Device and method for restraining vibration of suspension load

Abstract

The invention discloses a device and method for restraining vibration of a suspension load, and relates to the field of mechanical structure vibration control. The device comprises a control module supporting structure, a first pneumatic module, a second pneumatic module and a control module, the upper portion and the lower portion of the control module supporting structure are each provided with four lifting hooks, the four lifting hooks on the upper portion are connected to a tower crane through lifting ropes, and the four lifting hooks on the lower portion are connected to a suspension load through lifting ropes. The control module is fixed in the control module supporting structure to protect the control module; the first pneumatic module and the second pneumatic module are arranged on the two adjacent sides of the control module supporting structure correspondingly, aerodynamic force is generated under the control of the control module, and vibration suppression of the suspension load is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical structure vibration control, and in particular relates to a device and method for suppressing vibration of a suspended load. Background Art

[0002] With the increasing number of high-rise building and large structural component hoisting operations, suspended loads are susceptible to free and forced vibrations due to external disturbances such as wind disturbances, hoist acceleration and deceleration, or boom swing, impacting operational efficiency and posing safety risks. Existing vibration suppression methods primarily include: passive damping devices (rubber pads, springs, friction dampers, etc.), which are complex in structure and have limited attenuation of vibrations at different frequencies; mechanical buffers (pneumatic cylinders, hydraulic buffers, etc.), which struggle to balance response speed with high-frequency suppression; operational strategy optimization (deceleration, swing amplitude limitation, multi-machine coordination, etc.), which often sacrifices efficiency and lacks responsiveness to sudden disturbances; and intelligent feedback control (sensors + PLC / DCS), which often relies on the hoist and struggles to provide direct and precise intervention on the end load.

[0003] CN202510019556.3 proposes a cable vibration control device and method. The device comprises a velocity damping unit for controlling the cable's broadband vibration and a tuned mass damping unit for controlling the cable's narrowband vibration. The velocity damping unit and the tuned mass damping unit are arranged near the cable-beam anchorage end of the cable. The velocity damping unit includes two velocity dampers, symmetrically arranged on either side of the cable surface. The dampers must be mounted at both ends, one on a relatively stable main structure and the other on a vibrating structure. This places high demands on installation and is not suitable for other fields.

[0004] ZL201910528752.8 proposes a simple pendulum device and a control algorithm for rapidly suppressing pendulum swings. The pendulum structure is connected to a bearing block via a connector. The rotation angle is converted into an analog signal by a photoelectric encoder for computer acquisition and recording. A moving slider is connected to a stepper motor via a synchronous belt and pulley, and the stepper motor controls its movement along the pendulum structure. This device suppresses the vibration of the vibrating structure by moving the slider, which requires a long travel distance, posing a challenge to the implementation and widespread use of the suppression device.

[0005] The aforementioned solutions are either bulky, have low damping efficiency, or lack real-time performance, failing to meet the comprehensive requirements of modern building hoisting for efficiency, safety, and automation. Therefore, there is an urgent need for an active vibration suppression device with a compact structure, fast response, and the ability to directly act on the suspended load. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a device and method for suppressing vibration of a suspended load, which can be applied to suppress vibration of a suspended load during a building hoisting process.

[0007] The technical solution of the present invention is:

[0008] In one aspect, the present invention provides an apparatus for suppressing vibration of a suspended load, comprising a control module support structure, a first pneumatic module, a second pneumatic module, and a control module;

[0009] Four hooks are provided above and below the control module support structure. The four upper hooks are connected to the tower crane through ropes, and the four lower hooks are connected to the suspended load through ropes. The control module is fixed inside the control module support structure to protect the control module. The first pneumatic module and the second pneumatic module are respectively arranged on adjacent sides of the control module support structure to generate aerodynamic force under the control of the control module to achieve vibration suppression of the suspended load.

[0010] Furthermore, the first aerodynamic module includes a first motor support structure, a first motor and a first rotor; the second aerodynamic module includes a second motor support structure, a second motor and a second rotor; the first motor and the second motor are respectively fixed inside the first motor support structure and the second motor support structure; the first motor support structure and the second motor support structure are fixed to the control module support structure by bolts, the first rotor is directly tightened to the first motor, and the second rotor is directly tightened to the second motor, and the first rotor and the second rotor are driven to rotate by the first motor and the second motor to generate aerodynamic force.

[0011] Furthermore, the control module support structure is a 6-sided hollowed-out cube frame, with multiple threaded holes provided on the top and bottom of the frame for fixing the hooks; and multiple threaded holes provided on any two adjacent sides for connecting with the first motor support structure and the second motor support structure;

[0012] The first motor support structure and the second motor support structure are provided with a square frame on one side and a circular frame on the other side. The square frame and the circular frame are fixedly connected by two rectangular plates on the side. The space formed in the middle is used to place the motor, and multiple threaded holes are provided on the square frame and the circular frame, which are respectively used to connect with the control module support structure and the motor.

[0013] Furthermore, the control module includes a controller, an inertial measurement unit and a communication module;

[0014] The inertial measurement unit is used to obtain attitude information of the suspended load and send it to the controller; the attitude information includes yaw angle, pitch angle and roll angle;

[0015] The controller is configured to derive position information of the suspended load based on the attitude information of the suspended load and the length of the suspension rope and transmit the information to the communication module; calculate the required aerodynamic force based on the position information of the suspended load, generate a control signal, and utilize the control signal to drive the first motor and the second motor so that the first rotor and the second rotor generate the required aerodynamic force to achieve vibration suppression of the suspended load;

[0016] The communication module is used to transmit the position information of the suspended load to an external device in a wireless communication manner for monitoring the position of the suspended load.

[0017] In another aspect, the present invention further provides a method for suppressing vibration of a suspended load, comprising the following steps:

[0018] Constructing a dynamic equation of a suspended load-device system for suppressing suspended load vibration; the suspended load-device system for suppressing suspended load vibration comprises a suspended load and a device for suppressing suspended load vibration;

[0019] Based on the dynamic equations of the suspension load-device for suppressing suspension load vibration system, an outer-loop position PID controller and an inner-loop speed PD controller are constructed, and the desired force of the suspension load is solved using the outer-loop position PID controller and the inner-loop speed PD controller. The outer-loop position PID controller is used to control the aerodynamic force control device to maintain the suspension load at a set desired position. The inner-loop speed PD controller is used to control the aerodynamic force control device to maintain the speed of the suspension load at zero, thereby preventing vibration.

[0020] A control distributor is designed to calculate the required aerodynamic force based on the expected force of the suspended load and generate a PWM signal to control and drive the first motor and the second motor, so that the first rotor and the second rotor generate the required aerodynamic force to achieve vibration suppression of the suspended load.

[0021] Furthermore, the process of constructing the dynamic equation of the suspended load-device for suppressing suspended load vibration system is as follows:

[0022] First, a global Cartesian coordinate system O-XYZ is established with the suspension point O as the origin. The suspension point is the connection point between the suspension rope and the tower crane, where the Z axis is in the downward direction of the suspension point O as the positive direction, the X axis is toward the rotation axis of the first rotor, and the Y axis is toward the rotation axis of the second rotor; at the same time, the center O of the control module in the device for suppressing the vibration of the suspended load is set as the center. l Define a local Cartesian coordinate system O for the origin l -X l Y l Z l , where X l Axis and Y l The direction of the axis is consistent with that of the inertial measurement unit, Zl The positive direction of the axis is the direction along the lifting rope pointing to the suspended load; the local Cartesian coordinate system coincides with the global Cartesian coordinate system at the initial moment, and then rotates around its own Z l Axis, Y l Axis and X l The corresponding Euler angles are denoted as ψ, θ and ;

[0023] The dynamic equation of the suspended load-device for suppressing suspended load vibration system is expressed as:

[0024] ;

[0025] in, represents the position of the suspended load in the global Cartesian coordinate system O-XYZ, 、 and Represents the rotation matrices in the X, Y, and Z directions respectively; and Respectively represent the X l Axis and Y l aerodynamic forces on the shaft; The rope is in the local Cartesian coordinate system O l -X l Y l Z l The tension exerted on the suspended load, It represents the rope in the local Cartesian coordinate system O l -X l Y l Z l The amount of tension applied to the suspended load; represents the total mass of the suspended load and the device that suppresses the vibration of the suspended load, represents the acceleration due to gravity; express The second derivative with respect to time.

[0026] Furthermore, the process of constructing the outer loop position PID controller and the inner loop speed PD controller is:

[0027] Position error of the suspended load at time k The definition is as follows:

[0028] ;

[0029] Among them, k represents the time, represents the position error of the suspended load at time k, represents the actual displacement of the suspended load along the X-axis at time k, represents the actual displacement of the suspended load along the Y axis at time k, represents the expected displacement of the suspended load along the X-axis, represents the desired displacement of the suspended load along the Y-axis, and =0 and =0;

[0030] The outer loop position PID controller is designed as:

[0031] ;

[0032] in, represents the desired velocity of the suspended load, represents the desired velocity of the suspended load along the X-axis, represents the desired velocity of the suspended load along the Y-axis; is the proportional gain used in the outer loop position PID controller, is the position error increment;

[0033] The velocity error is defined as:

[0034] ;

[0035] in, represents the velocity error of the suspended load at time k, represents the actual velocity of the suspended load at time k, represents the velocity component of the suspended load along the X axis at time k, represents the velocity component of the suspended load along the Y axis at time k;

[0036] The inner loop speed PD controller is designed as:

[0037] ;

[0038] in, represents the expected force of the suspended load at time k, and are the proportional gain and differential gain in the inner loop speed PD controller respectively, is the speed error increment.

[0039] Furthermore, the process of generating the PWM signal is as follows:

[0040] The PWM value is expressed as:

[0041] ;

[0042] in, It represents the PWM value output by the first motor. Indicates the PWM value of the second motor output;

[0043] To impose saturation limits, the following saturation function is defined:

[0044] ;

[0045] in, represents the saturation function symbol, Indicates the PWM value, PWM amplitude;

[0046] Corresponding installation in X l Axis and Y l The saturated control input of the motor on the axis is expressed as:

[0047] ;

[0048] in, Indicates the PWM value after the output of the first motor saturation function, Indicates the PWM value after the second motor saturation function output.

[0049] In a third aspect, the present application proposes an electronic device comprising: one or more processors, and a memory, wherein the memory is used to store instructions, and when the instructions are executed by the one or more processors, the one or more processors execute the method of suppressing vibration of a suspended load.

[0050] In a fourth aspect, the present application proposes a computer-readable storage medium storing executable instructions, which, when executed, enable a processor to perform the method for suppressing vibration of a suspended load.

[0051] In a fifth aspect, the present application proposes a computer program product, comprising a computer program or instructions, which, when executed by a processor, implements the method of suppressing vibration of a suspended load.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] The device for suppressing the vibration of the suspended load of the present invention adopts an adjustable rotor modular design, which has a compact overall structure and light weight, and can be directly installed at the end of the sling without making major changes to the crane, thereby improving the integration flexibility and applicability of the device; the present invention is based on the coupled dynamic model and high-frequency sensor fusion reconstruction, and realizes millisecond-level position feedback and aerodynamic force regulation, thereby being able to quickly respond to sudden oscillations and accurately suppress them, significantly improving the response speed and vibration suppression effect of the system; the aerodynamic device of the present invention acts directly on the suspended load without relying on steel cables or ground structures, thereby achieving fine intervention on the end load and enhancing control accuracy; the present invention uses multi-dimensional adjustable aerodynamic forces to control different vibrations The dynamic mode is accurately compensated to achieve efficient vibration suppression; the present invention supports one-button start, autonomous monitoring and real-time control, thereby achieving highly automated operation, reducing the labor intensity of operators and the risk of human error; the modular structure and standardized interface design of the present invention simplify the installation and maintenance process, thereby facilitating rapid on-site deployment, maintenance and upgrades, and improving maintainability; the present invention can be widely used in various scenarios such as high-rise buildings, large components and offshore platform lifting, thereby expanding the scope of application of the technology; the control algorithm and hardware platform of the present invention can be upgraded online, and support flexible combinations of multiple sensors and execution units, thereby having excellent scalability and secondary development capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 Schematic diagram of a device for suppressing vibration of a suspended load according to an embodiment of the present invention being applied to a suspended load;

[0055] Figure 2 Schematic diagram of various structures of a device for suppressing vibration of a suspended load according to an embodiment of the present invention;

[0056] Figure 3 This is a diagram showing the results of applying a device for suppressing vibration of a suspended load in an embodiment of the present invention to suppress vibration of the load;

[0057] Among them: 1-device for suppressing vibration of suspended load; 2-suspended load; 3-control module support structure; 4-first motor support structure; 5-first motor; 6-first rotor; 7-second motor support structure; 8-second motor; 9-second rotor; 10-control module. DETAILED DESCRIPTION

[0058] This embodiment proposes a suspension load vibration suppression device 1 that generates aerodynamic force through a controllable rotor. Combined with the dynamic modeling and data fusion of the suspension load-device system for suppressing suspension load vibration, real-time monitoring and active suppression of suspension load vibration are achieved, providing a more efficient and safer solution for construction hoisting operations.

[0059] Example 1:

[0060] like Figure 1 and Figure 2 As shown, a device 1 for suppressing vibration of a suspended load achieves vibration suppression of a suspended load 2 by generating a desired aerodynamic force. The device includes a control module support structure 3, a first pneumatic module, a second pneumatic module, and a control module 10.

[0061] The control module support structure 3 is provided with four hooks above and below. The four hooks above are connected to the tower crane via ropes, while the four hooks below are connected to the suspended load 2 via ropes. The control module 10 is fixed to the interior of the control module support structure 3 (via four bolts) to protect the control module 10 from damage. The first and second pneumatic modules are respectively provided on adjacent sides of the control module support structure 3 (via two bolts). Under the control of the control module 10, they generate aerodynamic forces to suppress vibrations of the suspended load 2.

[0062] The first aerodynamic module includes a first motor support structure 4, a first motor 5 and a first rotor 6; the second aerodynamic module includes a second motor support structure 7, a second motor 8 and a second rotor 9; the first motor 5 and the second motor 8 are respectively fixed inside the first motor support structure 4 and the second motor support structure 7; the first motor support structure 4 and the second motor support structure 7 are fixed to the control module support structure 3 by bolts, the first rotor 6 is directly tightened to the first motor 5, and the second rotor 9 is directly tightened to the second motor 8. The first motor 5 and the second motor 8 drive the first rotor 6 and the second rotor 9 to rotate, generating aerodynamic force;

[0063] The control module support structure 3 is a 6-sided hollowed-out cube frame, with multiple (4) threaded holes set on the top and bottom of the frame for fixing the hooks; multiple (2) threaded holes are set on any two adjacent sides for connecting with the first motor support structure 4 and the second motor support structure 7;

[0064] The first motor support structure 4 and the second motor support structure 7 are provided with a square frame on one side and a circular frame on the other side. The square frame and the circular frame are fixedly connected by two rectangular plates on the side. The space formed in the middle is used to place the motor, and multiple (2) threaded holes are provided on the square frame and the circular frame, which are respectively used to connect with the control module support structure 3 and the motor;

[0065] The control module 10 includes a controller, an inertial measurement unit and a communication module;

[0066] The inertial measurement unit is used to obtain the attitude information of the suspended load 2 and send it to the controller; the attitude information includes yaw angle, pitch angle and roll angle;

[0067] The controller is used to derive the position information of the suspended load 2 based on the posture information of the suspended load 2 and the length of the suspension rope and send it to the communication module; calculate the required aerodynamic force based on the position information of the suspended load 2, generate a control signal, and use the control signal to drive the first motor 5 and the second motor 8, so that the first rotor 6 and the second rotor 9 generate the required aerodynamic force to achieve vibration suppression of the suspended load 2; in this embodiment, an STM32C8T6 microcontroller is used;

[0068] The communication module is used to transmit the position information of the suspended load 2 to an external device in a wireless communication manner for monitoring the position of the suspended load.

[0069] Example 2:

[0070] A method for suppressing vibration of a suspended load is implemented based on a device for suppressing vibration of a suspended load, and specifically comprises the following steps:

[0071] Step 1: Constructing a dynamic equation of a suspended load-device for suppressing suspended load vibration system; the suspended load-device for suppressing suspended load vibration system comprises a suspended load 2 and a device for suppressing suspended load vibration 1;

[0072] First, a global Cartesian coordinate system O-XYZ is established with the suspension point O as the origin. The suspension point is the connection point between the suspension rope and the tower crane, wherein the Z axis is in the downward direction of the suspension point O as the positive direction, the X axis is toward the rotation axis of the first rotor 6, and the Y axis is toward the rotation axis of the second rotor 9; at the same time, the center of the control module 10 in the device for suppressing the vibration of the suspended load 1 (approximately the center of the suspended load 2) is O. l Define a local Cartesian coordinate system O for the origin l -X l Y l Z l , where X l Axis and Y l The direction of the axis is consistent with the direction of the inertial measurement unit (IMU), Z l The positive direction of the axis is the direction along the lifting rope pointing to the suspended load 2; the local Cartesian coordinate system coincides with the global Cartesian coordinate system at the initial moment, and then rotates around its own Z l Axis, Y l Axis and X l The corresponding Euler angles are denoted as ψ, θ and The first rotor 6 and the second rotor 9 are respectively mounted so that their rotation axes are parallel to X l Axis and Y l Position of the positive axis, hence the position of the suspended load 2 in the global Cartesian coordinate system O-XYZ It can be expressed as:

[0073] ;

[0074] in, represents the position of the suspended load 2 in the global Cartesian coordinate system O-XYZ, represents the displacement of the suspended load 2 along the X-axis, represents the displacement of the suspended load 2 along the Y-axis, represents the displacement of the suspended load 2 along the Z axis, 、 and Represents the rotation matrices in the X, Y, and Z directions respectively, Denotes the suspended load 2 in the local Cartesian coordinate system O l -X l Y l Z l The position vector in , L represents the length of the rope;

[0075] Three rotation matrices 、 and Given the following:

[0076] ;

[0077] Aerodynamic forces of the rotor in the global Cartesian coordinate system O-XYZ It can be expressed as:

[0078] ;

[0079] in, represents the aerodynamic force of the rotor in the global Cartesian coordinate system O-XYZ, The rotor is in the local Cartesian coordinate system O l -X l Y l Z l The aerodynamic force vector generated in and Respectively represent the X l Axis and Y l aerodynamic forces on the shaft;

[0080] The tension exerted by the rope on the suspended load 2 in the global Cartesian coordinate system O-XYZ is expressed as:

[0081] ;

[0082] in, represents the tension exerted by the rope on the suspended load 2 in the global Cartesian coordinate system O-XYZ, The rope is in the local Cartesian coordinate system O l -X l Y l Z l The tension applied to the suspended load 2, Denotes the rope in the local Cartesian coordinate system O l -X l Y l Z l The magnitude of the tension applied to the suspended load 2;

[0083] The gravity acting on the suspended load 2 and the device for suppressing the vibration of the suspended load 1 is expressed as:

[0084] ;

[0085] in, represents the weight acting on the suspended load 2 and the device for suppressing the vibration of the suspended load 1, represents the total mass of the suspended load 2 and the device for suppressing the vibration of the suspended load 1, represents the acceleration due to gravity;

[0086] According to Newton's second law, we have:

[0087] ;

[0088] in, express Second derivative with respect to time;

[0089] Substituting equations (1)-(5) into equation (6), the dynamic equation of the suspended load-device for suppressing the vibration of the suspended load system is expressed as:

[0090] ;

[0091] Step 2: Based on the dynamic equations of the suspended load-device system, an outer-loop position PID controller and an inner-loop speed PD controller are constructed. The outer-loop position PID controller and the inner-loop speed PD controller are used to solve the desired force of the suspended load 2. The outer-loop position PID controller is used to control the aerodynamic force control device to maintain the suspended load 2 at the set desired position. The inner-loop speed PD controller is used to control the aerodynamic force control device to maintain the speed of the suspended load 2 at zero, preventing vibration.

[0092] In order to keep the suspended load 2 at the desired position [0, 0, L] in the global Cartesian coordinate system O-XYZ T , where T represents the transpose. An outer-loop position PID controller is used to provide closed-loop feedback control of device 1 for suppressing suspended load vibration. For suspended load 2, the position of suspended load 2 remains stable as long as x = 0 and y = 0, and displacement z is not of primary concern.

[0093] Position error of suspended load 2 at time k The definition is as follows:

[0094] ;

[0095] Among them, k represents the time, represents the position error of the suspended load 2 at time k, represents the actual displacement of the suspended load 2 along the X-axis at time k, represents the actual displacement of the suspended load 2 along the Y axis at time k, represents the desired displacement of the suspended load 2 along the X-axis, represents the desired displacement of the suspended load 2 along the Y-axis, and =0 and =0;

[0096] The outer loop position PID controller is designed as:

[0097] ;

[0098] in, represents the desired velocity of the suspended load 2, represents the desired velocity of the suspended load 2 along the X-axis, represents the desired velocity of the suspended load 2 along the Y-axis; is the proportional gain used in the outer loop position PID controller, is the position error increment;

[0099] The velocity error is defined as:

[0100] ;

[0101] in, represents the velocity error of the suspended load 2 at time k, represents the actual speed of the suspended load 2 at time k, represents the velocity component of the suspended load 2 along the X axis at time k, represents the velocity component of the suspended load 2 along the Y axis at time k;

[0102] The inner loop speed PD controller is designed as:

[0103] ;

[0104] in, represents the desired force on the suspended load 2 at time k, and are the proportional gain and differential gain in the inner loop speed PD controller respectively, is the speed error increment;

[0105] Step 3: Design a control distributor. Based on the desired force of the suspended load 2, the control distributor calculates the required aerodynamic force and generates a PWM signal to control and drive the first motor 5 and the second motor 8. This allows the first rotor 6 and the second rotor 9 to generate the required aerodynamic force, thereby suppressing the vibration of the suspended load 2.

[0106] Next, design the control distributor to obtain the l Aerodynamic force of the shaft and along Y l Aerodynamic force of the shaft The expression of the Z-axis direction is based on the equation in formula (7), and the rope is in the local Cartesian coordinate system O l -X l Y l Z l Z l The tension in the axial direction applied to the suspended load 2 is expressed as:

[0107] ;

[0108] in, represents the acceleration component of the suspended load 2 along the Z axis;

[0109] Desired force F of suspended load 2 d Designed to:

[0110] ;

[0111] ;

[0112] in, represents the desired force of the suspended load 2 along the X-axis, represents the desired force of the suspended load 2 along the Y axis;

[0113] Equation (13) can be rewritten as the system of equations in Equation (15), where the unknowns are and :

[0114] ;

[0115] Since the mass of the suspended load 2 is usually unknown, Eq. middle and Through the parameters of the outer loop position PID controller and the inner loop speed PD controller , and Adjust by solving the formula , it can be expressed that along X l Aerodynamic force of the shaft and along Y l Aerodynamic force of the shaft as follows:

[0116] ;

[0117] Aerodynamics and Used to determine the rotation direction and speed of the motor. When the aerodynamic force is greater than zero, a high-level signal is output to set the rotation direction of the motor; when the aerodynamic force is less than zero, a low-level signal is output. According to the Renard formula, the desired rotation speed of the rotor is given by the following formula:

[0118] ;

[0119] in, represents the rotor speed of the first rotor 6, represents the rotor speed of the second rotor 9, represents the aerodynamic coefficient, which is affected by factors such as blade geometry and pitch angle; is the air density, is the rotor diameter;

[0120] The corresponding PWM signal is calculated as follows:

[0121] ;

[0122] in, It represents the PWM value output by the first motor 5, Indicates that the second motor 8 outputs a PWM value, 、 Represents unknown parameters, which are related to motor properties;

[0123] For unknown parameters a, b and , and , once the rotor and motor used in the apparatus for suppressing the vibration of a suspended load 1 are determined, they can be approximately regarded as constants. Their influence can be controlled by the outer loop position PID controller and the inner loop speed PD controller. , and The corresponding PWM value can be expressed as:

[0124] ;

[0125] To impose a saturation limit on the control input, the following saturation function is defined:

[0126] ;

[0127] in, represents the saturation function symbol, Indicates the PWM value, PWM amplitude;

[0128] Based on this definition, the corresponding l Axis and Y l The saturated control input of the motor on the axis is expressed as:

[0129] ;

[0130] in, represents the PWM value after the saturation function output of the first motor 5, It represents the PWM value after the saturation function output of the second motor 8.

[0131] This example further validates the vibration suppression performance of the device 1 for suppressing suspended load vibrations, targeting a single-degree-of-freedom suspended load system. A suspended load 2, weighing 0.456 kg, was suspended from a rigid support via a 1-meter-long steel cable. A device 1 for suppressing suspended load vibrations was installed above the load. Device 1 contained a controllable rotor with a diameter of 0.152 m and a maximum rotational speed of approximately 3735 rpm.

[0132] In the experiment, after the initial disturbance, the closed control (free vibration stage) and the open control (active vibration suppression stage) are performed alternately. The amplitude of each stage is as follows: Figure 3 The results show that under free vibration, the amplitude of x is about 0.152 m, and the amplitude of y is about 0.066 m. After the device 1 for suppressing the vibration of the suspended load is turned on, the amplitude is attenuated to about 0.018 m and 0.012 m, achieving an average attenuation of 84.99%.

[0133] It can be seen that the device 1 for suppressing vibration of suspended loads of the present invention has a compact structure and a fast response, and has a significant active vibration suppression effect on the suspended load 2. It can be widely used in scenes such as building hoisting to improve operation safety and efficiency.

[0134] Example 3:

[0135] This embodiment proposes an electronic device, including: one or more processors, and a memory, wherein the memory is used to store instructions, and when the instructions are executed by the one or more processors, the one or more processors execute the method of suppressing vibration of a suspended load.

[0136] The electronic device may be a mobile phone, computer, or tablet computer, and includes a memory and a processor. The memory stores a computer program that, when executed by the processor, implements a method for suppressing suspended load vibration as described in the embodiments. It will be appreciated that the electronic device may also include an input / output (I / O) interface and a communication component.

[0137] The processor is configured to execute all or part of the steps of the method for suppressing vibration of a suspended load as described in the above embodiment. The memory is configured to store various types of data, such as instructions for any application or method in the electronic device, as well as data related to the application.

[0138] The processor can be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is used to execute the method for suppressing the vibration of a suspended load described in the above embodiment.

[0139] Example 4:

[0140] This embodiment provides a computer-readable storage medium storing executable instructions. When the instructions are executed, if they are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.

[0141] The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of a method for suppressing vibration of a suspended load described in various embodiments of the present application.

[0142] The aforementioned storage media include: flash memory, hard disk, multimedia card, card-type memory (for example, SD (Secure Digital Memory Card) or DX (Memory Data Register, MDR) memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, server, APP (Application, abbreviation of application software) application store, and other media that can store program verification codes, on which a computer program is stored. When the computer program is executed by a processor, it can implement the various steps of the above-mentioned method for suppressing the vibration of a suspended load.

[0143] Example 5:

[0144] This embodiment provides a computer program product, including a computer program or instructions. When the computer program or instructions are executed by a processor, the method for suppressing vibration of a suspended load is implemented.

[0145] Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution can be embodied in the form of a computer program product.

[0146] The various embodiments in this application are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0147] The scope of protection of this application is not limited to the above-described embodiments. Obviously, those skilled in the art may make various modifications and variations to this disclosure without departing from the scope and spirit of this disclosure. If such modifications and variations fall within the scope of this disclosure and its equivalents, the disclosure is intended to include such modifications and variations.

Claims

1. A device for suppressing vibration of a suspended load, characterized in that: It includes a control module support structure, a first pneumatic module, a second pneumatic module and a control module; Four hooks are provided above and below the control module support structure. The four upper hooks are connected to the tower crane through ropes, and the four lower hooks are connected to the suspended load through ropes. The control module is fixed inside the control module support structure to protect the control module. The first pneumatic module and the second pneumatic module are respectively arranged on adjacent sides of the control module support structure to generate aerodynamic force under the control of the control module to achieve vibration suppression of the suspended load.

2. The device for suppressing vibration of a suspended load according to claim 1, characterized in that: Furthermore, the first aerodynamic module includes a first motor support structure, a first motor and a first rotor; the second aerodynamic module includes a second motor support structure, a second motor and a second rotor; the first motor and the second motor are respectively fixed inside the first motor support structure and the second motor support structure; The first motor support structure and the second motor support structure are fixed to the control module support structure by bolts. The first rotor is directly tightened on the first motor, and the second rotor is directly tightened on the second motor. The first rotor and the second rotor are driven to rotate by the first motor and the second motor to generate aerodynamic force.

3. The device for suppressing vibration of a suspended load according to claim 1, characterized in that: The control module support structure is a 6-sided hollowed-out cube frame, with multiple threaded holes on the top and bottom of the frame for fixing the hooks; multiple threaded holes are provided on any two adjacent sides for connecting with the first motor support structure and the second motor support structure; The first motor support structure and the second motor support structure are provided with a square frame on one side and a circular frame on the other side. The square frame and the circular frame are fixedly connected by two rectangular plates on the side. The space formed in the middle is used to place the motor, and multiple threaded holes are provided on the square frame and the circular frame, which are respectively used to connect with the control module support structure and the motor.

4. The device for suppressing vibration of a suspended load according to claim 1, characterized in that: The control module includes a controller, an inertial measurement unit and a communication module; The inertial measurement unit is used to obtain attitude information of the suspended load and send it to the controller; the attitude information includes yaw angle, pitch angle and roll angle; The controller is configured to derive position information of the suspended load based on the attitude information of the suspended load and the length of the suspension rope and transmit the information to the communication module; calculate the required aerodynamic force based on the position information of the suspended load, generate a control signal, and utilize the control signal to drive the first motor and the second motor so that the first rotor and the second rotor generate the required aerodynamic force to achieve vibration suppression of the suspended load; The communication module is used to transmit the position information of the suspended load to an external device in a wireless communication manner for monitoring the position of the suspended load.

5. A method for suppressing vibration of a suspended load, implemented based on the device for suppressing vibration of a suspended load according to any one of claims 1 to 4, characterized in that: The specific steps include: Constructing a dynamic equation of a suspended load-device system for suppressing suspended load vibration; the suspended load-device system for suppressing suspended load vibration comprises a suspended load and a device for suppressing suspended load vibration; Based on the dynamic equations of the suspension load-device for suppressing suspension load vibration system, an outer-loop position PID controller and an inner-loop speed PD controller are constructed, and the desired force of the suspension load is obtained by solving the outer-loop position PID controller and the inner-loop speed PD controller. The outer-loop position PID controller is used to control the aerodynamic force control device to maintain the suspension load at a set desired position. The inner-loop speed PD controller is used to control the aerodynamic force control device to maintain the speed of the suspension load at zero, thereby preventing vibration. A control distributor is designed. The required aerodynamic force is calculated using the control distributor according to the expected force of the suspended load, and a PWM signal is generated to control and drive the first motor and the second motor, so that the first rotor and the second rotor generate the required aerodynamic force to achieve vibration suppression of the suspended load.

6. A method for suppressing vibration of a suspended load according to claim 5, characterized in that: The process of constructing the dynamic equation of the suspended load-device for suppressing suspended load vibration system is as follows: First, a global Cartesian coordinate system O-XYZ is established with the suspension point O as the origin. The suspension point is the connection point between the suspension rope and the tower crane, where the Z axis is in the downward direction of the suspension point O as the positive direction, the X axis is toward the rotation axis of the first rotor, and the Y axis is toward the rotation axis of the second rotor; at the same time, the center O of the control module in the device for suppressing the vibration of the suspended load is set as the center. l Define a local Cartesian coordinate system O for the origin l -X l Y l Z l , where X l Axis and Y l The direction of the axis is consistent with that of the inertial measurement unit, Z l The positive direction of the axis is the direction along the lifting rope pointing to the suspended load; the local Cartesian coordinate system coincides with the global Cartesian coordinate system at the initial moment, and then rotates around its own Z l Axis, Y l Axis and X l The corresponding Euler angles are denoted as ψ, θ and ; The dynamic equation of the suspended load-device for suppressing suspended load vibration system is expressed as: ； in, represents the position of the suspended load in the global Cartesian coordinate system O-XYZ, 、 and Represents the rotation matrices in the X, Y, and Z directions respectively; and Respectively represent the X l Axis and Y l aerodynamic forces on the shaft; The rope is in the local Cartesian coordinate system O l -X l Y l Z l The tension exerted on the suspended load, Denotes the rope in the local Cartesian coordinate system O l -X l Y l Z l The amount of tension applied to the suspended load; represents the total mass of the suspended load and the device that suppresses the vibration of the suspended load, represents the acceleration due to gravity; express The second derivative with respect to time.

7. The method for suppressing vibration of a suspended load according to claim 5, characterized in that: The process of constructing the outer loop position PID controller and the inner loop speed PD controller is: Position error of the suspended load at time k The definition is as follows: ； Among them, k represents the time, represents the position error of the suspended load at time k, represents the actual displacement of the suspended load along the X-axis at time k, represents the actual displacement of the suspended load along the Y axis at time k, represents the expected displacement of the suspended load along the X-axis, represents the desired displacement of the suspended load along the Y-axis, and =0 and =0; The outer loop position PID controller is designed as: ； in, represents the desired velocity of the suspended load, represents the desired velocity of the suspended load along the X-axis, represents the desired velocity of the suspended load along the Y-axis; is the proportional gain used in the outer loop position PID controller, is the position error increment; The velocity error is defined as: ； in, represents the velocity error of the suspended load at time k, represents the actual velocity of the suspended load at time k, represents the velocity component of the suspended load along the X axis at time k, represents the velocity component of the suspended load along the Y axis at time k; The inner loop speed PD controller is designed as: ； in, represents the expected force of the suspended load at time k, and are the proportional gain and differential gain in the inner loop speed PD controller respectively, is the speed error increment.

8. The method for suppressing vibration of a suspended load according to claim 5, characterized in that: The process of generating PWM signal is as follows: The PWM value is expressed as: ； in, It represents the PWM value output by the first motor. Indicates the PWM value of the second motor output; To impose saturation limits, the following saturation function is defined: ； in, represents the saturation function symbol, Indicates the PWM value, PWM amplitude; Corresponding installation in X l Axis and Y l The saturated control input of the motor on the axis is expressed as: ； in, Indicates the PWM value after the output of the first motor saturation function, Indicates the PWM value after the second motor saturation function output.

9. An electronic device, characterized in that: include: One or more processors, and a memory, wherein the memory is used to store instructions, and when the instructions are executed by the one or more processors, the one or more processors execute the method for suppressing vibration of a suspended load according to any one of claims 5 to 8.

10. A computer-readable storage medium, characterized in that The computer stores executable instructions, which, when executed, enable a processor to perform the method for suppressing vibration of a suspended load according to any one of claims 5 to 8.

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