Self-adaptive vibration damping adjusting arm lever device and control method
By using an adaptive vibration damping adjustment boom device, boom vibration can be detected and adjusted in real time, solving the problems of increased vibration and weight caused by increased stiffness in traditional boom devices, and achieving higher positioning accuracy and faster response time.
Patent Information
- Application Number
- CN202511522785.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-23
- Publication Date
- 2025-12-26
AI Technical Summary
Traditional boom devices experience increased weight and motion inertia due to increased stiffness during acceleration or deceleration, resulting in vibration that affects the positioning accuracy of the electromagnetic launcher at the top load and also exhibits hysteresis and overshoot.
An adaptive vibration damping adjustment boom device is designed. The device measures acceleration and vibration signals in real time through a vibration detection module and uses a damping adjustment module for adaptive adjustment, including the extension and retraction of the damping brake and damper, to control the vibration of the boom, reduce the vibration amplitude, and improve the position accuracy.
It effectively reduces boom vibration amplitude, shortens motion response time, improves position accuracy, reduces overall equipment weight, and avoids hysteresis and overshoot.
Smart Images
Figure CN121206151A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of interference equipment system design technology, and in particular relates to an adaptive vibration damping adjustment arm device and control method. Background Technology
[0002] The boom is a crucial component of a tracking and jamming device, with an electromagnetic transmitter mounted at its tip. A longer boom allows for a larger range of spatial motion, enabling the simulation of a wider range of trajectories from moving objects. However, increased boom length also leads to greater deformation at the boom tip, reducing the positional accuracy of the electromagnetic transmitter. Furthermore, increased boom length results in increased weight, higher inertia, and longer response time for the tracking and jamming device. During acceleration and deceleration, the boom vibrates, further increasing the positional accuracy deviation of the electromagnetic transmitter.
[0003] The traditional adjustment method is to increase the stiffness of the boom through structural design to ensure the stability of the boom during acceleration or deceleration, thereby improving the positioning accuracy of the electromagnetic launch of the top load. Increasing stiffness will increase the cross-sectional size of the boom and the total weight of the tracking and interference equipment, and increase the motion inertia. During acceleration and deceleration, the top of the boom will experience "hysteresis" and "overshoot". "Hysteresis" means that the motion response of the boom tip is later than the boom response after the boom moves, and the boom tip has not yet moved. "Overshoot" means that the boom tip continues to move after the boom stops. Summary of the Invention
[0004] The purpose of this invention is to solve the problems mentioned in the background art and to propose an adaptive vibration damping adjustment boom device and control method.
[0005] This application provides an adaptive vibration damping adjustment boom device, the device comprising:
[0006] The boom assembly mainly includes: a boom body, a vibration detection module, a data processing module, and a damping adjustment module; the vibration detection module, data processing module, and damping adjustment module are installed on the boom body.
[0007] The vibration detection module measures the boom vibration and acceleration, feeds back the measured acceleration and vibration signals to the data processing module, and then sends a control signal to the damping adjustment module to control the damping adjustment module to extend and retract, change the damping magnitude, and perform damping control on the boom vibration. The module also performs adaptive damping adjustment according to the control method.
[0008] Furthermore, the boom body is composed of a load support section and a counterweight section, and the whole is shaped like a triangular pyramid. The three edges of the triangular pyramid have the same inclination angle along the length of the load support section. The load support section is located at the front of the boom body, and the front end of the load support section carries the electromagnetic launching device. The counterweight section is located at the rear of the boom body. The counterweight section is used to place the tracking interference device and counterweight blocks as needed. The pitch axis mounting interface is located in the counterweight section, and the center of gravity of the boom is adjusted to fall near the pitch axis of the boom.
[0009] Furthermore, the vibration detection module includes: a pitch acceleration and vibration measurement device and an azimuth acceleration and vibration measurement device; two measurement devices for each direction are grouped together; one pitch acceleration and vibration measurement device is placed at the top of the boom and the other on the frame above the boom's pitch axis; one azimuth acceleration and vibration measurement device is placed at the top of the boom and the other on the frame above the boom's pitch axis; or, a device that combines pitch acceleration and vibration measurement and azimuth acceleration and vibration measurement only requires one group of two. The vibration detection module feeds back the measured acceleration and vibration signals to the data processing module.
[0010] Furthermore, the damping adjustment module includes: a damping brake, a damper, and a damper-arm connector;
[0011] The damping brake is connected to the damper. The movement of the damping brake drives the movement of the damper to change the magnitude of the damping force. The damper is connected to the boom through the boom connector. The damping force of the damper is transmitted to the boom through the damper-boom connector to control the vibration at the end of the boom.
[0012] The damping brake is an electromagnetic telescopic device, hydraulic telescopic device, or motor screw motion device capable of linear motion. The damper is initially in a tensioned state, with a preload applied to the connection between the damper and the boom. There are three damping brakes, arranged in a triangular pattern on a plane perpendicular to the boom's length, located along the extension lines of the three edges of the boom's triangular pyramid. The connection between the damper and the boom is a structural component such as a rope or rod.
[0013] Furthermore, the data processing module measures acceleration and vibration, processes the measured data to determine the vibration adjustment direction, and converts it into a control signal that is transmitted to the damping adjustment module.
[0014] This application also provides a control method for an adaptive vibration damping adjusting boom device, the method being used to control the device provided in this application, the method comprising:
[0015] When accelerating or decelerating in the pitch direction, the data measured by the pitch acceleration and vibration measuring device placed at the top of the boom will deviate from those measured by the pitch acceleration and vibration measuring device placed on the frame above the boom pitch axis. The direction of boom bending can be determined based on the magnitude of the deviation.
[0016] If the boom bends downwards, the upper damping brake contracts, causing the damper to move. This generates tension between the damper and the boom connector. The two lower damping brakes extend, causing the damper to move. This reduces the preload between the damper and the boom connector. The boom generates an upward force under the action of the three damping brakes, reducing the bending amplitude of the boom. If the boom vibrates periodically, the damping brakes can also respond to the periodic extension and retraction to suppress the vibration.
[0017] When the azimuth direction is accelerated or decelerated, the data measured by the azimuth acceleration and vibration measuring device placed at the top of the boom and the azimuth acceleration and vibration measuring device placed on the frame above the boom pitch axis will deviate. The direction of boom bending can be determined based on the magnitude of the deviation.
[0018] If the boom bends to the left, the upper damping brake remains stationary, while the lower left damping brake extends, causing the damper to move and reducing the preload between the damper and the boom connector. The lower right damping brake retracts, causing the damper to move and generating tension between the damper and the boom connector, thus preventing the boom from bending to the left. When the boom bends to the right, the extension and retraction of the brakes are reversed compared to when it bends to the left.
[0019] When there is acceleration and deceleration in both pitch and azimuth directions, the three damping brakes move simultaneously to adjust the amplitude at the end of the boom.
[0020] To reduce the weight of the boom while maximizing its stiffness and minimizing vibration amplitude during acceleration and deceleration, this application designs an adaptive vibration damping adjustment boom device for tracking interference equipment. The designed boom device can adaptively adjust the damping of the boom during unidirectional acceleration and deceleration in pitch and azimuth, and can also adjust it during simultaneous pitch and azimuth movements. The designed adaptive vibration damping adjustment boom reduces vibration amplitude, shortens motion response time, improves positional accuracy, and reduces the overall weight of the tracking interference equipment.
[0021] To more clearly illustrate the functional characteristics and structural parameters of the present invention, further explanation is provided below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description
[0022] Figure 1 A schematic diagram of the boom device provided in the embodiments of this application;
[0023] Figure 2 This is a schematic diagram of the installation position of the detection device provided in the embodiments of this application;
[0024] Figure 3 This is a schematic diagram of the damping adjustment module provided in an embodiment of this application;
[0025] Figure 4 A schematic diagram of the boom pitch direction provided in the embodiments of this application;
[0026] Figure 5 This is a schematic diagram of the boom orientation provided in an embodiment of this application;
[0027] Figure 6 An adaptive adjustment flowchart provided for embodiments of this application;
[0028] Reference numerals: 1-arm body, 2-vibration detection module, 3-data processing module, 4-damping adjustment module, 5-pitch direction, 6-azimuth direction, 7-electromagnetic launching device, 8-counterweight, 9-azimuth turntable.
[0029] 11 Load support section, 12 Counterweight section, 21 First pitch acceleration and vibration measurement device, 22 Second pitch acceleration and vibration measurement device, 23 First azimuth acceleration and vibration measurement device, 24 Second azimuth acceleration and vibration measurement device, 41 First damping adjustment module, 42 Second damping adjustment module, 43 Third damping adjustment module, 401 Damping brake, 402 Damper, 403 Damper and boom connection. Detailed Implementation
[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0031] like Figure 1 As shown in this embodiment, an adaptive vibration damping adjustment arm device and control method for tracking interference equipment are described.
[0032] The boom assembly includes a boom body 1, a vibration detection module 2, a data processing module 3, and a damping adjustment module 4. The boom body 1 is composed of a load support section 11 and a counterweight section 12. The vibration detection module 2, data processing module 3, damping adjustment module 4, and counterweights 8 are installed on the counterweight section 12 of the boom body 1. The number of counterweights 8 is adjusted to ensure the boom's center of gravity is near the boom's pitch axis. The load support section 11 is welded from profiles and has an overall triangular pyramid shape. Each cross-section along the length of the load support section is triangular, and the three edges of the triangular pyramid have the same inclination angle along the length of the load support section.
[0033] The first pitch acceleration and vibration measuring device 21 is placed at the top of the boom, and the second pitch acceleration and vibration measuring device 22 is placed on the frame above the boom's pitch axis, on the same pitch plane as the first pitch acceleration and vibration measuring device. The first azimuth acceleration and vibration measuring device 23 is placed at the top of the boom, and the second azimuth acceleration and vibration measuring device 24 is placed on the frame above the boom's pitch axis. Figure 2 As shown.
[0034] The first damping adjustment module 41, the second damping adjustment module 42, and the third damping adjustment module 43 are located at the rear end of the load support section 11, parallel to the three edges. The first, second, and third damping adjustment modules have the same structure, including a damping brake 401, a damper 402, and a damper-arm connector 403. The damping brake 401 is connected to the damper 402. The contraction and extension of the damping brake 401 can drive the damper 402 to move and change the magnitude of the damping force. When contracted, the damper-arm connector 403 generates tension; when extended, it generates thrust. The damper is connected to the arm through the damper-arm connector, and the damping force of the damper is transmitted to the arm through the connector, controlling the vibration at the end of the arm. The damping brake can be an electromagnetic telescopic device, a hydraulic telescopic device, or a motor-driven screw device capable of linear motion. The damper is initially in a tensioned state, with a preload applied to the connection between the damper and the boom. This connection is typically a structural component such as a rope or rod. Figure 3 As shown.
[0035] Damping adjustment control process method: When accelerating or decelerating in the pitch direction, the first pitch acceleration and the acceleration data measured by the vibration measuring device 21 are as follows: Vibration data The acceleration data measured by the second pitch acceleration and vibration measuring device 22 are as follows: Vibration data ,Depend on Size and given allowed threshold Compare the data to determine if the top of the boom is vibrating.
[0036] like Then there is no need to change the damping magnitude; if Damping adjustment is required to control the vibration amplitude at the top of the boom. The adjustment direction is based on the acceleration. Determine the direction until Until then. If tilting upwards, when... Then the second damping adjustment module contracts, and the first and third damping adjustment modules extend, with the extension amounts of the first and third damping adjustment modules being the same; when The first and third damping adjustment modules retract, and their extension amounts are the same, while the second damping adjustment module extends. If pitch is downwards, when... The first and third damping adjustment modules contract, and their elongation amounts are the same, while the second damping adjustment module elongates; when If the second damping adjustment module contracts, the first and third damping adjustment modules extend, and the extension amounts of the first and third damping adjustment modules are the same. When At that time, adjust the direction and If the direction of movement is opposite, if When moving upwards, the first and third damping adjustment modules contract, and their extension amounts are the same, while the second damping adjustment module extends; if When moving downwards, the second damping adjustment module contracts, while the first and third damping adjustment modules extend, with the extension amounts of the first and third damping adjustment modules being the same.
[0037] When the motion accelerates or decelerates in the azimuth direction, the acceleration data measured by the first azimuth acceleration and vibration measuring device 23 are as follows: Vibration data The acceleration data measured by the second-position acceleration and vibration measuring device 24 is as follows: Vibration data ,Depend on Size and given allowed threshold Compare and determine whether the top of the boom is vibrating. Then there is no need to change the damping magnitude; if Damping adjustment is required to control the vibration amplitude at the top of the boom. The adjustment direction is based on the acceleration. Determine the direction until Until then. If the direction is to the left, when The third damping adjustment module contracts, the first damping adjustment module extends, and the second damping adjustment module remains unchanged; when The third damping adjustment module extends, the first damping adjustment module retracts, and the second damping adjustment module remains unchanged. If the orientation is to the right, when... The third damping adjustment module extends, the first damping adjustment module contracts, and the second damping adjustment module remains unchanged; when The third damping adjustment module contracts, the first damping adjustment module extends, and the second damping adjustment module remains unchanged. When Adjusting direction and If the direction of movement is opposite, if When moving to the left, the third damping adjustment module extends, the first damping adjustment module contracts, and the second damping adjustment module remains unchanged; if When moving to the right, the third damping adjustment module contracts, the first damping adjustment module extends, and the second damping adjustment module remains unchanged.
[0038] If the boom undergoes combined pitch and azimuth movements, the pitch and azimuth directions are decomposed based on data measured by the measuring device. The required extension and retraction amounts from each damping adjustment module are then calculated for damping adjustment. A schematic diagram of the pitch and azimuth movement directions is shown below. Figure 5 , 6 As shown.
[0039] The data measurement module converts the measured acceleration and vibration data into electrical pulse signals or current magnitude signals, which then control the extension and retraction of the drive damping adjustment module.
[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. An adaptive vibration damping adjustable armrest device, characterized by, The device comprises: The arm rod device mainly comprises an arm rod body (1), a vibration detection module (2), a data processing module (3) and a damping adjustment module (4); the vibration detection module (2), the data processing module (3) and the damping adjustment module (4) are installed on the arm rod body (1); The vibration detection module (2) measures the vibration and acceleration of the arm rod, feeds the measured acceleration and vibration signals to the data processing module (3), and sends a control signal to the damping adjustment module (4) to control the damping adjustment module (4) to stretch and shrink, change the damping size, control the vibration of the arm rod, and perform damping self-adaptive adjustment according to the control method.
2. The apparatus of claim 1, wherein, The arm rod body is spliced by a load support section (11) and a counterweight section (12), and has a shape of a triangular pyramid, three edges of the triangular pyramid have the same inclination angle along the length direction of the load support section; the load support section (11) is located at the front section of the arm rod body, and an electromagnetic emission device is arranged at the front end of the load support section; the counterweight section is located at the rear section of the arm rod body, and devices for tracking interference equipment and counterweight blocks are arranged on the counterweight section as needed; a pitch shaft mounting interface is located on the counterweight section (12), and the gravity center of the arm rod is adjusted to be near the pitch shaft of the arm rod.
3. The apparatus of claim 2, wherein, The vibration detection module comprises pitch acceleration and vibration measuring devices and azimuth acceleration and vibration measuring devices; each direction measuring device is a group; two pitch acceleration and vibration measuring devices are arranged on the top end of the arm rod and on the frame above the pitch shaft of the arm rod; two azimuth acceleration and vibration measuring devices are arranged on the top end of the arm rod and on the frame above the pitch shaft of the arm rod; the vibration detection module feeds the measured acceleration and vibration signals to the data processing module.
4. The apparatus of claim 3, wherein, The damping adjustment module comprises a damping brake (401), a damper (402) and a damper and arm rod connecting piece (403); The damping brake (401) is coupled with the damper (402), the damping brake (401) moves to drive the damper (402) to move and change the damping force; the damper (402) is coupled with the arm rod through the damper and arm rod connecting piece (403), the damping force of the damper (402) is transmitted to the arm rod through the damper and arm rod connecting piece (403) to control the vibration at the end of the arm rod; The damping brake is a linearly movable electromagnetic telescopic device, a hydraulic telescopic device or a motor screw device; the damper (401) is in a tension state in the initial state, and a pre-tightening force is applied to the damper and arm rod connecting piece (403); the damping brake (401) is three in number and is arranged in a triangular distribution on a plane perpendicular to the length direction of the arm rod and on the three edge extension lines of the triangular pyramid of the arm rod.
5. The apparatus of claim 4, wherein, The data processing module (3) measures the acceleration and vibration, processes the measured data, obtains the vibration adjustment direction and converts the vibration adjustment direction into a control signal transmitted to the damping adjustment module.
6. A control method for an adaptive vibration damping adjustment arm lever device, the method being used to control any of the devices of claims 1 to 5, characterized in that, The method comprises: When the acceleration and deceleration motion in the pitch direction, the data measured by the pitch acceleration and vibration measuring device arranged on the top end of the arm rod and the pitch acceleration and vibration measuring device arranged on the frame above the pitch shaft of the arm rod will have a deviation, and the direction of the bending of the arm rod is determined according to the size of the deviation value. If the arm is bent downward, the upper damping brake is retracted, the damping brake moves, the tension between the damping brake and the arm connector is generated, the two lower damping brakes are extended, the damping brake moves, the pre-tightening force between the damping brake and the arm connector is reduced, the arm is driven upward by the three damping brakes, the bending amplitude of the arm is reduced; if the arm is periodically vibrated, the damping brake can also respond to the periodic extension and contraction to suppress the vibration; When the speed is increased or decreased in the azimuth direction, the azimuth acceleration and vibration measuring device placed at the top of the arm and the azimuth acceleration and vibration measuring device placed on the frame above the pitch axis of the arm will have a deviation in the data measured, and the direction of the bending of the arm is determined according to the size of the deviation value; If the arm is bent to the left, the upper damping brake is stationary, the lower left damping brake is extended, the damping brake moves, the pre-tightening force between the damping brake and the arm connector is reduced; the lower right damping brake is retracted, the damping brake moves, the tension between the damping brake and the arm connector is generated, and the bending of the arm to the left is suppressed; when the arm is bent to the right, the extension and retraction of the brake is opposite to that when the arm is bent to the left; When the pitch and azimuth directions have acceleration and deceleration at the same time, the three damping brakes move simultaneously to adjust the amplitude of the end of the arm.