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

Abstract

This application discloses a method and apparatus for determining the layout scheme of a vibration damping system for a boom, relating to the field of engineering machinery technology. The method includes: acquiring vibration damping dynamic models and control voltages under various preset postures; determining, based on the vibration damping dynamic models and control voltages, a generalized coordinate matrix representing the vibration of multiple boom segments under the corresponding preset postures; determining the vibration energy of the boom under the preset postures based on the generalized coordinate matrix, and determining the vibration damping control energy of the vibration damping system under the preset postures based on the control voltage; determining the optimized position set of multiple vibration damping devices on the boom with the optimization objective of minimizing the sum of vibration energy and vibration damping control energy; and determining the final layout scheme of the vibration damping system based on the optimized position set corresponding to each preset posture. This method enables the vibration damping system to effectively suppress the vibration behavior of the boom with lower energy requirements.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and more specifically to a method, apparatus, machine-readable storage medium, and engineering machinery for determining the arrangement scheme of a boom vibration damping system. Background Technology

[0002] During operation, concrete pump trucks generate periodic loads on the pipelines, causing periodic vibrations in the boom. Mild boom vibration reduces pump truck efficiency and increases operator workload; severe vibration can lead to boom breakage and major safety accidents. Therefore, effectively suppressing boom vibration is a pressing technical problem that needs to be solved. Summary of the Invention

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

[0004] To achieve the above objectives, the first aspect of this application provides a method for determining the arrangement of a vibration damping system for a boom, wherein the vibration damping system is mounted on the boom, the boom includes multiple boom sections, and the vibration damping system includes multiple vibration damping devices; the method includes:

[0005] Obtain the vibration damping dynamic model of the boom equipped with the vibration damping system in each preset attitude, as well as the control voltage of the vibration damping system in each preset attitude;

[0006] Based on the vibration damping dynamics model and control voltage under each preset posture, determine the generalized coordinate matrix of the boom used to express the vibration of multiple boom segments under the corresponding preset posture;

[0007] The vibration energy of the boom under the preset posture is determined based on the generalized coordinate matrix, and the vibration control energy of the vibration suppression system under the preset posture is determined based on the control voltage.

[0008] Based on a preset optimization algorithm, with the goal of minimizing the sum of vibration energy and vibration suppression control energy, the optimized position set of multiple vibration suppression devices on the boom under a preset attitude is determined.

[0009] The final arrangement scheme of the vibration suppression system is determined based on the optimized position set corresponding to each preset posture.

[0010] In this embodiment of the application, before determining the final arrangement scheme, the method further includes: obtaining the original natural frequencies of the original dynamic model of the boom vibrating in 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 objective, determining the optimized position set of multiple vibration suppression devices on the boom in each preset posture, including: adjusting the positions of multiple vibration suppression devices on the boom in the preset posture to obtain multiple test position sets of multiple vibration suppression devices on the boom; determining the natural frequencies of the vibration suppression dynamic model corresponding to each test position set during vibration according to the multiple test position sets; retaining the test position sets that satisfy the frequency constraints within the multiple test position sets; 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 rate of change of the natural frequency; and determining the optimized position set in the preset posture within the test position sets that satisfy the frequency constraints according to the optimization objective.

[0011] In this embodiment, based on a preset optimization algorithm, with the goal of minimizing the sum of vibration energy and vibration suppression control energy, the optimized position set of multiple vibration suppression devices on the boom under each preset attitude is determined. This includes: adjusting the positions of multiple vibration suppression devices on the boom under the preset attitude to obtain multiple test position sets of multiple vibration suppression devices on the boom; retaining test position sets that satisfy position constraints within the multiple test position sets; wherein, the position constraints include: position separation of each vibration suppression device; and determining the optimized position set under the preset attitude according to the optimization goal within the test position sets that satisfy the position constraints.

[0012] In this embodiment of the application, the final arrangement scheme of the vibration suppression system is determined according to the optimized position set corresponding to each preset posture, including: determining the intersection of the optimized position sets corresponding to each preset posture to obtain the final arrangement scheme corresponding to the vibration suppression system.

[0013] In this embodiment of the application, the intersection of the optimized position sets corresponding to each preset posture is determined to obtain the final arrangement scheme corresponding to the vibration suppression system. This includes: when the intersection is an empty set, removing the optimized position set corresponding to the preset posture that appears with the lowest frequency in multiple optimized position sets to obtain a corrected combination of optimized position sets; and determining the final arrangement scheme corresponding to the vibration suppression system based on the corrected combination of optimized position sets.

[0014] In this embodiment of the application, the generalized coordinate matrix includes the attitude angle and attitude angular velocity of each boom segment, the generalized modal coordinate vector corresponding to each boom segment under the preset vibration mode, and the time derivative of the generalized modal coordinate vector; determining the vibration energy of the boom under the preset attitude based on the generalized coordinate matrix includes: determining the vibration energy of the boom based on the integral of the square term of the generalized coordinate matrix over time.

[0015] In this embodiment, the control voltage is a control voltage matrix of multiple vibration damping devices, and the control voltage matrix can change with time; determining the vibration damping control energy of the vibration damping system under the preset attitude based on the control voltage includes: determining the vibration damping control energy based on the integral of the squared terms of the control voltage matrix relative to time.

[0016] In this embodiment of the application, the method further includes: determining the final arrangement scheme of multiple vibration suppression systems with different numbers of vibration suppression devices; determining the sum of vibration energy and 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; and determining the final number of vibration suppression devices based on the final arrangement scheme with the lowest energy comprehensive value.

[0017] In this embodiment of the application, the vibration suppression system further includes an energy recovery device disposed on each boom segment. The method further includes: obtaining the original dynamic model of the boom vibration under each preset posture; performing modal analysis on each original dynamic model to obtain the deformation amount at each deformation position on the boom under each preset posture; filtering the deformation positions corresponding to each preset posture according to the deformation amount to obtain the position set corresponding to each preset posture; and determining the union of each position set to obtain the arrangement scheme of the energy recovery device.

[0018] In this embodiment of the application, the deformation positions corresponding to each preset posture are filtered according to the deformation amount to obtain the position set corresponding to each preset posture, including any one of the following: sorting the deformation positions corresponding to each preset posture in descending order of deformation amount, and adding the preset number of deformation positions at the top of the sort to the position set corresponding to each preset posture; or, adding the deformation positions whose deformation amount reaches the preset deformation amount threshold to the position set corresponding to each preset posture.

[0019] A second aspect of this application provides an engineering machine, including: a boom, comprising a plurality of boom segments; a vibration damping system disposed on the boom, comprising a plurality of vibration damping devices; and equipment according to any of the above embodiments for determining the arrangement scheme of the vibration damping system of the boom.

[0020] In this embodiment of the application, the vibration damping system also includes an energy recovery device disposed on each arm segment.

[0021] A third aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform a method for determining an arrangement scheme of a boom vibration damping system according to any of the preceding embodiments.

[0022] By employing the aforementioned technical solution, and obtaining the optimized position sets of multiple vibration damping devices on the boom under various preset postures, the final arrangement of the vibration damping system can be determined based on these optimized position sets. This allows the vibration damping system to effectively suppress boom vibration behavior with lower energy requirements, thereby effectively preventing boom breakage accidents caused by vibration and improving boom safety.

[0023] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0025] Figure 1 The illustration shows a flowchart of a method for determining the arrangement of a vibration damping system for a boom according to an embodiment of this application.

[0026] Figure 2 The schematic diagram illustrates the structure of the boom in several common preset positions;

[0027] Figure 3 The schematic diagram shows the orientation of the two boom sections in the coordinate system;

[0028] Figure 4 The illustration shows a flowchart of a method for obtaining the intersection of piezoelectric material location sets in a method for determining the arrangement scheme of a boom vibration damping system according to an embodiment of this application.

[0029] Figure 5 The illustration shows a flowchart of a method for obtaining an optimal configuration set in a method for determining the arrangement scheme of a boom vibration damping system according to an embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0031] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0032] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0033] To suppress boom vibration, the inventors of this application propose a boom equipped with a vibration damping system. This system may include multiple vibration damping devices mounted on the boom, and the boom can be considered as having multiple sequentially connected boom segments. The vibration damping devices may be made, for example, piezoelectric sheets with a piezoelectric effect. Since the boom exhibits different working postures during operation, and its vibration behavior differs in these postures, the inventors of this application propose a method for determining the arrangement of the boom's vibration damping system to ensure sufficient vibration damping with low energy demand regardless of the boom's working posture.

[0034] Figure 1 This illustration schematically shows a flowchart of a method for determining the arrangement of a vibration damping system for a boom according to an embodiment of this application. The embodiment of this application provides a method for determining the arrangement of a vibration damping system for a boom, wherein the vibration damping system is disposed on the boom, the boom includes multiple boom sections, and the vibration damping system includes multiple vibration damping devices. For example... Figure 1 As shown, the method may include the following steps:

[0035] S102. Obtain the vibration damping dynamic model of the boom equipped with the vibration damping system in each preset posture, and the control voltage of the vibration damping system in each preset posture.

[0036] S104. Based on the vibration damping dynamics model and control voltage under each preset posture, determine the generalized coordinate matrix of the boom used to express the vibration of multiple boom segments under the corresponding preset posture.

[0037] S106. Determine the vibration energy of the boom under the preset posture based on the generalized coordinate matrix, and determine the vibration suppression control energy of the vibration suppression system under the preset posture based on the control voltage.

[0038] S108. Based on the preset optimization algorithm, with the goal of minimizing the sum of vibration energy and vibration suppression control energy, determine the optimized position set of multiple vibration suppression devices on the boom under the preset attitude.

[0039] S110. Determine the final arrangement scheme of the vibration suppression system based on the optimized position set corresponding to each preset attitude.

[0040] The vibration damping system arrangement scheme provided in this application, after obtaining the vibration damping dynamic model and the control voltage of the vibration damping system, can determine the vibration behavior of multiple boom sections expressed by a generalized coordinate matrix based on the dynamic model and the control voltage. Subsequently, based on the determined vibration behavior and control voltage, the vibration energy generated by the boom vibration and the electrical energy required for the vibration damping system, i.e., the vibration damping control energy, can be determined respectively. The optimization algorithm can adjust the position of each vibration damping device on the boom, thereby changing the vibration damping effect of the vibration damping system and the vibration behavior of the boom, thus affecting the vibration energy of the boom and the vibration damping control energy of the vibration damping system. Minimizing the sum of vibration energy and vibration damping control energy is used as the optimization objective, ultimately obtaining the optimized position set. This allows determination of the position distribution of multiple vibration damping devices on the boom that minimizes both vibration energy and vibration damping control energy when the boom is in a preset posture. Therefore, by obtaining the optimized position set of multiple vibration damping devices on the boom in each preset posture, the final arrangement scheme of the vibration damping system can be determined based on these optimized position sets. This allows the vibration damping system to effectively suppress the vibration behavior of the boom with lower energy requirements, thereby effectively preventing boom breakage accidents caused by vibration and improving boom safety.

[0041] Understandably, in the embodiments of this application, the preset posture can be selected as follows: Figure 2 The common boom postures shown during operation include: arched, M-shaped, inverted L-shaped, and horizontal. The generalized coordinate matrix used to represent the vibration of multiple boom segments may include the boom segment attitude angles, boom segment attitude angular velocities, and generalized modal coordinate vectors and their time derivatives used to represent the vibration behavior of multiple boom segments in different vibration modes. The preset optimization algorithm may be, for example, a genetic algorithm, a neural network, or machine learning.

[0042] Specifically, in step S102, the vibration damping dynamic model is obtained by first selecting a preset posture of the boom, and then establishing an original dynamic model of the boom based on the preset posture. This original dynamic model can be a mathematically 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 this original dynamic model, multiple vibration damping devices are configured on the original dynamic model to obtain the vibration damping dynamic model.

[0043] Specifically, in step S104, based on the obtained vibration suppression dynamic model, the model can be transformed into the corresponding dynamic equation form, and combined with the control voltage, the vibration suppression dynamic equation of the vibration suppression dynamic model is as follows:

[0044]

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

[0046] The generalized coordinate matrix x(t) can be obtained by solving formula (1).

[0047]

[0048] In formula (2), q1…q m The generalized modal coordinate vectors corresponding to the first m modes of vibration under each common posture in formula (1) are represented by t, which is the time term.

[0049] In some embodiments of this 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 the preset vibration mode, and the time derivative of the generalized modal coordinate vector;

[0050] Step S106 includes: determining the vibration energy of the boom based on the integral of the squared terms of the generalized coordinate matrix over time.

[0051] Understandably, referring to formulas (1) and (2) above, the attitude angle of the arm segment can be, for example, θ, representing the relative angle between the arm segments, and correspondingly, the attitude angular velocity can be, for example, θ. 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 by formula (2) as an example, the vibration energy W of the boom V for:

[0052]

[0053] In formula (3), x(t) T Let x(t) be the transpose of x(t), and R be the weighting matrix, which can be determined, for example, based on the mass distribution of the boom.

[0054] In some embodiments of this application, the control voltage is a control voltage matrix of multiple vibration damping devices, and the control voltage matrix can change with time.

[0055] Step S106 includes:

[0056] The vibration suppression control energy is determined by integrating the squared terms of the control voltage matrix with respect to time.

[0057] Understandably, taking the vector u representing the input voltage of multiple vibration damping devices in formula (1) as an example, if the number of vibration damping devices is N, then:

[0058]

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

[0060]

[0061] In formula (5), u(t) T Let C be the transpose matrix of u(t), and let C be the weighting matrix of u(t). C can be determined, for example, based on the impedance of each vibration damping device.

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

[0063] F m =W V +αWc (6)

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

[0065] In some embodiments of this application, before performing step S110 to determine the final arrangement scheme, the method further includes the step of: obtaining the original natural frequencies of the original dynamic model of the boom vibration under each preset attitude; and step S108 includes:

[0066] Under a preset posture, the positions of multiple vibration damping devices on the boom are adjusted to obtain multiple sets of test positions of multiple vibration damping devices on the boom;

[0067] Based on multiple sets of test locations, determine the natural frequencies of the vibration damping dynamic model corresponding to each set of test locations during vibration;

[0068] Within multiple sets of test locations, the set of test locations that satisfy the frequency constraints is retained; 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 rate of change of the natural frequency;

[0069] Within the set of positions to be tested that satisfy the frequency constraints, the optimized set of positions under the preset attitude is determined according to the optimization objective.

[0070] This limits the rate of change of the natural frequency relative to the original natural frequency to within the preset rate of change of the natural frequency, preventing the final boom from having a large deviation between its natural frequency and the original natural frequency when the vibration damping system was not installed due to the vibration damping system.

[0071] Understandably, the rate of change δ of the natural frequency relative to the original natural frequency f For example:

[0072]

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

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

[0075] Under a preset posture, the positions of multiple vibration damping devices on the boom are adjusted to obtain multiple sets of test positions of multiple vibration damping devices on the boom;

[0076] Within multiple sets of locations to be tested, the set of locations to be tested that satisfy the location constraints is retained; wherein, the location constraints include: the location separation of each vibration damping device;

[0077] Within the set of positions to be verified that satisfy the position constraints, the optimized set of positions under the preset attitude is determined according to the optimization objective.

[0078] This ensures that each vibration damping device is installed at a different position on the boom, thus meeting the actual space requirements for installing the vibration damping devices on the boom.

[0079] In some embodiments of this application, step S110 includes: determining the intersection of the optimized position sets corresponding to each preset posture, so as to obtain the final arrangement scheme corresponding to the vibration suppression system.

[0080] The final arrangement of the vibration damping system is obtained by taking the intersection of the sets of positions of the boom under different preset postures. Therefore, the number of vibration damping devices in the final arrangement may be less than the initial number of vibration damping devices set when establishing the vibration damping dynamics model. By taking the intersection method, the vibration damping requirements of the boom under various preset postures are considered as much as possible, while minimizing the vibration control energy of the vibration damping system.

[0081] In addition, in step S110, the final arrangement scheme can also be the union of the optimized position sets corresponding to each preset posture; or the user can manually select the number and position of the vibration damping devices according to each optimized position set 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 attitude is determined to obtain the final arrangement scheme of the vibration suppression system, including:

[0083] In the case where the intersection is an empty set, the optimized position set corresponding to the preset pose that appears least frequently in multiple optimized position sets is removed to obtain the corrected combination of optimized position sets.

[0084] Based on the revised optimized location set combination, the final layout scheme corresponding to the vibration suppression system is determined.

[0085] Thus, even after excluding the optimized position set corresponding to one or more of the least common 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 damping system of the boom provided in this application embodiment also considers the trade-off between the energy demand and the vibration damping effect in terms of the number of vibration damping devices.

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

[0088] Determine the final arrangement scheme of multiple vibration damping systems with varying numbers of vibration damping devices;

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

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

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

[0092] In some embodiments of this application, the vibration damping system further includes an energy recovery device disposed on each boom segment, and the method further includes:

[0093] Obtain the original dynamic model of the boom vibration under various preset postures;

[0094] Modal analysis was performed on each original dynamic model to obtain the deformation at each deformation position on the boom under each preset posture;

[0095] The deformation positions corresponding to each preset posture are filtered according to the deformation amount to obtain the position set corresponding to each preset posture;

[0096] Determine the union of the location sets to obtain the layout scheme of the energy recovery device.

[0097] By installing energy recovery devices, mechanical energy can be recovered from boom vibrations and converted into electrical energy to power appliances such as vibration damping devices. More mechanical energy generated by boom vibrations can be recovered by placing the energy recovery device at the location of maximum deformation.

[0098] Understandably, energy recovery devices can also be made of piezoelectric sheets with a piezoelectric effect. Of course, piezoelectric materials such as piezoelectric sheets are only one embodiment of this application. Any smart material that can convert energy other than mechanical energy, such as light, sound, and electricity, into mechanical energy such as pressure and strain can be used to make vibration damping devices and energy recovery devices.

[0099] Therefore, the boom with a vibration damping system consists of two parts: a piezoelectric energy recovery system and a piezoelectric vibration damping system. The energy recovered by the piezoelectric energy recovery system is converted and stored, and can be used as input to the piezoelectric vibration damping system to suppress boom vibration, thus achieving energy self-sufficiency and greatly reducing energy loss.

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

[0101] Sort the deformation positions corresponding to each preset posture in descending order of deformation amount, and add the preset number of deformation positions that are ranked first to the position set corresponding to each preset posture.

[0102] Alternatively, the deformation positions where the deformation reaches a preset deformation threshold can be added to the position set corresponding to each preset posture.

[0103] In addition, in some embodiments of this application, the vibration damping dynamics model of the boom in step S102 can also be modeled using the Denavit-Hartenberg (DH) method. Using this method requires first simplifying the boom model by dividing it into n (n≥1) rigid bodies, which are connected by three orthogonal spring joints. The deformation of the boom is equivalent to the change in the spring joint angles between the rigid bodies.

[0104] Using the geodetic coordinate system as the base coordinate system and the spring joint angle as the generalized coordinate system, a simplified model's DH parameter table can be established. Based on the DH parameters, the position of each rigid body segment relative to the base coordinate system can be obtained, and thus the system's total kinetic energy T and total potential energy V can be derived. Using the Lagrange method, the following dynamic equations 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 Let u represent the joint angle, joint angular velocity, and joint angular acceleration vectors, respectively. T This is the transpose of the control voltage input vector of the vibration suppression system.

[0107] To facilitate understanding of the technical solutions provided in this application, an exemplary description of a pump truck boom intelligent vibration suppression system provided in the embodiments of this application is given below.

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

[0109] The boom system is the control target of the pump truck boom intelligent vibration suppression system, and its stability is also a control indicator of the pump truck boom intelligent vibration suppression system.

[0110] Piezoelectric energy recovery system: Composed of piezoelectric material attached to the boom, it converts the mechanical energy of the boom's vibration into electrical energy based on the positive piezoelectric effect. After a series of rectification and conversion, the electrical energy is input into the energy storage device for storage.

[0111] Piezoelectric vibration suppression system: Similar to energy recovery systems, piezoelectric vibration suppression systems also consist of piezoelectric materials adhered to the boom. However, unlike energy recovery systems, this system not only monitors vibration signals but also suppresses system vibration based on those signals. When monitoring vibration signals, the piezoelectric material functions similarly to a strain gauge, converting boom deformation into an electrical signal to reflect the intensity of the boom's vibration and deformation. When suppressing vibration, the system utilizes the inverse piezoelectric effect to convert electrical energy from the energy storage device into a control torque that suppresses boom vibration.

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

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

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

[0115] When the pump truck is operating, the boom is subjected to periodic pulses from the concrete in the delivery pipe, causing vibrations. Simultaneously, piezoelectric smart materials arranged on each boom section generate induced electrical energy. Due to the different vibration patterns of each boom section, the polarity of the recovered electrical energy differs. After being adjusted to the same polarity by a rectifier, it is then converted into electrical energy that can be stored in an energy storage unit through a power converter. The system's boom vibration suppression process is as follows: the electrical energy stored in the energy storage unit is converted into control electrical energy that matches the input of the piezoelectric vibration suppression system. The piezoelectric vibration suppression devices on each boom section, excited by this control electrical energy, generate a corresponding control bending moment. This bending moment acts on the vibrating boom, thereby suppressing vibration. If a suitable energy storage device is available, the power conversion device in this system can be omitted. The electrical energy recovered by the piezoelectric energy recovery system is stored in the energy storage unit, and the energy of the piezoelectric vibration suppression system also comes from the energy storage unit, forming a self-sufficient intelligent vibration suppression system for the entire pump truck.

[0116] For a better understanding of the technical solutions provided in this application, please refer to [link / reference]. Figure 4 and Figure 5 The following is an exemplary description of the method for determining the arrangement scheme of the vibration damping system of the boom provided in the embodiments of this application.

[0117] First, determine the quantity of piezoelectric material, then obtain the dynamic equation of the boom under a common posture, and obtain the state-space expression of the boom based on the dynamic equation, which can be, for example, the generalized coordinate matrix given by formula (2). Then, take the minimization of vibration energy and control energy (vibration suppression energy) as the optimization objective, and consider the non-overlapping piezoelectric material and the rate of change of the boom's natural frequency being less than a threshold as constraints, that is, consider frequency constraints and position constraints, to obtain the optimized position set of piezoelectric material. When the optimized position set is obtained for all common postures, take the intersection of all optimized position sets. When the intersection is not empty, obtain the final piezoelectric material position set as the final arrangement scheme of the vibration suppression system. Then, sum the vibration energy and vibration suppression energy under each common posture to obtain the total vibration and control energy of the final arrangement scheme, that is, the energy comprehensive value of the final arrangement scheme. After determining the final arrangement schemes of multiple vibration suppression systems with different numbers of vibration suppression devices and their energy comprehensive values, determine the final number of vibration suppression devices based on the final arrangement scheme with the lowest energy comprehensive value.

[0118] This application also provides an apparatus for determining the arrangement of a vibration damping system for a boom, comprising: a memory and a processor. The memory is configured to store instructions. The processor is configured to retrieve instructions from the memory and, when executing the instructions, to implement the method for determining the arrangement of a vibration damping system for a boom according to any of the foregoing embodiments.

[0119] This application also provides an engineering machinery, including: a boom, a vibration damping system, and equipment as provided in the above embodiments for determining the arrangement of the vibration damping system of the boom. The boom includes multiple boom sections; the vibration damping system is disposed on the boom and includes multiple vibration damping devices.

[0120] In some embodiments of this application, the vibration damping system further includes an energy recovery device disposed on each arm segment.

[0121] This application also provides a machine-readable storage medium storing instructions for causing a machine to execute the method provided in any of the above embodiments for determining the arrangement scheme of the boom vibration damping system.

[0122] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0123] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0124] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0128] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0129] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0130] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for determining the arrangement scheme of a vibration damping system for a boom, characterized in that, The vibration damping system is mounted on the boom, the boom comprising multiple boom sections, and the vibration damping system comprising multiple vibration damping devices. The method includes: Obtain the vibration damping dynamic model of the boom equipped with the vibration damping system in each preset posture, and the control voltage of the vibration damping system in each preset posture; Based on the vibration damping dynamics model and the control voltage under each preset posture, determine the generalized coordinate matrix of the boom used to express the vibration of multiple boom segments under the corresponding preset posture; The vibration energy of the boom under the preset posture is determined based on the generalized coordinate matrix, and the vibration suppression control energy of the vibration suppression system under the preset posture is determined based on the control voltage. Based on a preset optimization algorithm, with the minimization of the sum of the vibration energy and the vibration suppression control energy as the optimization objective, the optimized position set of the multiple vibration suppression devices on the boom under the preset posture is determined; The final arrangement scheme of the vibration suppression system is determined based on the optimized position set corresponding to each preset posture.

2. The method according to claim 1, characterized in that, Before determining the final layout scheme, the method further includes: Obtain the original natural frequencies of the original dynamic model of the boom vibrating in each of the preset postures; The optimization algorithm, based on a preset optimization algorithm, aims to minimize the sum of the vibration energy and the vibration suppression control energy, and determines the optimized position set of the multiple vibration suppression devices on the boom under each preset posture, including: Under the preset posture, the positions of the multiple vibration damping devices on the boom are adjusted to obtain multiple sets of test positions of the multiple vibration damping devices on the boom; Based on the multiple sets of locations to be tested, determine the natural frequency of the vibration damping dynamic model corresponding to each set of locations during vibration; Within the plurality of test location sets, the test location sets that satisfy the frequency constraints are retained; 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 a preset rate of change of the natural frequency; Within the set of positions to be verified that satisfy the frequency constraints, the optimized set of positions under the preset attitude is determined according to the optimization objective.

3. The method according to claim 1, characterized in that, The optimization algorithm, based on a preset optimization algorithm, aims to minimize the sum of the vibration energy and the vibration suppression control energy, and determines the optimized position set of the multiple vibration suppression devices on the boom under each preset posture, including: Under the preset posture, the positions of the multiple vibration damping devices on the boom are adjusted to obtain multiple sets of test positions of the multiple vibration damping devices on the boom; Within the multiple sets of locations to be tested, the set of locations to be tested that satisfy the position constraints is retained; wherein, the position constraints include: the positional separation of each of the vibration damping devices; Within the set of positions to be verified that satisfy the position constraints, the optimized set of positions under the preset posture is determined according to the optimization objective.

4. The method according to claim 1, characterized in that, The step of determining the final arrangement scheme of the vibration suppression system based on the optimized position set corresponding to each preset attitude includes: Determine the intersection of the optimized position sets corresponding to each preset posture to obtain the final arrangement scheme corresponding to the vibration suppression system.

5. The method according to claim 4, characterized in that, The step of determining the intersection of the optimized position sets corresponding to each of the preset postures to obtain the final arrangement scheme corresponding to the vibration suppression system includes: In the case that the intersection is an empty set, the optimized position set corresponding to the preset posture that appears with the lowest frequency in multiple optimized position sets is removed to obtain a corrected combination of optimized position sets. Based on the modified optimized location set combination, the final layout 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 segment, the generalized modal coordinate vector corresponding to each arm segment under the preset vibration mode, and the time derivative of the generalized modal coordinate vector; Determining the vibration energy of the boom under the preset posture based on the generalized coordinate matrix includes: The vibration energy of the boom is determined by integrating the squared terms 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 the multiple vibration damping devices, and the control voltage matrix can change with time; Determining the vibration suppression control energy of the vibration suppression system under the preset attitude based on the control voltage includes: The vibration suppression control energy is determined by integrating the squared terms of the control voltage matrix over time.

8. The method according to claim 1, characterized in that The method further includes: Determine the final arrangement scheme of multiple vibration damping systems with different numbers of vibration damping devices; In each of the final arrangement schemes, the sum of the vibration energy and the vibration suppression control energy of each preset posture is determined to obtain the comprehensive energy value of the corresponding final arrangement scheme; The final number of vibration damping devices is determined based on the final arrangement scheme with the lowest overall energy value.

9. The method according to claim 1, characterized in that, The vibration damping system further includes an energy recovery device disposed on each of the boom sections, and the method further includes: Obtain the original dynamic model of the boom vibrating under each of the preset postures; Modal analysis is performed on each of the original dynamic models to obtain the deformation amount at each deformation position on the boom under each preset posture; The deformation positions corresponding to each preset posture are filtered according to the deformation amount to obtain the position set corresponding to each preset posture; Determine the union of the locations to obtain the arrangement scheme of the energy recovery device.

10. The method according to claim 9, characterized in that, The step of filtering the deformation positions corresponding to each preset posture based on the deformation amount to obtain the position set corresponding to each preset posture includes: The deformation positions corresponding to each preset posture are sorted in descending order of deformation amount, and the preset number of deformation positions with the highest deformation amount are added to the position set corresponding to each preset posture. Alternatively, the deformation positions where the deformation amount reaches a preset deformation amount threshold can be added to the position set corresponding to each preset posture.

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

12. An engineering machinery, characterized in that, include: A boom, consisting of multiple boom sections; A vibration damping system, installed on the boom, includes multiple vibration damping devices; as well as The device for determining the arrangement of the vibration damping system of a boom according to claim 11.

13. The engineering machinery according to claim 12, characterized in that, The vibration damping system also includes an energy recovery device installed on each of the arm sections.

14. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a method for determining the arrangement of a vibration damping system for a boom, as claimed in any one of claims 1 to 10.

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