Method and device for determining arrangement scheme of vibration suppression system of boom

Abstract

The invention discloses a method and equipment for determining an arrangement scheme of a vibration suppression system of a cantilever crane, and relates to the technical field of engineering machinery. The method comprises the following steps: acquiring a vibration suppression dynamic model under each preset attitude and a control voltage; according to the vibration suppression dynamic model and the control voltage, determining a generalized coordinate matrix, used for expressing vibration of a plurality of arm sections, of the arm support under the corresponding preset posture; according to the generalized coordinate matrix, determining the vibration energy of the boom under the preset attitude, and according to the control voltage, determining the vibration suppression control energy of the vibration suppression system under the preset attitude; taking minimization of the sum of the vibration energy and the vibration suppression control energy as an optimization target, and determining an optimized position set of the plurality of vibration suppression devices on the boom; and determining a final arrangement scheme of the vibration suppression system according to the optimized position set corresponding to each preset attitude. According to the method, the vibration suppression system can effectively suppress the vibration behavior of the cantilever crane with lower energy requirements.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a method, a device, a machine-readable storage medium and an engineering machinery for determining a layout scheme of a vibration suppression system of a boom. Background Art

[0002] During the operation of the pump truck, concrete will generate periodic loads on the pipeline, thus causing periodic vibration of the boom. The vibration of the boom may reduce the working efficiency of the pump truck and increase the work intensity of the operators. In severe cases, it may cause the boom to break and cause major safety accidents. Therefore, how to effectively suppress the vibration of the boom is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, device, machine-readable storage medium and engineering machinery for determining the layout scheme of the vibration suppression system of the boom, so as to solve the technical problem of how to effectively suppress the vibration of the boom in the prior art.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for determining a layout scheme of a vibration suppression system of a boom, wherein the vibration suppression system is arranged on the boom, the boom includes a plurality of boom sections, and the vibration suppression system includes a plurality of vibration suppression devices, and the method comprises:

[0005] Acquire a vibration suppression dynamics model of a boom provided with a vibration suppression system at each preset posture, and a control voltage of the vibration suppression system at each preset posture;

[0006] According to the vibration suppression dynamics model and the control voltage under each preset posture, a generalized coordinate matrix for expressing the vibration of multiple arm sections under the corresponding preset posture of the boom is determined;

[0007] Determine the vibration energy of the boom at a preset posture according to the generalized coordinate matrix, and determine the vibration suppression control energy of the vibration suppression system at the preset posture according to the control voltage;

[0008] Based on a preset optimization algorithm, the optimization goal is to minimize the sum of vibration energy and vibration suppression control energy, and determine the optimized position set of multiple vibration suppression devices on the boom under the preset posture;

[0009] The final layout of the vibration suppression system is determined according to the optimized position set corresponding to each preset posture.

[0010] In an embodiment of the present application, before determining the final arrangement scheme, the method also includes: obtaining the original natural frequency of the original dynamic model of the boom vibrating under each preset posture; based on a preset optimization algorithm, with the minimization of the sum of vibration energy and vibration suppression control energy as the optimization goal, determining the optimized position set of multiple vibration suppression devices on the boom under each preset posture, including: under the preset posture, adjusting the positions of the multiple vibration suppression devices on the boom to obtain multiple test position sets of the multiple vibration suppression devices on the boom; according to the multiple test position sets, determining the natural frequency of the vibration suppression dynamic model corresponding to each test position set during vibration; among the multiple test position sets, retaining the test position sets that meet the frequency constraints; wherein the frequency constraints include: the rate of change of the natural frequency relative to the original natural frequency is less than or equal to the preset natural frequency change rate; within the test position set that meets the frequency constraints, determining the optimized position set under the preset posture according to the optimization goal.

[0011] In an embodiment of the present application, based on a preset optimization algorithm, minimizing the sum of vibration energy and vibration suppression control energy is taken as the optimization goal, and an optimized position set of multiple vibration suppression devices on the boom under each preset posture is determined, including: under the preset posture, adjusting the positions of the multiple vibration suppression devices on the boom to obtain multiple test position sets of the multiple vibration suppression devices on the boom; among the multiple test position sets, retaining the test position sets that satisfy the position constraints; wherein the position constraints include: position separation of each vibration suppression device; and within the test position set that satisfies the position constraints, determining the optimized position set under the preset posture according to the optimization goal.

[0012] In an embodiment of the present application, determining a final arrangement of the vibration suppression system according to the optimized position sets corresponding to each preset posture includes: determining the intersection of the optimized position sets corresponding to each preset posture to obtain the final arrangement of the vibration suppression system.

[0013] In an embodiment of the present application, the intersection of the optimized position sets corresponding to the preset postures is determined to obtain a final layout scheme corresponding to the vibration suppression system, including: when the intersection is an empty set, removing the optimized position set corresponding to the preset posture with the lowest occurrence frequency in multiple optimized position sets to obtain a revised combination of optimized position sets; and determining the final layout scheme corresponding to the vibration suppression system according to the revised combination of optimized position sets.

[0014] In an embodiment of the present application, the generalized coordinate matrix includes the attitude angle and attitude angular velocity of each arm section, the generalized modal coordinate vector corresponding to each arm section under a preset vibration mode, and the time derivative of the generalized modal coordinate vector; the vibration energy of the arm under the preset attitude is determined according to the generalized coordinate matrix, including: determining the vibration energy of the arm according to the integral of the square term of the generalized coordinate matrix over time.

[0015] In an embodiment of the present application, the control voltage is a control voltage matrix of multiple vibration suppression devices, and the control voltage matrix can change over time; the vibration suppression control energy of the vibration suppression system under a preset posture is determined according to the control voltage, including: determining the vibration suppression control energy according to the integral of the square term of the control voltage matrix relative to time.

[0016] In an embodiment of the present application, the method also includes: determining a final arrangement scheme of multiple vibration suppression systems with different numbers of vibration suppression devices; determining the sum of the vibration energy and the vibration suppression control energy of each preset posture in each final arrangement scheme to obtain an energy comprehensive value of the corresponding final arrangement scheme; and determining the final arrangement number of the vibration suppression devices according to the final arrangement scheme with the lowest energy comprehensive value.

[0017] In an embodiment of the present application, the vibration suppression system also includes an energy recovery device arranged on each arm section, and the method also includes: obtaining an original dynamic model of the vibration of the boom under each preset posture; performing modal analysis on each original dynamic model to obtain the deformation amount of each deformation position on the boom under each preset posture; screening the deformation positions corresponding to each preset posture according to the deformation amount to obtain a position set corresponding to each preset posture; determining the union of each position set to obtain a layout plan of the energy recovery device.

[0018] In an embodiment of the present application, the deformation positions corresponding to each preset posture are screened according to the deformation amount to obtain a position set corresponding to each preset posture, including any one of the following: sorting the deformation positions corresponding to each preset posture in order from large to small in deformation amount, and adding a preset number of deformation positions with a top order to the position set corresponding to each preset posture; or, adding the deformation positions whose deformation amount reaches a preset deformation amount threshold to the position set corresponding to each preset posture.

[0019] A second aspect of the present application provides an engineering machinery, comprising: a boom, comprising a plurality of boom sections; a vibration suppression system, arranged on the boom, comprising a plurality of vibration suppression devices; and an apparatus for determining a layout scheme of the vibration suppression system of the boom provided according to any one of the above embodiments.

[0020] In the embodiment of the present application, the vibration suppression system also includes an energy recovery device arranged on each arm section.

[0021] A third aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute a method for determining a layout scheme of a vibration suppression system of a boom provided in accordance with any one of the above embodiments.

[0022] Through the above technical solution, when the optimized position sets of multiple vibration suppression devices on the boom are obtained when the boom is in various preset postures, the final arrangement scheme of the vibration suppression system can be determined according to the obtained optimized position sets. Thus, the vibration suppression system can effectively suppress the vibration behavior of the boom with lower energy demand, effectively prevent the boom from breaking due to vibration, and improve the safety of the boom.

[0023] 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

[0024] 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:

[0025] Figure 1 A schematic flow chart of a method for determining a layout scheme of a vibration suppression system of a boom according to an embodiment of the present application is schematically shown;

[0026] Figure 2 The schematic diagrams schematically show the structures of various common preset postures of the boom;

[0027] Figure 3 The schematic diagram of the orientation of the two arm sections of the boom in the coordinate system is shown schematically;

[0028] Figure 4 A schematic flow chart of a method for obtaining the intersection of piezoelectric material position sets in a method for determining a layout scheme of a vibration suppression system of an arm according to an embodiment of the present application is schematically shown;

[0029] Figure 5 A flow chart of a method for obtaining an optimal configuration set in a method for determining a layout scheme of a vibration suppression system of a boom according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0030] 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.

[0031] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0032] In addition, 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.

[0033] In order to suppress the vibration of the boom, the inventor of the present application proposed a boom provided with a vibration suppression system. The vibration suppression system may include a plurality of vibration suppression devices arranged on the boom, and the boom may be regarded as having a plurality of arm sections connected one by one. The vibration suppression device may be made of a piezoelectric sheet having a piezoelectric effect, for example. Since the boom may have different working postures during operation, and the vibration behavior of the boom may be different in different working postures, the inventor of the present application proposed a method for determining the arrangement of the vibration suppression system of the boom in order to enable the vibration suppression system to fully suppress vibration with a lower energy requirement when the boom is in different working postures.

[0034] Figure 1 The flowchart of a method for determining a layout scheme of a vibration suppression system of a boom according to an embodiment of the present application is schematically shown. The embodiment of the present application provides a method for determining a layout scheme of a vibration suppression system of a boom, wherein the vibration suppression system is arranged on the boom, the boom includes a plurality of boom sections, and the vibration suppression system includes a plurality of vibration suppression devices. Figure 1 As shown, the method may include the following steps:

[0035] S102, obtaining a vibration suppression dynamics model of a boom provided with a vibration suppression system in each preset posture, and a control voltage of the vibration suppression system in each preset posture;

[0036] S104, determining a generalized coordinate matrix for expressing vibrations of multiple arm sections of the boom in the corresponding preset posture according to the vibration suppression dynamics model and the control voltage in each preset posture;

[0037] S106, determining the vibration energy of the boom in a preset posture according to the generalized coordinate matrix, and determining the vibration suppression control energy of the vibration suppression system in the preset posture according to the control voltage;

[0038] S108, based on a preset optimization algorithm, taking minimization of the sum of vibration energy and vibration suppression control energy as an optimization goal, determining an optimized position set of multiple vibration suppression devices on the boom under a preset posture;

[0039] S110 , determining a final arrangement scheme of the vibration suppression system according to the optimized position sets corresponding to the preset postures.

[0040] The arrangement scheme for determining the vibration suppression system of the boom provided in the embodiment of the present application can determine the vibration behavior of multiple boom sections expressed by the generalized coordinate matrix according to the dynamic model and the control voltage after obtaining the vibration suppression dynamic model and the control voltage of the vibration suppression system. Subsequently, the vibration energy generated by the boom vibration and the electric energy required for the vibration suppression system to suppress vibration, that is, the vibration suppression control energy, can be determined respectively based on the determined vibration behavior and the control voltage. The optimization algorithm can adjust the position of each vibration suppression device on the boom, and thus can change the vibration suppression effect of the vibration suppression system and the vibration behavior of the boom, thereby affecting the vibration energy of the boom and the vibration suppression control energy of the vibration suppression system. Taking the minimization of the sum of the vibration energy and the vibration suppression control energy as the optimization goal, the optimized position set is finally obtained, so that the position distribution of multiple vibration suppression devices on the boom that can minimize the vibration energy and the vibration suppression control energy when the boom is in a preset posture can be determined. Therefore, when the optimized position sets of multiple vibration suppression devices on the boom are obtained when the boom is in each preset posture, the final arrangement scheme of the vibration suppression system can be determined according to these obtained optimized position sets. Thereby, the vibration suppression system can effectively suppress the vibration behavior of the boom with lower energy demand, so as to effectively prevent the boom from breaking due to vibration, thereby improving the safety of the boom.

[0041] It can be understood that in the embodiment of the present application, the preset posture can be selected as follows: Figure 2 The common postures of the boom when working shown include: arch, M, inverted L and horizontal. The generalized coordinate matrix used to express the vibration of multiple boom sections may include the boom section posture angle and boom section posture angular velocity of each boom section, and the generalized modal coordinate vector used to express the vibration behavior of multiple boom sections in different vibration modes and the time derivative of the generalized modal coordinate vector. The preset optimization algorithm may be, for example, a genetic algorithm, a neural network or a machine learning.

[0042] Specifically, in step S102, the acquisition of the vibration suppression dynamic model can first select a preset posture of the boom, and then establish an original dynamic model of the boom based on the preset posture. The original dynamic model can adopt a mathematical simplified model or a finite element model. The constraint condition of the boom in the original dynamic model can be, for example, root fixation. Then, based on the original dynamic model, multiple vibration suppression devices are configured on the original dynamic model to obtain the vibration suppression dynamic model.

[0043] Specifically, in step S104, based on the obtained vibration suppression dynamics model, the model can be converted into a corresponding dynamics equation form, and the vibration suppression dynamics equation of the vibration suppression dynamics model shown below is obtained in combination with the control voltage:

[0044]

[0045] In formula (1), M represents the mass matrix of the arm, H represents the coupling matrix of the arm, D represents the damping matrix of the arm, K represents the stiffness matrix of the arm, and G represents the control matrix of the vibration suppression voltage of the vibration suppression system (used to express the characteristics of the piezoelectric material when the vibration suppression device is a piezoelectric sheet); Q is used to express the coordinates of the arm. Figure 3 In the case of polar coordinates shown in FIG. 1 (taking two boom sections as an example), Q = [θ, q] may be, for example, Q = [θ, q], where θ represents the relative angle between the boom sections, for example, θ2 is the angle of the second boom section relative to the first boom section, and the first boom section is the root boom section, and its angle θ1 is the angle relative to the horizontal axis of the coordinate system (it may also be the vertical axis or other reference axis); q expresses the generalized modal coordinates of the boom, including the vibration coordinates of multiple boom sections of the boom at the selected vibration mode; u is a vector expressing the input voltages of multiple vibration suppression devices, u T is the transpose of u.

[0046] According to formula (1), the generalized coordinate matrix x(t) can be obtained.

[0047]

[0048] In formula (2), q1…q m represents the generalized modal coordinate vector corresponding to the first m-order vibration modes in each common posture in formula (1), and t is the time term.

[0049] In some embodiments of the present application, the generalized coordinate matrix includes the attitude angle and attitude angular velocity of each arm segment, the generalized modal coordinate vector corresponding to each arm segment under a preset vibration mode, and the time derivative of the generalized modal coordinate vector;

[0050] Step S106 includes: determining the vibration energy of the boom according to the integration of the square term of the generalized coordinate matrix over time.

[0051] It can be understood that, referring to the above formula (1) and formula (2), the attitude angle of the arm section can be, for example, θ representing the relative angle between the arm sections, and accordingly, the attitude angular velocity can be, for example, The generalized modal coordinate vector may include q1…q m , the time derivative of the generalized modal coordinate vector can include Taking the generalized coordinate matrix x(t) expressed in formula (2) as an example, the vibration energy W of the boom is V for:

[0052]

[0053] In formula (3), x(t) T is the transposed matrix of x(t), R is the weighting matrix, and the weighting matrix can be determined, for example, according to the mass distribution of the boom.

[0054] In some embodiments of the present application, the control voltage is a control voltage matrix of multiple vibration suppression devices, and the control voltage matrix may vary over time.

[0055] Step S106 includes:

[0056] The vibration suppression control energy is determined based on the integral of the square term of the control voltage matrix with respect to time.

[0057] It can be understood that, taking the vector u expressing the input voltages of multiple vibration suppression devices in formula (1) as an example, if the number of vibration suppression devices is N, then:

[0058]

[0059] The input voltage vector u given by formula (4) is a function of time, that is, the input voltage of more than one vibration suppression device is related to time, u1…u i …u N are the input voltages for controlling each vibration suppression device. Taking formula (4) as an example, the corresponding vibration suppression control energy W c for:

[0060]

[0061] In formula (5), u(t) T is the transposed matrix of u(t), C is the weighted matrix of u(t), and C can be determined, for example, according to the impedance of each vibration suppression device.

[0062] In some embodiments of the present application, the sum of the vibration energy and the vibration suppression control energy in step S108 is F m for:

[0063] F m =W V +αWc (6)

[0064] In formula (6), W V and W c They can be defined by formula (3) and formula (5) respectively, and α is a fixed value weighting coefficient that can be set empirically.

[0065] In some embodiments of the present application, before executing step S110 to determine the final arrangement scheme, the steps are further included: obtaining the original natural frequency of the original dynamic model of the boom vibrating in each preset posture; and step S108 includes:

[0066] Under a preset posture, adjusting the positions of the plurality of vibration suppression devices on the boom to obtain a plurality of to-be-tested position sets of the plurality of vibration suppression devices on the boom;

[0067] According to a plurality of test position sets, determining the natural frequency of the vibration suppression dynamics model corresponding to each test position set during vibration;

[0068] Among the multiple positions to be tested, retaining the positions to be tested that meet the frequency constraint; wherein the frequency constraint includes: the rate of change of the natural frequency relative to the original natural frequency is less than or equal to the preset rate of change of the natural frequency;

[0069] In the set of positions to be verified that meet the frequency constraint, the optimized set of positions under the preset posture is determined according to the optimization target.

[0070] In this way, the change rate of the natural frequency relative to the original natural frequency can be limited to a preset natural frequency change rate, thereby preventing the final boom from having a large deviation between its own natural frequency and the original natural frequency when the vibration suppression system is not installed due to the vibration suppression system.

[0071] It can be understood that the rate of change of the natural frequency relative to the original natural frequency δ f For example, it can be:

[0072]

[0073] In formula (7), m is the number of selected natural frequencies, f cm represents the m-order natural frequency of the vibration suppression dynamics model, f om Represents the m-th order natural frequency of the original dynamic model.

[0074] In some embodiments of the present application, step S108 may include:

[0075] Under a preset posture, adjusting the positions of the plurality of vibration suppression devices on the boom to obtain a plurality of to-be-tested position sets of the plurality of vibration suppression devices on the boom;

[0076] Among the multiple to-be-tested position sets, retain the to-be-tested position sets that satisfy the position constraints; wherein the position constraints include: position separation of each vibration suppression device;

[0077] In the set of positions to be verified that satisfy the position constraints, the optimized position set under the preset posture is determined according to the optimization goal.

[0078] This ensures that the vibration suppression devices are installed at different positions of the boom, thereby meeting the actual space requirement for installing the vibration suppression devices on the boom.

[0079] In some embodiments of the present application, step S110 includes: determining the intersection of the optimized position sets corresponding to the preset postures to obtain a final arrangement scheme corresponding to the vibration suppression system.

[0080] That is, the final arrangement of the vibration suppression system is the arrangement obtained by taking the intersection of the position sets obtained by the boom in different preset postures. Therefore, in the final arrangement, the number of vibration suppression devices may be less than the initial number of vibration suppression devices set when establishing the vibration suppression dynamics model. By taking the intersection method, it is considered to meet the vibration suppression requirements of the boom in various preset postures as much as possible, and the vibration suppression control energy of the vibration suppression system is minimized as much as possible.

[0081] In addition, in step S110, the final arrangement scheme may also be the union of the optimized position sets corresponding to the preset postures; or the user may manually select the number and position of the vibration suppression devices according to the optimized position sets to obtain the final arrangement scheme.

[0082] Furthermore, the above intersection result may contain an empty set. Therefore, the intersection of the optimized position sets corresponding to each preset posture is determined to obtain the final layout scheme corresponding to the vibration suppression system, including:

[0083] When the intersection is an empty set, the optimized position set corresponding to the preset posture with the lowest occurrence frequency among the multiple optimized position sets is removed to obtain a revised optimized position set combination;

[0084] According to the modified optimal position set combination, the final layout scheme corresponding to the vibration suppression system is determined.

[0085] Therefore, after excluding the optimized position set corresponding to the least common one or more preset postures, the final arrangement scheme of the vibration suppression system can still be determined.

[0086] The method for determining the arrangement of the vibration suppression system of the boom provided in the embodiment of the present application also considers the trade-off between the number of vibration suppression devices and the energy demand and the vibration suppression effect.

[0087] Therefore, in some embodiments of the present application, the method for determining the arrangement scheme of the vibration suppression system of the boom further includes:

[0088] Determine a final arrangement of a plurality of vibration suppression systems having different numbers of vibration suppression devices;

[0089] Determine the sum of the vibration energy and the vibration suppression control energy of each preset posture in each final arrangement scheme to obtain the energy comprehensive value of the corresponding final arrangement scheme;

[0090] The final number of vibration suppression devices is determined based on the final arrangement scheme with the lowest comprehensive energy value.

[0091] Therefore, the method for determining the arrangement scheme of the vibration suppression system of the boom provided in the embodiment of the present application can select the number of vibration suppression devices corresponding to the result with the lowest energy combination value, and arrange each vibration suppression device according to the corresponding final arrangement scheme.

[0092] In some embodiments of the present application, the vibration suppression system further includes an energy recovery device disposed on each arm section, and the method further includes:

[0093] Obtaining the original dynamic model of the boom vibration at each preset posture;

[0094] Perform modal analysis on each original dynamic model to obtain the deformation of each deformation position on the boom under each preset posture;

[0095] The deformation positions corresponding to the preset postures are screened according to the deformation amounts to obtain a position set corresponding to the preset postures;

[0096] The union of each position set is determined to obtain a layout scheme of the energy recovery device.

[0097] By setting up an energy recovery device, mechanical energy can be recovered from the vibration of the boom and converted into electrical energy for use by electrical appliances such as vibration suppression devices. By setting the energy recovery device at the position with the largest deformation, more mechanical energy generated by the vibration of the boom can be recovered.

[0098] It is understandable that the energy recovery device can also be made of a piezoelectric sheet with a piezoelectric effect. Of course, piezoelectric materials such as piezoelectric sheets are only one embodiment of the present application. As long as it is an intelligent material that can convert energy other than mechanical energy such as light, sound, and electricity into mechanical energy such as pressure and strain, it can be used to make a vibration suppression device and an energy recovery device.

[0099] Therefore, the boom with a vibration suppression system includes two parts: a piezoelectric energy recovery system and a piezoelectric vibration suppression system. The energy recovered by the piezoelectric energy recovery system can be converted and stored and given to the piezoelectric vibration suppression system as input to suppress the vibration of the boom, thereby realizing energy circulation and self-sufficiency and greatly reducing energy loss.

[0100] Specifically, the deformation positions corresponding to each preset posture are screened according to the deformation amount to obtain a position set corresponding to each preset posture, including any one of the following:

[0101] Sorting the deformation positions corresponding to each preset posture in the order of deformation amount from large to small, and adding a preset number of deformation positions with the highest order to the position set corresponding to each preset posture;

[0102] Alternatively, the deformed position whose deformation reaches a preset deformation threshold is added to the position set corresponding to each preset posture.

[0103] In addition, in some embodiments of the present application, in step S102, the vibration suppression dynamics model of the boom can also be modeled using the DH (Denavit-Hartenberg) method. Using this method, the boom must first be simplified and modeled, and the boom is evenly divided into n (n≥1) rigid bodies, and the rigid bodies are connected by three orthogonal spring joints. The deformation of the boom is equivalent to the change in the spring joint angle between the rigid bodies.

[0104] Taking the earth coordinate system as the base coordinate system and the spring joint angle as the generalized coordinate, the DH parameter table of the simplified model can be established. According to the DH parameters, the position of each rigid body relative to the base coordinate system can be obtained, and then the total kinetic energy T and total potential energy V of the system can be obtained. Using the Lagrangian method, the following dynamic equation can be obtained:

[0105]

[0106] In formula (8), K is the stiffness matrix, C is the damping matrix, I is the inertia matrix, M is the mass distribution matrix, W is the coupling matrix, and G is the control matrix; θ, and Represent the joint angle, joint angular velocity and joint angular acceleration vector respectively, u T is the transposed vector of the control voltage input vector of the vibration suppression system.

[0107] To facilitate understanding of the technical solution provided by the present application, an intelligent vibration suppression system for a pump truck boom provided in an embodiment of the present application is exemplarily described below.

[0108] The intelligent vibration suppression system of the pump truck boom is mainly composed of the boom system, piezoelectric energy recovery system, piezoelectric vibration suppression system, power conversion device, rectifier device and energy storage device.

[0109] Boom system: It is the control target of the intelligent vibration suppression system of the boom of the pump truck, and its stability is also the control index of the intelligent vibration suppression system of the boom of the pump truck;

[0110] Piezoelectric energy recovery system: It is composed of piezoelectric materials attached to the arm frame. Based on the positive piezoelectric effect, it converts the mechanical energy of the arm frame's vibration into electrical energy. After a series of rectification and transformation, it is input into the energy storage device for storage.

[0111] Piezoelectric vibration suppression system: Similar to the energy recovery system, the piezoelectric vibration suppression system is also composed of piezoelectric materials attached to the boom. The difference is that the system is responsible for monitoring vibration signals and suppressing system vibrations based on vibration signals. When monitoring vibration signals, the role of piezoelectric materials is similar to that of strain gauges, which can convert the deformation of the boom into electrical signals to reflect the severity of the vibration and deformation of the boom; when the system is suppressing vibrations, it uses the inverse piezoelectric effect to convert the electrical energy from the energy storage device into a control torque that can suppress the vibration of the boom.

[0112] Rectifier: adjusts the electric energy recovered by the piezoelectric energy recovery system into a voltage with the same polarity.

[0113] Power conversion device: responsible for converting the voltage signal output by the rectifier into power so that it can be stored in the energy storage device. It can also convert the electric energy stored in the energy storage device into an input voltage that can be used by the piezoelectric vibration suppression system through power conversion.

[0114] Energy storage device: A device used to store and supply electrical energy.

[0115] When the pump truck is working, the boom will be vibrated by the periodic pulse of concrete in the conveying pipe. At the same time, the piezoelectric intelligent material arranged on each boom section will generate induced electric energy. Due to the different vibration forms of each boom section, the polarity of the recovered electric energy on each boom section is different. After being adjusted to the same polarity by the rectifier, it is converted into electric energy that can be stored in the energy storage device through power conversion. The working process of the system for boom vibration suppression: the electric energy stored in the energy storage device is converted into control electric energy that matches the input of the piezoelectric vibration suppression system through power conversion. The piezoelectric vibration suppression device on each boom section will generate corresponding control bending moment when excited by the control electric energy, and the bending moment will act on the vibrating boom, thereby achieving the effect of suppressing vibration. If there is a suitable energy storage device, the power conversion device in the system can be omitted. The electric energy recovered by the piezoelectric energy recovery system is stored in the energy storage device, and the energy of the piezoelectric vibration suppression system also comes from the energy storage device. The entire pump truck intelligent vibration suppression system forms a cycle self-sufficiency.

[0116] For easier understanding of the technical solution provided by this application, see Figure 4 and Figure 5 , the following is an exemplary description of the method for determining the arrangement scheme of the vibration suppression system of the boom provided in an embodiment of the present application.

[0117] First, the number of piezoelectric materials is determined, and then the dynamic equation of the boom in a common posture is obtained, and the state space expression of the boom is obtained based on the dynamic equation, which can be specifically a generalized coordinate matrix given by formula (2). Then, the minimization of vibration energy and control energy (vibration suppression energy) is taken as the optimization goal, and the piezoelectric materials are considered to be non-overlapping and the rate of change of the natural frequency of the boom is less than the threshold as constraints, that is, considering the frequency constraint and the position constraint, the optimized position set of the piezoelectric material is obtained. In the case where the optimized position set is obtained in all common postures, the intersection of all optimized position sets is taken. In the case where the intersection is not empty, the final piezoelectric material position set is obtained as the final layout scheme of the vibration suppression system. Then, the vibration energy and vibration suppression energy in each common posture are summed to obtain the total vibration and control energy of the final layout scheme, that is, the energy comprehensive value of the final layout scheme. After determining the final layout schemes of multiple vibration suppression systems with different numbers of vibration suppression devices and their energy comprehensive values, the final layout scheme with the lowest energy comprehensive value is used to determine the final number of vibration suppression devices.

[0118] The embodiment of the present application also provides a device for determining a layout scheme of a vibration suppression system of a boom, comprising: a memory and a processor. The memory is configured to store instructions. The processor is configured to call the instructions from the memory and implement the method for determining a layout scheme of a vibration suppression system of a boom according to any of the above embodiments when executing the instructions.

[0119] The embodiment of the present application also provides an engineering machine, including: a boom, a vibration suppression system and a device for determining the arrangement scheme of the vibration suppression system of the boom as provided in the above embodiment. The boom includes multiple boom sections; the vibration suppression system is arranged on the boom and includes multiple vibration suppression devices.

[0120] In some embodiments of the present application, the vibration suppression system further includes an energy recovery device disposed on each arm section.

[0121] An embodiment of the present application further provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the method for determining a layout scheme of a vibration suppression system of a boom provided in any one of the above embodiments.

[0122] 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 on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0127] 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.

[0128] 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 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.

[0129] 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.

[0130] 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 method for determining an arrangement of a vibration suppression system of a boom, characterized in that: The vibration suppression system is arranged on the boom, the boom includes a plurality of boom sections, the vibration suppression system includes a plurality of vibration suppression devices, and the method includes: Acquire a vibration suppression dynamics model of the boom provided with the vibration suppression system in each preset posture, and a control voltage of the vibration suppression system in each preset posture; Determine, according to the vibration suppression dynamics model and the control voltage in each of the preset postures, a generalized coordinate matrix for expressing vibrations of the plurality of arm sections in the corresponding preset posture of the boom; Determining the vibration energy of the boom in the preset posture according to the generalized coordinate matrix, and determining the vibration suppression control energy of the vibration suppression system in the preset posture according to the control voltage; Based on a preset optimization algorithm, taking minimization of the sum of the vibration energy and the vibration suppression control energy as an optimization goal, determining an optimized position set of the multiple vibration suppression devices on the boom under the preset posture; The final arrangement scheme of the vibration suppression system is determined according to the optimized position set corresponding to each of the preset postures.

2. The method according to claim 1, characterized in that Before determining the final arrangement scheme, the method further includes: Acquire the original natural frequency of the original dynamic model of the boom vibrating in each of the preset postures; The method of determining the optimized position sets of the plurality of vibration suppression devices on the boom under each of the preset postures based on the preset optimization algorithm and taking minimization of the sum of the vibration energy and the vibration suppression control energy as the optimization goal comprises: Under the preset posture, adjusting the positions of the plurality of vibration suppression devices on the arm frame to obtain a plurality of to-be-tested position sets of the plurality of vibration suppression devices on the arm frame; Determining, according to the plurality of positions to be tested, the natural frequency of the vibration suppression dynamics model corresponding to each position set to be tested during vibration; Among the plurality of the to-be-tested position sets, retaining the to-be-tested position sets that satisfy the frequency constraint; wherein the frequency constraint comprises: the rate of change of the natural frequency relative to the original natural frequency is less than or equal to a preset rate of change of the natural frequency; In the set of positions to be verified that satisfy the frequency constraint, the optimized set of positions under the preset posture is determined according to the optimization target.

3. The method according to claim 1, characterized in that The method of determining the optimized position sets of the plurality of vibration suppression devices on the boom under each of the preset postures based on the preset optimization algorithm and taking minimization of the sum of the vibration energy and the vibration suppression control energy as the optimization goal comprises: Under the preset posture, adjusting the positions of the plurality of vibration suppression devices on the arm frame to obtain a plurality of to-be-tested position sets of the plurality of vibration suppression devices on the arm frame; Among the plurality of the to-be-tested position sets, retaining the to-be-tested position sets that satisfy the position constraints; wherein the position constraints include: the position separation of each of the vibration suppression devices; In the set of positions to be verified that satisfy the position constraint, the optimized set of positions under the preset posture is determined according to the optimization target.

4. The method according to claim 1, characterized in that: Determining the final arrangement scheme of the vibration suppression system according to the optimized position set corresponding to each of the preset postures includes: The intersection of the optimized position sets corresponding to the preset postures is determined to obtain a final arrangement scheme corresponding to the vibration suppression system.

5. The method according to claim 4, characterized in that The determining of the intersection of the optimized position sets corresponding to the preset postures to obtain a final arrangement scheme corresponding to the vibration suppression system includes: When the intersection is an empty set, removing the optimized position set corresponding to the preset posture with the lowest occurrence frequency among the plurality of optimized position sets, so as to obtain a revised optimized position set combination; According to the modified optimal position set combination, a final arrangement scheme corresponding to the vibration suppression system is determined.

6. The method according to claim 1, characterized in that The generalized coordinate matrix includes the attitude angle and attitude angular velocity of each arm section, the generalized modal coordinate vector corresponding to each arm section under a preset vibration mode, and the time derivative of the generalized modal coordinate vector; The determining, according to the generalized coordinate matrix, the vibration energy of the boom in the preset posture comprises: The vibration energy of the boom is determined according to the integration of the square term of the generalized coordinate matrix over time.

7. The method according to claim 1, characterized in that The control voltage is a control voltage matrix of a plurality of the vibration suppression devices, and the control voltage matrix can change over time; The step of determining the vibration suppression control energy of the vibration suppression system in the preset posture according to the control voltage includes: The vibration suppression control energy is determined according to the integration of the square term of the control voltage matrix over time.

8. The method according to claim 1, characterized in that: The method further comprises: Determine the final arrangement of the plurality of vibration suppression systems having different numbers of the vibration suppression devices; Determine the sum of the vibration energy and the vibration suppression control energy of each of the preset postures in each of the final arrangement schemes to obtain a comprehensive energy value of the corresponding final arrangement scheme; The final arrangement quantity of the vibration suppression devices is determined according to the final arrangement scheme with the lowest comprehensive energy value.

9. The method according to claim 1, characterized in that: The vibration suppression system further includes an energy recovery device disposed on each of the arm sections, and the method further includes: Acquire an original dynamic model of the vibration of the boom in each of the preset postures; Performing modal analysis on each of the original dynamic models to obtain the deformation amount of each deformation position on the arm frame under each of the preset postures; The deformation positions corresponding to the preset postures are screened according to the deformation amounts to obtain a position set corresponding to the preset postures; The union of the position sets is determined to obtain a layout scheme of the energy recovery device.

10. The method according to claim 9, characterized in that The step of screening the deformation positions corresponding to the preset postures according to the deformation amounts to obtain a position set corresponding to the preset postures includes: Sorting the deformation positions corresponding to the preset postures in descending order of deformation amount, and adding a preset number of deformation positions with the highest order to the position set corresponding to the preset postures; Alternatively, the deformed position whose deformation reaches a preset deformation threshold is added to the position set corresponding to each preset posture.

11. A device for determining the arrangement of a vibration suppression system of a boom, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the method for determining an arrangement solution of a vibration suppression system of a boom according to any one of claims 1 to 10 when executing the instructions.

12. An engineering machine, characterized in that: include: A boom, comprising a plurality of boom sections; A vibration suppression system, arranged on the arm support, comprising a plurality of vibration suppression devices; as well as The device for determining the arrangement of a vibration suppression system of a boom according to claim 11.

13. The engineering machine according to claim 12, characterized in that: The vibration suppression system also includes an energy recovery device arranged on each of the arm sections.

14. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the method for determining an arrangement solution of a vibration suppression system of a boom according to any one of claims 1 to 10.

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