Self-tuning time delay method and system for suspension load vibration control

Abstract

The invention discloses a self-tuning delay method and system for suspension load vibration control, and relates to the field of mechanical structure vibration control. According to the method, a parameter observation function is introduced into a self-tuning delay control algorithm, so that the delay parameter can be adaptively adjusted in real time according to the changing rope length, and the control algorithm can still keep robust and effective vibration suppression performance under the condition that the system parameter (such as the rope length) is continuously changed; the problem of performance degradation of a traditional control method in a time-varying system is solved; in the core time lag parameter design of the self-tuning time lag control algorithm, the inherent closed-loop time lag of the system is directly integrated, and the use of a traditional time lag compensator (such as a Smith predictor and model predictive control) which is complicated and depends on a high-precision model is avoided, so that a control loop is basically not influenced by the system feedback time lag, and the control precision is improved. And an effective and simple solution is provided.

Description

Technical Field

[0001] This invention belongs to the field of mechanical structure vibration control, and particularly relates to a self-tuning time delay method and system for vibration control of suspended loads. Background Technology

[0002] Whether in traditional industrial cranes or cutting-edge drone-based load transport, the stability and high-precision transport capability of suspended loads remain fundamental challenges widely faced in engineering. Driven by external disturbances and transient motion, the vibration phenomenon of suspended loads significantly increases the complexity of control strategies and can lead to serious operational risks. Although existing research has developed various control methods, traditional controllers often fail when faced with time-varying dynamic characteristics in modern applications (especially dynamic changes in rope length) because they cannot meet the basic assumptions of fixed parameters. In addition, system time delays generated in program execution and communication are another major bottleneck. Although model-based time delay compensation technology is currently the mainstream solution, maintaining high-precision model building in time-varying systems is extremely challenging, making it difficult to achieve stable application of such technologies. Unstable load motion can lead to catastrophic accidents, causing property damage, project delays, and even endangering lives.

[0003] CN 201911197748.4 discloses a control method for a UAV sling-mounted flight system based on the energy method. This method establishes a nonlinear dynamic model and designs Lyapunov equations based on energy functions. It then uses Russell invariant set theory to prove the asymptotic convergence of the system's position and swing angle, thereby achieving UAV position control and swing elimination. CN201910306471.8 discloses a single-parameter adjusted active disturbance rejection control method for the entire crane operation process. This method generates an ideal trajectory based on safety constraints and constructs an error feedback law. It uses an extended state observer to compensate for disturbances and simplifies complex parameter tuning to single-parameter adjustment to address model uncertainties.

[0004] Regarding CN 201911197748.4, its nonlinear control strategy based on the energy method highly relies on a preset dynamic model and assumes that the system parameters are constant. In actual operation, the length of the hoisting rope often changes continuously with the working conditions, leading to dynamic evolution of the system's physical characteristics. This method lacks the ability to adapt to the time-varying characteristics of the rope length and is difficult to maintain optimal control performance during rope length changes.

[0005] Regarding CN 201910306471.8, although the single-parameter active disturbance rejection control method reduces the difficulty of parameter tuning to some extent, it does not consider the time delay problem existing in the system closed loop. The time delay generated by sensor sampling, signal transmission and calculation iteration can easily cause observer failure or control phase lag under the coupling effect of variable rope length, thereby leading to increased load vibration or even system instability.

[0006] While the control method proposed in the aforementioned patent has solved the vibration problem of suspended loads to some extent, it still has obvious limitations when dealing with complex actual working conditions. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a self-tuning time-delay method and system for vibration control of suspended loads. This solves the problem that existing control methods struggle to establish high-precision models to adapt to system changes in time-varying systems where parameters such as rope length change continuously. Furthermore, traditional control methods are sensitive to feedback time delays in closed-loop systems, leading to performance degradation.

[0008] The technical solution of this invention is as follows:

[0009] On the one hand, the present invention provides a self-tuning time lag method for vibration control of suspended loads, comprising the following specific steps:

[0010] A dynamic model of the suspended load in the suspended load system is established; the suspended load system includes a displacement device, a suspension rope, and a suspended load; the displacement device is used to move the position of the suspension point between the suspension rope and the suspended load;

[0011] Based on the dynamic model of the suspended load, the vibration frequency of the suspended load is estimated, thereby enabling real-time identification of the rope length of the suspension rope in the suspended load system.

[0012] Based on the identified length of the suspension rope, the optimal time delay for suppressing the vibration of the suspension load is determined, and the vibration suppression of the suspension load is achieved using a displacement device.

[0013] Furthermore, establishing the dynamic model of the suspended load in the suspended load system specifically includes:

[0014] First, establish a global Cartesian coordinate system. ,origin Set at the suspension point, shaft and The axes are located in the horizontal plane and are perpendicular to each other. The axis points vertically downwards; as the suspension point moves, a new inertial coordinate system is established. Defined at the current position of the suspension point, inertial coordinate system The origin As the suspension point moves, its axis, shaft and The axes are parallel to the global Cartesian coordinate system. of axis, shaft and Axis; suspension point at this time Relative to the origin of the global Cartesian coordinate system exist Axial direction and Displacement in the axial direction is respectively represented by and Furthermore, a local coordinate system is defined relative to the suspended load. To specify the location of the suspended load, local coordinate system Initially set to the inertial coordinate system Overlap, then surround axis, shaft and The axis undergoes a series of rotations, and the corresponding Euler angles are respectively... , and Therefore, the suspended load in the global coordinate system The position in the middle is represented as:

[0015] ;

[0016] ;

[0017] ;

[0018] in, For suspended loads in the global coordinate system The position vector in; This is the suspension point relative to the origin of the global Cartesian coordinate system. The position vector; This indicates the suspended load in the inertial coordinate system. The relative position vector in , , The suspended loads are respectively axis, shaft and Displacement components on the axis; This indicates the suspension load relative to the suspension point in the local coordinate system. The position vector in, and , This indicates the variable length of the suspension rope. For a moment, For transpose; , , They are respectively around axis, shaft and The rotation matrix of the axis;

[0019] Rotation matrix , , The expression is:

[0020] ;

[0021] Suspended load in inertial coordinate system relative position vectors in The expanded form is:

[0022] ;

[0023] Inertial coordinate system The rope tension acting on the suspended load is expressed as:

[0024] ;

[0025] in, Inertial coordinate system The lowered rope tension vector, Local coordinate system The lowered rope tension vector, and , Local coordinate system The lower rope tension vector exist The components of the axis;

[0026] Inertial coordinate system The expanded form of the rope tension vector is:

[0027] ;

[0028] The force of gravity acting on the suspended load is expressed as:

[0029] ;

[0030] in, This represents the force of gravity acting on the suspended load. Represents gravitational acceleration; Indicates the mass of the suspended load;

[0031] Therefore, the dynamic model of the suspended load is expressed as:

[0032] ;

[0033] in, express Regarding time The second derivative, express Regarding time The second derivative, express Regarding time The second derivative, express Regarding time The second derivative of .

[0034] Furthermore, the dynamic model based on the suspended load estimates the vibration frequency of the suspended load, thereby enabling real-time identification of the rope length in the suspended load system. Specifically, this includes:

[0035] S1: Estimate the vibration frequency of the suspended load using least squares estimation;

[0036] Suspended load in inertial coordinate system relative position vectors in dimensionless positional components , and Represented as:

[0037] ;

[0038] in, , and The suspended loads in the inertial coordinate system are respectively relative position vectors in dimensional positional components;

[0039] axial direction in dimensionless positional components of time Recorded as , is represented as:

[0040] ;

[0041] in, It was a moment. It is the time number. yes The amplitude; yes The vibration angular frequency, yes The phase angle;

[0042] Then, there are:

[0043] ;

[0044] in, It is the time interval between two consecutive samples;

[0045] Setting Centered The vibration angular frequency in the data window of each dimensionless position component is always equal to , If the integer is used, then:

[0046] ;

[0047] in, , , ;

[0048] Subsequently, the objective function is set as follows:

[0049] ;

[0050] in, The objective function is...

[0051] To obtain the objective function The extreme values ​​are:

[0052] ;

[0053] By solving the formula The vibration frequency of the X-axis Represented as:

[0054] ;

[0055] Similarly, the vibration frequency along the Y-axis is obtained. ;

[0056] S2: Based on the estimated vibration frequency of the suspended load, a frequency selection algorithm is used to obtain a more accurate vibration frequency;

[0057] First, compare the current estimated vibration frequency of the suspension load along the X-axis with its preceding frequency. The vibration frequencies of the suspended load along the X-axis estimated at time -1 are used to form a sequence of vibration frequency data points, and the average value is calculated. and standard deviation :

[0058] ;

[0059] ;

[0060] in, For the first A vibration frequency identified by displacement components. The number representing the vibration frequency. The number of vibration frequencies;

[0061] Then, calculate the stability score along the X-axis. :

[0062] ;

[0063] in, This represents the maximum value of the standard deviation.

[0064] Calculate the consistency score on the X-axis. :

[0065] ;

[0066] in, The vibration frequency along the X-axis of the currently estimated suspension load. The average deviation, The maximum value of the average;

[0067] Final X-axis composite score The calculation is as follows:

[0068] ;

[0069] in, It is a weighting factor;

[0070] Similarly, the final composite score S on the Y-axis y Represented as:

[0071] ;

[0072] in, The stability score is calculated based on the Y-axis. The consistency score for the Y-axis;

[0073] Finally, a more accurate vibration frequency Expressed as:

[0074] ;

[0075] in, The current estimated vibration frequency along the Y-axis of the suspended load. The set frequency difference threshold;

[0076] S3: Identify the length of the suspension rope based on the more accurate vibration frequency obtained;

[0077] Length of the suspension rope Expressed in terms of vibration frequency:

[0078] .

[0079] Furthermore, the step of determining the optimal time delay for suppressing suspension load vibration based on the identified suspension rope length, and using a displacement device to achieve vibration suppression of the suspension load, specifically includes:

[0080] The formula In The equation for direction can be rewritten as:

[0081] ;

[0082] in, for Regarding time The second derivative;

[0083] The formula Substitution In the middle, we get:

[0084] ;

[0085] in, Let x be the time... The second derivative, For y in time The second derivative;

[0086] Introducing time-delay control method, suspension point along shaft and The control displacement in the axial direction is expressed as:

[0087] ;

[0088] in, and They represent in At any moment, the suspension point along shaft and Control displacement in the axial direction and These are control gain and time delay; when the time delay... Equal to one-quarter of the period, that is The optimal time delay is when... Let be the angular frequency of vibration, and , The vibration frequency;

[0089] In addition, considering the system feedback time delay Therefore, the final displacement of the suspension point of the displacement device is expressed as:

[0090] (35);

[0091] in, To obtain a more accurate vibration frequency; This refers to the system feedback time delay.

[0092] On the other hand, the present invention also provides a self-tuning time-delay system for suspension load vibration control, used to implement a self-tuning time-delay method for suspension load vibration control, comprising:

[0093] The model building module is used to establish the dynamic model of the suspended load in the suspended load system;

[0094] The vibration frequency estimation and rope length identification module is used to estimate the vibration frequency of the suspension load based on the dynamic model of the suspension load, thereby realizing the real-time identification of the rope length of the suspension rope in the suspension load system.

[0095] The vibration suppression module is used to determine the optimal time delay for suppressing the vibration of the suspended load based on the identified length of the suspension rope, and to achieve vibration suppression of the suspended load using a displacement device.

[0096] Thirdly, this application proposes an electronic device comprising: one or more processors, and a memory for storing instructions that, when executed by the one or more processors, cause the one or more processors to perform the self-tuning time-delay method for vibration control of suspended loads.

[0097] Fourthly, this application proposes a computer-readable storage medium storing executable instructions that, when executed, cause a processor to perform the self-tuning time-delay method for vibration control of suspended loads.

[0098] Fifthly, this application proposes a computer program product, including a computer program or instructions, which, when executed by a processor, implements the self-tuning time-delay method for vibration control of suspended loads.

[0099] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0100] The STTD (Self-tuning time-delay control) method introduces a parameter observation function, which enables the time delay parameter to be adaptively adjusted in real time according to the changing rope length. This ensures that the control algorithm can still maintain robust and effective vibration suppression performance even when system parameters (such as rope length) change continuously, overcoming the performance degradation problem of traditional control methods in time-varying systems.

[0101] In the core time delay parameter design of the STTD method, the inherent closed-loop time delay of the system is directly integrated, avoiding the use of complex and high-precision model-dependent traditional time delay compensators (such as Smith predictors and model predictive control). This makes the control loop basically unaffected by the system feedback time delay, providing an effective and simple solution. Attached Figure Description

[0102] Figure 1 This is a schematic diagram of the suspended load system in an embodiment of the present invention;

[0103] Figure 2 The diagram shows the response results when the rope length is 0.35 m in an embodiment of the present invention.

[0104] Wherein, (a) is the x-response under free vibration; (b) is the y-response under free vibration; (c) is the Δz (Δz = L - z) response under free vibration; (d) is the x-response under PD (proportional-derivative) control; (e) is the y-response under PD control; (f) is the Δz-response under PD control; (g) is the x-response under STTD control; (h) is the y-response under STTD control; and (i) is the Δz-response under STTD control.

[0105] Figure 3 This is a diagram showing the response results when the rope length changes from 0.35 m to 1.15 m in an embodiment of the present invention.

[0106] Wherein, (a) is the x response under free vibration; (b) is the y response under free vibration; (c) is the Δz response under free vibration; (d) is the x response under TD (time delay) control; (e) is the y response under TD control; (f) is the Δz response under TD control; (g) is the x response under STTD control; (h) is the y response under STTD control; and (i) is the Δz response under STTD control. Detailed Implementation

[0107] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0108] Example 1:

[0109] A self-tuning time-delay method for vibration control under suspended loads, applicable to building hoisting processes, includes the following specific steps:

[0110] Step 1: Establish a dynamic model of the suspended load in the suspended load system; such as... Figure 1 As shown, the suspended load system includes a displacement device, a suspension rope, and a suspended load; the displacement device is used to move the position of the suspension point between the suspension rope and the suspended load, and the displacement device can be a crane trolley or a drone.

[0111] like Figure 1 As shown, a global Cartesian coordinate system is first established. ,origin Set at the suspension point, shaft and The axes are located in the horizontal plane and are perpendicular to each other. The axis is vertically downward; as the suspension point attached to the crane or drone moves, a new inertial coordinate system is established. Defined at the current position of the suspension point, inertial coordinate system The origin It translates with the suspension point, but its axis, shaft and The axes are parallel to the global Cartesian coordinate system. of axis, shaft and Axis; suspension point at this time Relative to the origin of the global Cartesian coordinate system exist Axial direction and Displacement in the axial direction is respectively represented by and Furthermore, a local coordinate system is defined relative to the suspended load. To specify the location of the suspended load, local coordinate system Initially set to the inertial coordinate system Overlap, then surround axis, shaft and The axis undergoes a series of rotations, and the corresponding Euler angles are respectively... , and Therefore, the suspended load in the global coordinate system The position in can be represented as:

[0112] ;

[0113] ;

[0114] ;

[0115] in, For suspended loads in the global coordinate system The position vector in; This is the suspension point relative to the origin of the global Cartesian coordinate system. The position vector; This indicates the suspended load in the inertial coordinate system. The relative position vector in , , The suspended loads are respectively axis, shaft and Displacement components on the axis; This indicates the suspension load relative to the suspension point in the local coordinate system. The position vector in, and , This indicates the variable length of the suspension rope. For a moment, For transpose; , , They are respectively around axis, shaft and The rotation matrix of the axis;

[0116] Rotation matrix , , The expression is:

[0117] ;

[0118] Suspended load in inertial coordinate system relative position vectors in The expanded form is:

[0119] ;

[0120] Inertial coordinate system The rope tension acting on the suspended load is expressed as:

[0121] ;

[0122] in, Inertial coordinate system The lowered rope tension vector, Local coordinate system The lowered rope tension vector, and , Local coordinate system The lower rope tension vector exist The components of the axis;

[0123] Inertial coordinate system The expanded form of the rope tension vector is:

[0124] ;

[0125] The force of gravity acting on the suspended load is expressed as:

[0126] ;

[0127] in, This represents the force of gravity acting on the suspended load. Represents gravitational acceleration; Indicates the mass of the suspended load;

[0128] Therefore, the dynamic model of the suspended load is expressed as:

[0129] ;

[0130] in, express Regarding time The second derivative, express Regarding time The second derivative, express Regarding time The second derivative, express Regarding time The second derivative;

[0131] Step 2: Based on the dynamic model of the suspended load, estimate the vibration frequency of the suspended load, and then realize the real-time identification of the rope length of the suspension rope in the suspended load system.

[0132] Step 2.1: Estimate the vibration frequency of the suspended load using least squares estimation;

[0133] First, considering the inherent difficulty in accurately determining the length of the suspension rope in a suspended load system, especially when the length of the suspension rope is variable, the present invention employs a method that uses the vibration response (vibration displacement) to estimate the vibration frequency through least squares estimation, and then uses the vibration frequency to identify the rope length in real time.

[0134] When the rope length is unknown, the suspended load is in the inertial coordinate system. relative position vectors in It cannot be determined, however, its dimensionless positional components. , and It is still measurable, expressed as:

[0135] ;

[0136] in, , and The suspended loads in the inertial coordinate system are respectively relative position vectors in dimensional positional components;

[0137] To illustrate the observation process of dimensionless position components, consider axial direction in dimensionless positional components of time Recorded as And it can be approximated as:

[0138] ;

[0139] in, It was a moment. It is the time number. yes The amplitude; yes The vibration angular frequency, yes The phase angle;

[0140] Then, there are:

[0141] ;

[0142] in, It is the time interval between two consecutive samples;

[0143] Assuming Centered The vibration angular frequency in the data window of each dimensionless position component is always equal to , For integers, and thus with the expression Similar The equations can be written in vector form as follows:

[0144] ;

[0145] in, , , ;

[0146] Subsequently, the objective function is set as follows:

[0147] ;

[0148] in, The objective function is...

[0149] To obtain the objective function The extreme values ​​are:

[0150] ;

[0151] By solving the formula The vibration frequency of the X-axis It can be represented as:

[0152] ;

[0153] Similarly, the vibration frequency along the Y-axis can also be obtained. Theoretically, the vibration frequency f x and f y They should be equal. However, the vibration frequencies estimated from displacement components x and y inevitably differ. This difference is particularly pronounced when the amplitudes of displacement components x and y differ significantly. Generally, vibration frequencies estimated from smaller amplitude displacements are more prone to larger errors because noise accounts for a higher proportion. Therefore, from f x and f y Further consideration is needed to obtain a more accurate true vibration frequency;

[0154] Step 2.2: Based on the estimated vibration frequency of the suspended load, a frequency selection algorithm is used to obtain a more accurate vibration frequency;

[0155] To address this issue, this invention employs a frequency selection algorithm based on historical data tracking and a multi-dimensional scoring mechanism. This algorithm constructs a comprehensive scoring model that simultaneously evaluates the stability and consistency of vibration frequencies. Regarding the selection strategy, the algorithm distinguishes between two operating conditions: when two input vibration frequencies are very close, a weighted average is used for smooth output; conversely, when the vibration frequencies differ significantly, intelligent selection based on calculated scores is utilized.

[0156] First, compare the current estimated vibration frequency of the suspension load along the X-axis with its preceding frequency. The vibration frequencies of the suspended load along the X-axis estimated at time -1 are used to form a sequence of vibration frequency data points, and the average value is calculated. and standard deviation :

[0157] ;

[0158] ;

[0159] in, For the first A vibration frequency identified by displacement components. The number representing the vibration frequency. The number of vibration frequencies;

[0160] The standard deviation of historical data is used to reflect the stability of vibration frequency, serving as an indicator of the level of fluctuation in historical vibration frequency values. A smaller standard deviation indicates a higher concentration of historical data, meaning a more stable vibration frequency, and therefore a higher stability score on the X-axis. The calculation method is as follows:

[0161] ;

[0162] in, This represents the maximum value of the standard deviation.

[0163] Vibration frequency consistency is measured by the deviation between the current vibration frequency value and the historical average. A smaller deviation indicates a higher consistency between the current value and the historical trend, resulting in a higher score. The consistency score on the X-axis is also considered. The calculation method is as follows:

[0164] ;

[0165] in, The vibration frequency along the X-axis of the currently estimated suspension load. The average deviation, The maximum value of the average;

[0166] Final X-axis composite score The calculation is as follows:

[0167] ;

[0168] in, It is a weighting factor;

[0169] Similarly, the final composite score S on the Y-axis y Represented as:

[0170] ;

[0171] in, The stability score is calculated based on the Y-axis. The consistency score for the Y-axis;

[0172] Finally, a more accurate vibration frequency Expressed as:

[0173] ;

[0174] in, The current estimated vibration frequency along the Y-axis of the suspended load. The set frequency difference threshold;

[0175] Step 2.3: Based on the more accurate vibration frequency obtained, identify the length of the suspension rope;

[0176] The length L(t) of the suspension rope can be expressed in terms of the vibration frequency as:

[0177] ;

[0178] Step 3: Based on the identified length of the suspension rope, determine the optimal time delay to suppress the vibration of the suspension load, and use a displacement device to suppress the vibration of the suspension load.

[0179] The time delay is determined based on the energy analysis of the suspended load system, as shown in the equation. In The equation for direction can be rewritten as:

[0180] ;

[0181] in, for Regarding time The second derivative;

[0182] The formula Substitution In the middle, we get:

[0183] ;

[0184] in, Let x be the time... The second derivative, For y in time The second derivative;

[0185] Introducing time-delay control method, suspension point along shaft and The control displacement in the axial direction is expressed as:

[0186] ;

[0187] in, and They represent in At any moment, the suspension point along shaft and Control displacement in the axial direction and These are control gain and time delay, respectively.

[0188] Next, the time delay for achieving suspension load vibration suppression will be theoretically derived. The Lyapunov candidate function is given by the following equation:

[0189] ;

[0190] in, For the suspended load system in The energy of moments Let be the energy of the suspended load system at the initial moment, and > 0; It is a power function. It is a time variable;

[0191] displacement components For example, the power function Defined as:

[0192] ;

[0193] in, For displacement components Regarding time The first derivative; For displacement components Regarding time The second derivative;

[0194] Through the In this case, Steklov's averaging technique is introduced:

[0195] ;

[0196] in, yes Regarding time The first derivative, It is the first One cycle ( =1, ..., This period starts from time t. k-1 By time t k ; It is the number of periods, Steklov's averaging technique will This is expressed as the average value within each period of these segments;

[0197] Will Attached get:

[0198] ;

[0199] in, For the first Displacement components per cycle, For the first The amplitude of each cycle, For the first The angular frequency of vibration per cycle, For the first The phase of each cycle;

[0200] From the formula It can be seen from this that at that time... When it equals one-quarter of the period, that is The optimal time delay is when... Let be the angular frequency of vibration, and , The vibration frequency is at this time. It reaches its minimum value, which is:

[0201] ;

[0202] No. The and the first The energy relationship of the suspended load system over -1 cycle is expressed as follows:

[0203] (33);

[0204] in, For and The first The and the first - Energy of the suspended load system between 1 cycle; The equivalent stiffness of the suspended load system;

[0205] Subsequently, It can be written as:

[0206] (34);

[0207] When the condition is met Then there is and This proves that the suspended load system is asymptotically stable;

[0208] In addition, system feedback delays caused by factors such as signal processing time, communication delays, and actuator dynamics must also be considered. Therefore, the final displacement of the suspension point of the displacement device is expressed as:

[0209] (35);

[0210] in, To obtain a more accurate vibration frequency; This refers to the system feedback time delay.

[0211] This embodiment simulates an operation scenario with a rope length of 0.35 m and a load mass of 1.238 kg. Figure 2 As can be seen, PD control (proportional parameter 0.6, derivative parameter 0.4) cannot suppress load vibration in the presence of system feedback time delay. However, the method described in this invention has a good vibration suppression effect on suspended loads. Under the proposed anti-sway control, the displacement component... and displacement components The directional instability time decreased from 198 seconds and 296 seconds to 7.5 seconds and 6.8 seconds, respectively, representing reductions of approximately 96.2% and 97.7%.

[0212] This embodiment also simulates an operational scenario where the rope length changes, with a load mass of 1.238 kg. During the test, the rope length increases from 0.35 m to 1.15 m. Figure 3As can be seen, traditional time-delay methods (with fixed time delays and no online update capability; the experimentally obtained fixed time delay is 0.08s) cannot suppress the vibration of variable pendulum loads. However, the method described in this invention has a good vibration suppression effect on suspended loads. Under the proposed anti-pendulum control, the displacement component... and displacement components The directional instability time decreased from 564 seconds and 391 seconds to 7.6 seconds and 7.9 seconds, respectively, representing reductions of approximately 98.7% and 98.0%.

[0213] Example 2:

[0214] A self-tuning time-delay system for suspension load vibration control, used to implement a self-tuning time-delay method for suspension load vibration control, comprising:

[0215] The model building module is used to establish the dynamic model of the suspended load in the suspended load system;

[0216] The vibration frequency estimation and rope length identification module is used to estimate the vibration frequency of the suspension load based on the dynamic model of the suspension load, thereby realizing the real-time identification of the rope length of the suspension rope in the suspension load system.

[0217] The vibration suppression module is used to determine the optimal time delay for suppressing the vibration of the suspended load based on the identified length of the suspension rope, and to achieve vibration suppression of the suspended load using a displacement device.

[0218] Example 3:

[0219] 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 self-tuning time-delay method for vibration control of suspended loads.

[0220] The electronic device may be a mobile phone, computer, or tablet computer, etc., and includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements a self-tuning time-delay method for suspension load vibration control as described in the embodiments. It is understood that the electronic device may also include an input / output (I / O) interface and communication components.

[0221] The processor is used to execute all or part of the steps in the self-tuning time-delay method for suspension load vibration control as described in the above embodiments. The memory is used to store various types of data, which may include, for example, instructions for any application or method in the electronic device, as well as application-related data.

[0222] The processor can be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic components, and is used to execute the self-tuning time-delay method for vibration control of suspended loads described in the above embodiments.

[0223] Example 4:

[0224] This embodiment proposes a computer-readable storage medium that stores executable instructions. When these instructions are executed, if they are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.

[0225] The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the self-tuning time-delay method for vibration control of suspended loads as described in various embodiments of this application.

[0226] The aforementioned storage media include: flash memory, hard disk, multimedia card, card-type memory (e.g., SD (Secure Digital Memory Card) or DX (Memory Data Register, MDR) memory), 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 storage, disk, optical disk, server, APP (Application) application store, and other media capable of storing program verification codes. These media store computer programs, which, when executed by a processor, can implement the various steps of the self-tuning time-delay method for suspended load vibration control described above.

[0227] Example 5:

[0228] This embodiment proposes a computer program product, including a computer program or instructions, which, when executed by a processor, implements the self-tuning time delay method for vibration control of suspended loads.

[0229] Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a computer program product.

[0230] The various embodiments in this application are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0231] The scope of protection of this application is not limited to the embodiments described above. Obviously, those skilled in the art can 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, then the intent of this disclosure also includes these modifications and variations.

Claims

1. A self-tuning time-delay method for vibration control of suspended loads, characterized in that, Includes the following steps: A dynamic model of the suspended load in the suspended load system is established; the suspended load system includes a displacement device, a suspension rope, and a suspended load; the displacement device is used to move the position of the suspension point between the suspension rope and the suspended load; Based on the dynamic model of the suspended load, the vibration frequency of the suspended load is estimated, thereby enabling real-time identification of the rope length of the suspension rope in the suspended load system. Based on the identified length of the suspension rope, the optimal time delay for suppressing the vibration of the suspension load is determined, and the vibration suppression of the suspension load is achieved using a displacement device.

2. The self-tuning time-delay method for vibration control of suspended loads according to claim 1, characterized in that, The establishment of the dynamic model of the suspended load in the suspended load system specifically includes: First, establish a global Cartesian coordinate system. ,origin Set at the suspension point, shaft and The axes are located in the horizontal plane and are perpendicular to each other. The axis points vertically downwards; as the suspension point moves, a new inertial coordinate system is established. Defined at the current position of the suspension point, inertial coordinate system The origin As the suspension point moves, its axis, shaft and The axes are parallel to the global Cartesian coordinate system. of axis, shaft and Axis; suspension point at this time Relative to the origin of the global Cartesian coordinate system exist Axial direction and Displacement in the axial direction is respectively represented by and Furthermore, a local coordinate system is defined relative to the suspended load. To specify the location of the suspended load, local coordinate system Initially set to the inertial coordinate system Overlap, then surround axis, shaft and The axis undergoes a series of rotations, and the corresponding Euler angles are respectively... , and Therefore, the suspended load in the global coordinate system The position in the middle is represented as: ； ； ； in, For suspended loads in the global coordinate system The position vector in; This is the suspension point relative to the origin of the global Cartesian coordinate system. The position vector; This indicates the suspended load in the inertial coordinate system. The relative position vector in , , The suspended loads are respectively axis, shaft and Displacement components on the axis; This indicates the suspension load relative to the suspension point in the local coordinate system. The position vector in, and , This indicates the variable length of the suspension rope. For a moment, For transpose; , , They are respectively around axis, shaft and The rotation matrix of the axis; Rotation matrix , , The expression is: ； Suspended load in inertial coordinate system relative position vectors in The expanded form is: ； Inertial coordinate system The rope tension acting on the suspended load is expressed as: ； in, Inertial coordinate system The lowered rope tension vector, Local coordinate system The tension vector of the rope below, and , Local coordinate system The lower rope tension vector exist The components of the axis; Inertial coordinate system The expanded form of the rope tension vector is: ； The force of gravity acting on the suspended load is expressed as: ； in, This represents the force of gravity acting on the suspended load. Represents gravitational acceleration; Indicates the mass of the suspended load; Therefore, the dynamic model of the suspended load is expressed as: ； in, express Regarding time The second derivative, express Regarding time The second derivative, express Regarding time The second derivative, express Regarding time The second derivative of .

3. The self-tuning time-delay method for vibration control of suspended loads according to claim 1, characterized in that, The dynamic model based on the suspended load estimates the vibration frequency of the suspended load, thereby enabling real-time identification of the rope length in the suspended load system. Specifically, this includes: S1: Estimate the vibration frequency of the suspended load using least squares estimation; Suspended load in inertial coordinate system relative position vectors in dimensionless positional components , and Represented as: ； in, , and The suspended loads in the inertial coordinate system are respectively relative position vectors in dimensional positional components; axial direction in dimensionless positional components of time Recorded as , is represented as: ； in, It was a moment. It is the time number. yes The amplitude; yes The vibration angular frequency, yes The phase angle; Then, there are: ； in, It is the time interval between two consecutive samples; Setting Centered The vibration angular frequency in the data window of each dimensionless position component is always equal to , If the integer is used, then: ； in, , , ; Subsequently, the objective function is set as follows: ； in, The objective function is... To obtain the objective function The extreme values ​​are: ； By solving the formula The vibration frequency of the X-axis Represented as: ； Similarly, the vibration frequency along the Y-axis is obtained. ; S2: Based on the estimated vibration frequency of the suspended load, a frequency selection algorithm is used to obtain a more accurate vibration frequency; First, compare the current estimated vibration frequency of the suspension load along the X-axis with its preceding frequency. The vibration frequencies of the suspended load along the X-axis estimated at time -1 are used to form a sequence of vibration frequency data points, and the average value is calculated. and standard deviation : ； ； in, For the first A vibration frequency identified by displacement components. The number representing the vibration frequency. The number of vibration frequencies; Then, calculate the stability score along the X-axis. : ； in, This represents the maximum value of the standard deviation. Calculate the consistency score on the X-axis. : ； in, The vibration frequency along the X-axis of the currently estimated suspension load. The average deviation, The maximum value of the average; Final X-axis composite score The calculation is as follows: ； in, It is a weighting factor; Similarly, the final composite score S on the Y-axis y Represented as: ； in, The stability score is calculated based on the Y-axis. The consistency score for the Y-axis; Finally, a more accurate vibration frequency Expressed as: ； in, The current estimated vibration frequency along the Y-axis of the suspended load. The set frequency difference threshold; S3: Identify the length of the suspension rope based on the more accurate vibration frequency obtained; The length L(t) of the suspension rope, expressed in terms of the vibration frequency, is: 。 4. The self-tuning time-delay method for vibration control of suspended loads according to claim 1, characterized in that, The process of determining the optimal time delay for suppressing suspension load vibration based on the identified suspension rope length, and using a displacement device to achieve vibration suppression of the suspension load, specifically includes: The formula In The equation for direction can be rewritten as: ； in, for Regarding time The second derivative; The formula Substitution In the middle, we get: ； in, Let x be the time interval The second derivative, For y in time The second derivative; Introducing time-delay control method, suspension point along shaft and The control displacement in the axial direction is expressed as: ； in, and They represent in At any moment, the suspension point along shaft and Control displacement in the axial direction and These are control gain and time delay; when the time delay... Equal to one-quarter of the period, that is The optimal time delay is when... Let be the angular frequency of vibration, and , The vibration frequency; In addition, considering the system feedback time delay Therefore, the final displacement of the suspension point of the displacement device is expressed as: (35)； in, To obtain a more accurate vibration frequency; This refers to the system feedback time delay.

5. A self-tuning time-delay system for suspension load vibration control, used to implement the self-tuning time-delay method for suspension load vibration control as described in any one of claims 1-5, characterized in that, include: The model building module is used to establish the dynamic model of the suspended load in the suspended load system; The vibration frequency estimation and rope length identification module is used to estimate the vibration frequency of the suspension load based on the dynamic model of the suspension load, thereby realizing the real-time identification of the rope length of the suspension rope in the suspension load system. The vibration suppression module is used to determine the optimal time delay for suppressing the vibration of the suspended load based on the identified length of the suspension rope, and to achieve vibration suppression of the suspended load using a displacement device.

6. An electronic device, characterized in that, include: One or more processors, and a memory for storing instructions that, when executed by the one or more processors, cause the one or more processors to perform a self-tuning time-delay method for vibration control of suspended loads as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, It stores executable instructions that, when executed, cause the processor to perform a self-tuning time-delay method for vibration control of suspended loads as described in any one of claims 1-4.

8. A computer program product, characterized in that, Includes a computer program or instructions that, when executed by a processor, implement the self-tuning time-delay method for vibration control of suspended loads as described in any one of claims 1-4.

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