor for monitoring the inclination angle of the boom.

[0110] The engineering machinery in this embodiment includes traditional engineering machinery, for example, also includes new energy vehicles used in the field of engineering machinery, such as new energy pump trucks, new energy cranes, and new energy aerial work vehicles. In addition, the engineering machinery in this embodiment also belongs to intelligent networked machinery. The engineering machinery includes a sensor / perception system, a communication system, etc., and collects vehicle operation data and vehicle surrounding environment information through the sensor / perception system in the vehicle, and realizes network connection with other vehicles and the cloud through the communication system, and shares the collected vehicle operation data, vehicle surrounding environment information, etc. to the cloud and other authorized vehicles to realize data sharing, remote analysis, intelligent driving and other operations.

[0111] In an embodiment of the present application, the monitoring system further includes: a displacement sensor for monitoring the amplitude of the end of the boom.

[0112] The engineering machine also includes a monitoring system. The monitoring system may include a displacement sensor for monitoring the amplitude of the end of the boom. The displacement sensor may be installed on the boom section where the end of the boom is located.

[0113] In one embodiment, the monitoring system may also include a temperature sensor, a pressure sensor, a cleanliness sensor, and a viscosity sensor. Among them, the temperature sensor can be used to monitor the hydraulic oil temperature when the drive system is operating, the pressure sensor can be used to monitor the oil pressure when the drive system is operating, the cleanliness sensor can be used to monitor the fluidity of the hydraulic oil, and the viscosity sensor can be used to monitor the impurity level of the hydraulic oil. After the sensor collects the corresponding data, it can send the collected data to the vibration suppression device for engineering machinery in real time through a predefined transmission method. Among them, the transmission method can be CAN bus transmission and WIFI transmission.

[0114] In one embodiment, the monitoring system may further include a flow meter and a pressure sensor. The flow meter may be installed at the hose of the engineering machinery, and the flow meter may be used to monitor the delivery flow of concrete out of the hose. The flow meter sends the detected delivery flow to the vibration suppression device for the engineering machinery.

[0115] like Figure 6 As shown, a schematic diagram of an engineering machinery is provided.

[0116] The engineering machinery includes a boom system, a pumping system, a drive system, a monitoring system and a control system. The boom system refers to the mechanical system of the main structure of the boom of the engineering machinery, including the boom of the engineering machinery. The pumping system includes a material conveying pump. The drive system may include a power device such as a hydraulic cylinder and a hydraulic pump that controls the movement of the turntable and the boom system of the engineering machinery.

[0117] The monitoring system may include different types of sensors, such as inclination sensors of each boom section (sensor I in the diagram), intelligent flow meters installed at hoses (sensor II in the diagram), built-in pressure sensors for pumping systems (sensor III in the diagram), built-in temperature sensors for hydraulic systems (sensor IV in the diagram), built-in pressure sensors for hydraulic systems (sensor V in the diagram), cleanliness sensors for hydraulic systems (sensor VI in the diagram), and viscosity sensors for hydraulic systems (sensor VII in the diagram).

[0118] Sensor I can be used to measure the attitude angle of each boom section under actual working conditions, sensor II can be used to measure the flow rate of concrete at the hose, based on which the full pipe rate can be determined later, sensor III is used to measure the pumping pressure during the pumping process, sensor IV is used to measure the hydraulic oil temperature when the drive system is working, sensor V is used to measure the oil pressure in each hydraulic cylinder when the drive system is working, sensor VI in the figure is used to monitor the cleanliness of the hydraulic oil, that is, the impurity level, and sensor VII is used to measure the viscosity of the hydraulic oil, that is, the fluidity.

[0119] The control system may include a processor or a controller, which may match the driving current of each power device in the driving system according to the data obtained by the monitoring system, and the driving current may minimize the amplitude of the boom system. Afterwards, the control system may transmit the driving current signal to the driving system, which acts on the boom system to reduce the amplitude of the boom.

[0120] In one embodiment, a storage medium is provided, on which a program is stored. When the program is executed by a processor, the vibration suppression method for engineering machinery is implemented.

[0121] In one embodiment, a processor is provided, and the processor is used to run a program, wherein the program executes the above-mentioned vibration suppression method for engineering machinery when it is run.

[0122] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an 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 in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as compensation amplitude. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a vibration suppression method for engineering machinery is implemented.

[0123] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0124] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: when the pumping system is in an operating state, the boom inclination angle of the boom and the first system parameter of the drive system associated with the vibration of the end of the boom are obtained; the amplitude of the end of the boom is determined, and the compensation amplitude of the end of the boom is determined according to the determined amplitude and the preset amplitude control parameter of the boom; the boom inclination angle, the first system parameter and the determined compensation amplitude are input into a drive response model to determine the drive current for each power unit in at least one power unit, wherein the drive response model characterizes the correspondence between the boom inclination angle, the first system parameter of the drive system and the amplitude of the end of the boom, and the drive current of each power unit; and the determined drive current is output to the corresponding power unit.

[0125] In one embodiment, the drive response model is constructed by the following steps: obtaining the first historical system parameters and historical driving current associated with the end vibration of the boom, the historical boom inclination angle of the boom, and the historical amplitude of the end of the boom of the drive system when the pumping system is not in an operating state; inputting the first historical system parameters, the historical boom inclination angle, and the historical amplitude into a preset first network model, so that the first network model outputs the historical driving current of each power unit to train the first network model; when the first network model meets the preset first training completion condition, determining that the training of the first network model is completed, and the trained first network model is the drive response model.

[0126] In one embodiment, determining the amplitude of the end of the boom includes: obtaining a second system parameter of the pumping system associated with the vibration of the end of the boom; inputting the boom inclination angle and the second system parameter into an amplitude prediction model so that the amplitude prediction model outputs the amplitude, wherein the amplitude prediction model characterizes the correspondence between the second system parameter of the pumping system and the boom inclination angle of the boom, and the amplitude of the end of the boom.

[0127] In one embodiment, the amplitude prediction model is constructed by the following steps: obtaining a second historical system parameter of the pumping system associated with the vibration of the end of the boom and a historical boom inclination angle of the boom, as well as a corresponding historical amplitude of the end of the boom when the pumping system is in an operating state; inputting the second historical system parameter and the historical boom inclination angle into a preset second network model so that the second network model outputs the corresponding historical amplitude of the end of the boom to train the second network model; when the second network model meets a preset second training completion condition, determining that the training of the second network model is completed, and the trained second network model is the amplitude prediction model.

[0128] In one embodiment, the engineering machine further includes a monitoring system, the monitoring system includes a displacement sensor, and determining the amplitude of the end of the boom includes: determining the amplitude of the end of the boom by means of the displacement sensor.

[0129] In one embodiment, the amplitude includes a lateral amplitude and a longitudinal amplitude.

[0130] In one embodiment, determining the compensation amplitude of the end of the boom according to the determined amplitude and the preset amplitude control parameter of the boom includes: obtaining the preset compensation amplitude of the end of the boom; judging whether the sum of the absolute values ​​of the preset compensation amplitude and the amplitude is less than or equal to the preset amplitude control parameter; and determining the preset compensation amplitude as the compensation amplitude when the sum of the absolute values ​​is less than or equal to the preset amplitude control parameter.

[0131] In one embodiment, the vibration suppression method further includes: adjusting the preset compensation amplitude when the sum of the absolute values ​​is greater than the preset amplitude control parameter; determining the new preset compensation amplitude based on the adjusted preset compensation amplitude; returning to the step of determining whether the sum of the absolute values ​​between the preset compensation amplitude and the amplitude is less than or equal to the preset amplitude control parameter, until the sum of the absolute values ​​is less than or equal to the preset amplitude control parameter.

[0132] In one embodiment, the vibration suppression method further includes: after outputting the determined driving current to the corresponding power device to suppress the vibration of the boom, obtaining the actual amplitude of the end of the boom; determining the adaptive parameters of the driving current for each power device according to the actual amplitude of the end and the preset amplitude control parameters; adjusting the driving current of each power device according to the adaptive parameters, and outputting the adjusted driving current to the corresponding power device.

[0133] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing the steps of a vibration suppression method for an engineering machine.

[0134] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0135] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0136] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0137] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0138] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0139] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0140] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0141] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0142] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A vibration suppression method for engineering machinery, characterized in that: The engineering machinery comprises a pumping system, a boom and a driving system, the driving system comprises at least one power device, and the vibration suppression method comprises: When the pumping system is in operation, obtaining a boom inclination angle of the boom and a first system parameter of the driving system associated with the end vibration of the boom; Determining the amplitude of the end of the boom, and determining the compensation amplitude of the end of the boom according to the determined amplitude and a preset amplitude control parameter of the boom; Inputting the boom inclination angle, the first system parameter and the determined compensation amplitude into a drive response model to determine a drive current for each power device in the at least one power device, wherein the drive response model represents a corresponding relationship between the boom inclination angle, the first system parameter of the drive system and the amplitude of the end of the boom, and the drive current of each power device; The determined driving current is output to the corresponding power device.

2. The vibration suppression method for engineering machinery according to claim 1, characterized in that: The drive response model is constructed by the following steps: Acquire a first historical system parameter and a historical driving current of the drive system associated with the vibration of the end of the boom, a historical boom inclination angle of the boom, and a historical amplitude of the end of the boom when the pumping system is not in the operating state; Inputting the first historical system parameter, the historical boom inclination angle, and the historical amplitude into a preset first network model, so that the first network model outputs the historical driving current of each power device, so as to train the first network model; When the first network model meets a preset first training completion condition, it is determined that the training of the first network model is completed, and the trained first network model is the drive response model.

3. The vibration suppression method for engineering machinery according to claim 1, characterized in that: Determining the amplitude of the end of the boom includes: acquiring a second system parameter of the pumping system associated with the end vibration of the boom; The boom inclination angle and the second system parameter are input into an amplitude prediction model so that the amplitude prediction model outputs the amplitude, wherein the amplitude prediction model characterizes the correspondence between the second system parameter of the pumping system and the boom inclination angle of the boom, and the amplitude of the end of the boom.

4. The vibration suppression method for engineering machinery according to claim 3, characterized in that: The amplitude prediction model is constructed by the following steps: Acquire a second historical system parameter of the pumping system associated with the vibration of the end of the boom and a historical boom inclination angle of the boom, and a corresponding historical amplitude of the end of the boom when the pumping system is in the operating state; Inputting the second historical system parameter and the historical boom inclination angle into a preset second network model, so that the second network model outputs the corresponding historical amplitude of the end of the boom, so as to train the second network model; When the second network model meets a preset second training completion condition, it is determined that the training of the second network model is completed, and the trained second network model is the amplitude prediction model.

5. The vibration suppression method for engineering machinery according to claim 1, characterized in that: The engineering machine further includes a monitoring system, wherein the monitoring system includes a displacement sensor, and determining the amplitude of the end of the boom includes: The amplitude of the end of the boom is determined by the displacement sensor.

6. The vibration suppression method for engineering machinery according to any one of claims 1 to 5, characterized in that: The amplitude includes a transverse amplitude and a longitudinal amplitude.

7. The vibration suppression method for engineering machinery according to claim 1, characterized in that: Determining the compensation amplitude of the end of the boom according to the determined amplitude and the preset amplitude control parameter of the boom includes: Obtaining a preset compensation amplitude of the end of the boom; Determining whether the sum of the absolute values ​​of the preset compensation amplitude and the amplitude is less than or equal to the preset amplitude control parameter; In a case where the sum of the absolute values ​​is less than or equal to the preset amplitude control parameter, the preset compensation amplitude is determined as the compensation amplitude.

8. The vibration suppression method for engineering machinery according to claim 7, characterized in that: The vibration suppression method further comprises: When the sum of the absolute values ​​is greater than the preset amplitude control parameter, adjusting the preset compensation amplitude; Determine the new preset compensation amplitude using the adjusted preset compensation amplitude; Return to the step of determining whether the sum of the absolute values ​​of the preset compensation amplitude and the amplitude is less than or equal to the preset amplitude control parameter, until the sum of the absolute values ​​is less than or equal to the preset amplitude control parameter.

9. The vibration suppression method for engineering machinery according to claim 1, characterized in that: The vibration suppression method further comprises: After the determined driving current is output to the corresponding power device to suppress the vibration of the boom, an actual amplitude of the end of the boom is obtained; Determining an adaptive parameter of a driving current for each power device according to the actual amplitude of the terminal and the preset amplitude control parameter; The driving current of each power device is adjusted according to the adaptive parameter, and the adjusted driving current is output to the corresponding power device.

10. A vibration suppression device for engineering machinery, characterized in that: The vibration suppression device comprises: a memory configured to store instructions; A processor is configured to call the instruction from the memory and implement the vibration suppression method for engineering machinery according to any one of claims 1 to 9 when executing the instruction.

11. An engineering machine, characterized in that: include: Boom; A pumping system for performing pumping operations; A drive system, including at least one power device, for controlling the operation of the boom; A monitoring system, comprising an inclination sensor for monitoring the inclination angle of the boom; The vibration suppression device for engineering machinery according to claim 10.

12. The construction machine according to claim 11, characterized in that: The monitoring system further comprises: A displacement sensor is used to monitor the amplitude of the end of the boom.

13. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the vibration suppression method for an engineering machine according to any one of claims 1 to 9.

Images