Vibration reduction control method and system for engineering cantilever crane

Abstract

The invention discloses a vibration reduction control method and system for an engineering boom, which are applied to an overhead working truck. The method comprises the following steps: acquiring an acceleration signal at the tail end of a second knuckle arm in real time and carrying out band-pass filtering processing; judging whether the acceleration signal is greater than a set threshold, and if so, generating a feedback current according to a gain coefficient; synchronously acquiring an included angle between the first section arm and the basic arm and an included angle between the second section arm and the first section arm through an angle sensor; calculating and distributing weight coefficients of the first oil cylinder and the second oil cylinder based on the angle sum by using a proportional linear interpolation method; the weight coefficient is applied to feedback current to obtain output current, and the two oil cylinders are driven to generate cooperative action opposite to the vibration direction to counteract vibration; and repeating the steps until the acceleration signal after vibration reduction is lower than a threshold value. The invention further discloses a vibration reduction control system for achieving the method. The vibration suppression weights of the two oil cylinders can be dynamically adjusted according to the real-time posture of the boom, full-working-condition self-adaptive vibration reduction is achieved, and the device has the advantages of being simple in structure, good in vibration suppression effect, high in response speed and the like.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a vibration reduction control method and system for engineering booms, mainly used for vibration reduction of aerial work vehicles. Background Technology

[0002] Engineering booms are widely used in the field of construction machinery. Taking aerial work platforms as an example, the root end of the boom is mounted on the vehicle body, and a hydraulic cylinder is installed near the starting end via an axle connection. The boom's luffing motion is achieved by controlling the displacement of the hydraulic cylinder. In actual use, aerial work platforms typically have high requirements for the stability of the personnel platform. The boom is prone to vibration under external excitation. The superposition of multiple vibrations can lead to severe vibration of the personnel platform at the boom end, and the natural decay of this vibration often takes a long time. This not only directly affects the safety and work efficiency of aerial workers, but also accelerates the fatigue and aging of related mechanisms, and may even cause structural damage.

[0003] In existing technologies, various attempts have been made to control the vibration of aerial work platform booms. In recent years, with the development of sensor technology and real-time control theory, vibration control methods based on state feedback have gradually attracted attention. For example, some schemes collect the acceleration signal at the boom end as a feedback quantity, which is then processed by the controller to drive the hydraulic cylinder to produce a reverse action to suppress vibration. However, such methods often rely on only a single signal as the control basis, ignoring the influence of boom pose changes on vibration characteristics during actual operation. This leads to difficulties in real-time matching of control parameters and unstable vibration suppression effects. At the same time, relying solely on acceleration feedback is susceptible to noise interference, and control accuracy decreases under complex working conditions, making it difficult to achieve stable vibration suppression of the boom across the entire working range. Therefore, how to combine multi-source state information of the boom to achieve adaptive and high-precision vibration suppression remains a key technical challenge that urgently needs to be solved in this field. Summary of the Invention

[0004] To address the aforementioned shortcomings in the prior art, this invention provides a vibration reduction control method and system for booms, which actively eliminates vibrations that occur when the boom is subjected to external excitation, thereby maintaining the stability of the aerial work platform.

[0005] A vibration reduction control method for a boom, applied to an aerial work platform, the aerial work platform comprising a first boom section and a second boom section articulated sequentially, a first hydraulic cylinder for driving the first boom section and a second hydraulic cylinder for driving the second boom section, characterized in that the aerial work platform further comprises an acceleration sensor for acquiring vibration acceleration signals of the end of the second boom section or the manned platform, and an angle sensor for measuring the boom angle; the method includes the following steps:

[0006] Step 1: Real-time acquisition of the acceleration signal at the end of the second boom section; bandpass filtering of the acceleration signal to remove high-frequency noise interference and DC component; extraction of 0.1... Vibration dominant frequency signal within the 5Hz range;

[0007] Step 2: Set a vibration threshold. When the amplitude of the filtered acceleration signal is lower than the preset threshold, the output current is zero; when it is higher than the threshold, an open-loop proportional control method is used to generate a feedback current. where a is the filtered acceleration signal value. This is the proportionality coefficient;

[0008] Step 3: Simultaneously obtain the angle between the first arm section and the base arm using the angle sensor. and the angle between the second arm and the first arm. Determine the current attitude of the boom;

[0009] Step 4: Based on the boom posture information obtained in Step 3, dynamically assign weight coefficients to the first and second hydraulic cylinders using the angle ratio linear interpolation method.

[0010] Step 5: Combine the feedback current generated in Step 2 with the weighting coefficients allocated in Step 3, and apply them to the control valves of the first and second cylinders respectively, driving the two cylinders to generate control excitations opposite to the vibration direction, thereby effectively suppressing the boom vibration.

[0011] Step 6: Repeat steps 1 to 5 until the vibration signal detected by the acceleration sensor is lower than the preset threshold, thus completing the vibration reduction control.

[0012] In some embodiments of the present invention, the scaling factor Based on pre-calibrated experimental tests, and with different proportional coefficients selected for different working conditions, the proportional coefficient of each cylinder is set independently.

[0013] In some embodiments of the present invention, step 4, which involves dynamically assigning weight coefficients to the first and second hydraulic cylinders, specifically includes:

[0014] S3.1: The angle between the first arm and the base arm is obtained in real time via an angle sensor. and the angle between the second arm and the first arm. ;

[0015] S3.2: The weighting coefficients are dynamically calculated based on the angle-proportional linear interpolation method. The calculation formula is as follows:

[0016] First cylinder weighting coefficient:

[0017] Second cylinder weighting coefficient:

[0018] And satisfy ;

[0019] S3.3: The feedback current generated in step 2 Multiply by the corresponding weighting coefficients to obtain the control current of the first hydraulic cylinder. The second cylinder controls the current. .

[0020] In some embodiments of the present invention, to adapt to the dynamic characteristics of different boom systems, a general form with offset and gain is used for weight allocation:

[0021]

[0022]

[0023] in, and These are the lower and upper limits of the safe working range for the first arm's angle, respectively. and These are the lower and upper limits of the safe working range for the angle of the second arm, respectively. , The gain coefficient is adjustable. , The offset coefficient is ; and satisfies .

[0024] The logic behind the above weight allocation method is that when the second arm has a relatively large extension (i.e., When the weight is relatively large, the vibration inertia effect at the end of the second boom section is more significant, and the weight obtained by the first boom cylinder is reduced accordingly. Proportionally increasing the arm allows the first section to provide a more dominant base vibration-damping excitation; conversely, when the first section has a relatively large extension (i.e., When the weight is relatively large, the weight obtained by the second arm cylinder is... The proportionate increase allows the second arm to provide a more dominant end-effector vibration-damping excitation.

[0025] In some embodiments of the present invention, step 4, which involves driving the two hydraulic cylinders to generate a control excitation opposite to the vibration direction, specifically includes:

[0026] S4.1: Determine the direction of the current vibration based on the phase information of the acceleration signal;

[0027] S4.2: The first cylinder control current obtained in step S3.3 Second cylinder control current The servo proportional valves of the first and second hydraulic cylinders are respectively input to control the extension or retraction of the cylinder piston rod, generating a thrust opposite to the direction of vibration.

[0028] S4.3: Through the coordinated action of the first and second hydraulic cylinders, a reverse torque is generated within the boom system to counteract the vibration energy caused by external excitation.

[0029] In some embodiments of the present invention, during the vibration reduction process, the displacement of the first cylinder and the second cylinder always remains in the same direction as the boom vibration displacement, thus avoiding the secondary vibration introduced by the frequent reverse movement of the cylinder in the traditional vibration suppression method.

[0030] This invention also discloses a vibration reduction control system for a boom, comprising a monitoring module, a control module, and an execution module. The monitoring module is further divided into a vibration monitoring module and an attitude monitoring module.

[0031] In some embodiments of the present invention, the vibration detection module is used to acquire acceleration signals on the manned platform at the end of the second boom section in real time and transmit them to the controller. It includes an acceleration sensor and a signal processing circuit. The acceleration sensor is installed at the end of the second boom section or at the bottom of the manned platform and is used to acquire acceleration signals generated by boom vibration in real time. The signal processing circuit is connected to the output terminal of the acceleration sensor and is used to perform bandpass filtering on the acceleration signal to filter out high-frequency noise interference and DC components.

[0032] In some embodiments of the present invention, the attitude detection module is used to obtain the angle between the first arm and the base arm in real time. and the angle between the second arm and the first arm. The data is transmitted to a controller, which includes an angle sensor. The angle sensor is installed near the hinge point between the boom and the turntable or an adjacent boom, and is used to directly measure the angle between the boom and the horizontal plane or the relative angle between two booms.

[0033] In some embodiments of the present invention, the control module includes a threshold judgment module and a weight allocation module; the threshold judgment module is used to perform threshold judgment on the filtered acceleration signal and generate a feedback current; the weight allocation module is used to allocate the weight according to the included angle. and The weighting coefficients of the first and second cylinders are calculated in real time, and the feedback current is multiplied by the corresponding weighting coefficients to obtain the control current of the first and second cylinders.

[0034] In some embodiments of the present invention, the control execution module includes a first servo proportional valve, a second servo proportional valve, a first hydraulic cylinder, and a second hydraulic cylinder; the input end of the first servo proportional valve is connected to the controller, and the output end is connected to the first hydraulic cylinder; the input end of the second servo proportional valve is connected to the controller, and the output end is connected to the second hydraulic cylinder; during operation, the first servo proportional valve and the second servo proportional valve drive the first hydraulic cylinder and the second hydraulic cylinder to move according to the control current output by the controller, generating a driving force opposite to the vibration direction.

[0035] The present invention has at least the following beneficial effects:

[0036] First, the present invention can achieve vibration suppression by utilizing the existing first and second cylinders of the system without adding other external vibration damping devices, without the need to add piezoelectric materials, vibration damping cylinders or other additional components, thus significantly reducing system cost and structural complexity.

[0037] Secondly, this invention uses a linear interpolation method based on angle ratio to dynamically assign weight coefficients to the cylinders of the first and second boom sections, enabling the two cylinders to participate in vibration suppression in a proportion that matches the current boom posture, thus solving the problem that traditional single-cylinder control is difficult to adapt to changes in boom posture.

[0038] Third, the present invention employs bandpass filtering and threshold judgment, which effectively avoids the problem of small amplitude signals exciting the boom and prevents the system from entering a vicious cycle of vibration reduction and excitation.

[0039] Fourth, in the vibration reduction process, the displacement of the first and second cylinders always remains in the same direction as the vibration displacement of the boom, so that the cylinders and boom are subjected to less impact during the vibration reduction process, and the vibration reduction process is more stable and smooth.

[0040] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0041] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0042] Figure 1 This is a schematic diagram of the boom structure according to an embodiment of the present invention;

[0043] Figure 2 This is a flowchart of the boom vibration reduction control method according to an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram illustrating the change of the weighting coefficient with boom posture according to an embodiment of the present invention;

[0045] Figure 4 This is a structural block diagram of the boom vibration reduction control system according to an embodiment of the present invention.

[0046] Explanation of reference numerals in the attached figures

[0047] 1 – First hydraulic cylinder; 2 – First boom section; 3 – Second hydraulic cylinder; 4 – Second boom section.

[0048] 5 - Controller; 6 - Accelerometer; 7 - Angle Sensor

[0049] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0050] Figure 1 This is a schematic diagram of the boom structure of the hybrid boom aerial work platform vehicle according to an embodiment of the present invention. Figure 1 As shown, the aerial work platform includes a vehicle body, a first boom section 2, a first hydraulic cylinder 1, a second boom section 4, a second hydraulic cylinder 3, a forearm 5, a working platform, and an accelerometer 6 and an angle sensor 7 for vibration detection. One end of the first boom section 2 is hinged to the vehicle body, and the other end is connected to the second boom section 4. The two ends of the first hydraulic cylinder 1 are hinged to the vehicle body and the first boom section 2 respectively, driving the first boom section 2 to perform luffing motion. The two ends of the second hydraulic cylinder 3 are hinged to the first boom section 2 and the second boom section 4 respectively, driving the second boom section 4 to perform luffing motion. The end of the second boom section 4 is connected to the working platform 6 via the forearm 5. The accelerometer 6 is installed at the end of the second boom section 4 or at the bottom of the working platform 6 to collect the acceleration signal generated by the boom vibration in real time. The angle sensor 7 is installed at the connecting shaft between the first boom section 2 and the second boom section 4 to monitor the change in the included angle between the two booms in real time. The boom vibration reduction control method of the present invention is based on the above-mentioned boom structure, and achieves effective suppression of boom vibration through the coordinated control of the first hydraulic cylinder 1 and the second hydraulic cylinder 3.

[0051] Therefore, as Figure 2 As shown, this invention discloses a vibration reduction control method for a boom, specifically including the following steps:

[0052] Step 1: Real-time acquisition of the acceleration signal at the end of the second boom section; bandpass filtering of the acceleration signal to remove high-frequency noise interference and DC component; extraction of 0.1... Vibration dominant frequency signal within the 5Hz range;

[0053] Step 2: Set a vibration threshold. When the amplitude of the filtered acceleration signal is lower than the preset threshold, the output current is zero; when it is higher than the threshold, an open-loop proportional control method is used to generate a feedback current. where a is the filtered acceleration signal value. This is the proportionality coefficient;

[0054] Step 3: Simultaneously obtain the angle between the first arm section and the base arm using the angle sensor. and the angle between the second arm and the first arm. Determine the current attitude of the boom;

[0055] Step 4: Based on the boom posture information obtained in Step 3, dynamically assign weight coefficients to the first and second hydraulic cylinders using the angle ratio linear interpolation method.

[0056] Step 5: Combine the feedback current generated in Step 2 with the weighting coefficients allocated in Step 4, and apply them to the control valves of the first and second cylinders respectively, driving the two cylinders to generate control excitations opposite to the vibration direction, thereby effectively suppressing the boom vibration.

[0057] Step 6: Repeat steps 1 to 5 until the vibration signal detected by the acceleration sensor 6 is lower than the preset threshold, thus completing the vibration reduction control.

[0058] In some embodiments of the present invention, considering that external factors may prevent vibration from being completely eliminated in a single vibration reduction, the residual amplitude of the boom vibration after vibration reduction can be compared with a preset amplitude threshold after the vibration reduction is completed. When the residual amplitude is greater than the amplitude threshold, steps 1 to 5 are repeated for cyclic vibration reduction until the residual amplitude is less than the amplitude threshold.

[0059] Figure 3 This is a schematic diagram illustrating the variation of the weighting coefficient with boom attitude according to an embodiment of the present invention. Figure 3 As shown in the figure, this diagram is used to visually illustrate the core principle of this invention: "dynamic weight distribution." The angle between the first arm 2 and the vehicle body is used as a reference point in the diagram. As the x-axis (range) ), with the weighting coefficient W as the ordinate (range 0). 1). According to the weighting coefficient calculation formula of the present invention , To illustrate this relationship in a two-dimensional diagram, this diagram uses... Follow The diagram is drawn using a typical working condition as an example. This working condition is based on the actual movement law of the aerial work platform vehicle: in Smaller (0°) At 40°, the second arm 4 slowly unfolds. Gradually increase from 10° to 20°; Larger (40) At 90°, the second arm 4 quickly extends. The angle increases rapidly from 20° to 80°. This pattern aligns with the typical process in actual operations where the first arm section is extended first, followed by the second.

[0060] It should be noted that actual aerial work platforms typically have a leveling arm (not shown in the figure) at the end of the boom. Its main function is to keep the working platform level and it does not participate in the boom's luffing motion or the main force transmission path of vibration. During boom vibration, the mass of the leveling arm and its drive cylinder can be equivalent to the additional load at the end of the second boom section, and its inertial effect has been reflected by the signal collected by the acceleration sensor. Therefore, when establishing the boom vibration control model, only the first and second boom sections and their corresponding drive cylinders need to be considered to accurately describe the core dynamic characteristics of the boom system. The presence of the leveling arm does not affect the weight distribution logic between the main boom sections, so it is not treated as an independent control object in the control method of this invention. The solid line in the figure represents the weight coefficient of the first cylinder 1. Follow The change curve shows that when When the angle is smaller (corresponding to the small angle region, i.e. the second arm is relatively more extended), The value is relatively large (close to 0.8). 1.0), meaning that the first cylinder 1 undertakes the main vibration damping task, because at this time the vibration inertia of the second arm section is large, requiring the first arm section close to the base to provide stable base support. With Increase Gradually decrease. The dashed line in the diagram represents the weighting coefficient of the second cylinder 3. Follow The change curve shows that when When smaller The value is relatively small, as... Increase Gradually increase; when When it is larger (corresponding to the large angle area, that is, the first arm is relatively more extended), The value is relatively large (close to 0.6). 0.8), meaning that the second cylinder 3 undertakes the main vibration damping task, because the boom is extended quite a bit at this point, requiring fine adjustment by the end cylinder. The two curves in They intersect at approximately 40°. This indicates that the two cylinders have equal weights. This condition is maintained throughout the entire process. .

[0061] The present invention also provides a boom vibration reduction control system, which is used to implement the above-mentioned boom vibration reduction control method, such as... Figure 4 As shown, the system includes a vibration detection module, an attitude detection module, and a control execution module.

[0062] In some embodiments of the present invention, the vibration detection module is used to acquire the acceleration signal at the end of the second boom 4 in real time and transmit it to the controller 5. It includes an acceleration sensor 6 and a signal processing circuit. The acceleration sensor 6 is installed at the end of the second boom 4 or at the bottom of the working platform 6, and is used to acquire the acceleration signal generated by the boom vibration in real time. The signal processing circuit is connected to the output terminal of the acceleration sensor 6 and is used to perform bandpass filtering on the acceleration signal to filter out high-frequency noise interference and DC components.

[0063] In some embodiments of the present invention, the attitude detection module is used to obtain the angle between the first arm 2 and the vehicle body in real time. and the angle between the second arm 4 and the first arm 2. The data is transmitted to the controller 5, which includes an angle sensor 7. The angle sensor 7 is installed at the connecting shaft between the first boom section 2 and the second boom section 4 to monitor the change in the included angle between the two booms in real time.

[0064] In some embodiments of the present invention, the control execution module includes a controller 5, a first servo proportional valve, a second servo proportional valve, a first hydraulic cylinder 1, and a second hydraulic cylinder 3. The first output terminal of the controller 5 is connected to the input terminal of the first servo proportional valve, and the output terminal of the first servo proportional valve is connected to the control terminal of the first hydraulic cylinder 1; the second output terminal of the controller 5 is connected to the input terminal of the second servo proportional valve, and the output terminal of the second servo proportional valve is connected to the control terminal of the second hydraulic cylinder 3.

[0065] In some embodiments of the present invention, the controller 5 includes a threshold judgment module. When the amplitude of the filtered acceleration signal is lower than a preset threshold, the output current is zero; when it is higher than the threshold, an open-loop proportional control method is used to generate a feedback current. Proportional coefficient Based on pre-calibrated experimental tests, and with different proportional coefficients selected for different operating conditions, controller 5 adjusts the received angle signal. and The weighting coefficients of the first hydraulic cylinder 1 and the second hydraulic cylinder 3 are calculated in real time based on the angle proportional linear interpolation method. and This generates the control current for the first hydraulic cylinder. Second cylinder control current The outputs are respectively sent to the first servo proportional valve and the second servo proportional valve to drive the first hydraulic cylinder 1 and the second hydraulic cylinder 3 to work together to achieve active suppression of boom vibration.

[0066] When vibration reduction of the boom is required, relevant personnel can actively issue a vibration reduction command, or the system can automatically issue a vibration reduction command to the controller 5 when it detects that the vibration amplitude exceeds a preset threshold. When vibration reduction is determined to be required, the controller 5 converts the calculated cylinder control current into a control signal for controlling the servo proportional valve and sends it, ultimately eliminating boom vibration through the coordinated displacement of the first cylinder 1 and the second cylinder 3.

[0067] The present invention also provides an aerial work platform vehicle, including the above-mentioned boom vibration reduction control system, and the system is capable of operating the above-mentioned boom vibration reduction control method.

[0068] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0069] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0070] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by hardware related to program instructions. The program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory, random access memory, magnetic disk, or optical disk.

Claims

1. A vibration reduction control method for an engineering boom, applied to an aerial work platform, the aerial work platform comprising a first boom section and a second boom section connected by an axle to form a boom structure, and a first hydraulic cylinder and a second hydraulic cylinder respectively driving the first boom section and the second boom section, characterized in that, The aerial work platform is also equipped with an acceleration sensor for collecting vibration acceleration signals from the end of the second boom section or the manned platform, and an angle sensor for measuring the boom angle; the method includes the following steps: Step 1: Real-time acquisition of the acceleration signal at the end of the second boom section; bandpass filtering of the acceleration signal to remove high-frequency noise interference and DC component; extraction of 0.1... Vibration dominant frequency signal within the 5Hz range; Step 2: Set a vibration threshold. When the amplitude of the filtered acceleration signal is lower than the preset threshold, the output current is zero; when it is higher than the threshold, an open-loop proportional control method is used to generate a feedback current. where a is the filtered acceleration signal value. This is the proportionality coefficient; Step 3: Simultaneously obtain the angle between the first arm section and the base arm using the angle sensor. and the angle between the second arm and the first arm. Determine the current attitude of the boom; Step 4: Based on the boom posture information obtained in Step 3, dynamically assign weight coefficients to the first and second hydraulic cylinders using the angle ratio linear interpolation method. Step 5: Combine the feedback current generated in Step 2 with the weighting coefficients allocated in Step 3, and apply them to the control valves of the first and second cylinders respectively, driving the two cylinders to generate control excitations opposite to the vibration direction, thereby effectively suppressing the boom vibration. Step 6: Repeat steps 1 to 5 until the vibration signal detected by the acceleration sensor is lower than the preset threshold, thus completing the vibration reduction control.

2. The vibration reduction control method for a boom according to claim 1, characterized in that, Step 1, which involves processing the acceleration signal to generate a feedback current, specifically includes: performing bandpass filtering on the acquired acceleration signal to remove high-frequency noise interference and DC components, and extracting 0.1... The vibration main frequency signal is within the 5Hz range; a vibration threshold is set, and when the amplitude of the filtered acceleration signal is lower than the preset threshold, the output current is zero; when it is higher than the threshold, an open-loop proportional control method is used to generate feedback current. where a is the filtered acceleration signal value. This is the proportionality coefficient.

3. The vibration reduction control method for a boom according to claim 2, characterized in that, The proportionality coefficient Based on pre-calibrated experimental tests, and with different proportional coefficients selected for different working conditions, the proportional coefficient of each cylinder is set independently.

4. The vibration reduction control method for a boom according to claim 1, characterized in that, Step 4, which involves dynamically allocating weight coefficients based on the angle-proportional linear interpolation method, specifically includes: The weighting coefficients are calculated using the following formula: First cylinder weighting coefficient: Second cylinder weighting coefficient: And satisfy ; The feedback current generated in step 1 Multiply by the corresponding weighting coefficients to obtain the control current of the first hydraulic cylinder. The second cylinder controls the current. .

5. The vibration reduction control method for a boom according to claim 1, characterized in that, Step 3, which involves dynamically allocating weight coefficients based on the angle-proportional linear interpolation method, specifically includes: The weighting coefficients are calculated using a general form with offset and gain: in, and These are the lower and upper limits of the safe working range for the first arm's angle, respectively. and These are the lower and upper limits of the safe working range for the angle of the second arm, respectively. , The gain coefficient is adjustable. , The offset coefficient is ; and satisfies .

6. The vibration reduction control method for a boom according to claim 1, characterized in that, Step 5, which drives the two hydraulic cylinders to generate control excitation opposite to the vibration direction, specifically includes: determining the current vibration direction based on the phase information of the acceleration signal; inputting the calculated control current of the first and second hydraulic cylinders into the servo proportional valves of the first and second hydraulic cylinders respectively, controlling the piston rods of the hydraulic cylinders to extend or retract, generating a thrust opposite to the vibration direction; and generating a reverse torque within the boom system through the coordinated action of the first and second hydraulic cylinders to counteract the vibration energy caused by external excitation.

7. A vibration reduction control system for a boom, applied to an aerial work platform, the aerial work platform comprising a first boom section and a second boom section connected by an axle to form a boom structure, and a first hydraulic cylinder and a second hydraulic cylinder respectively driving the first boom section and the second boom section, characterized in that, include: The vibration detection module is used to collect the acceleration signal at the end of the second arm in real time and transmit it to the controller. It includes an acceleration sensor and a signal processing circuit. The acceleration sensor is installed at the end of the second arm or at the bottom of the manned platform. The signal processing circuit is connected to the output of the acceleration sensor and is used to perform bandpass filtering on the acceleration signal. The attitude detection module is used to obtain the angle between the first arm and the base arm in real time. and the angle between the second arm and the first arm. The data is transmitted to a controller, which includes an angle sensor. The angle sensor is installed near the hinge point between the boom and the turntable or an adjacent boom, and is used to directly measure the angle between the boom and the horizontal plane or the relative angle between two booms. The control module includes a threshold judgment module and a weight allocation module. The threshold judgment module is used to judge the threshold of the filtered acceleration signal and generate a feedback current. The weight allocation module is used to calculate the weight coefficients of the first and second cylinders in real time according to the included angles θ1 and θ2, and multiply the feedback current by the corresponding weight coefficients to obtain the control currents of the first and second cylinders. The execution module includes a first servo proportional valve, a second servo proportional valve, a first hydraulic cylinder, and a second hydraulic cylinder. The input end of the first servo proportional valve is connected to the controller, and the output end is connected to the first hydraulic cylinder. The input end of the second servo proportional valve is connected to the controller, and the output end is connected to the second hydraulic cylinder. During operation, the first servo proportional valve and the second servo proportional valve drive the first hydraulic cylinder and the second hydraulic cylinder to move according to the control current output by the controller, generating a driving force opposite to the vibration direction.

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