Arm support vibration suppression method, system, device, apparatus, medium, and program product

Abstract

This invention provides a method, system, device, equipment, medium, and program product for suppressing boom vibration, which can be applied to the field of mechanical control technology. The boom vibration suppression method includes: inputting the current vibration signal and current operating parameters of the boom into a prediction model to obtain a predicted adjustment coefficient for the boom, wherein the predicted adjustment coefficient is used to adjust the operating state of the boom; determining the predicted valve opening parameter of the hydraulic cylinder based on the control correlation between the valve opening parameter of the hydraulic cylinder and the adjustment coefficient of the boom, wherein the control correlation is determined based on the basic opening coefficient of the hydraulic cylinder valve and the vibration amplitude of the current vibration signal; controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve according to the predicted valve opening parameter, the vibration phase and vibration period in the current vibration signal, so that the hydraulic cylinder suppresses the vibration of the boom through mechanical transmission.

Description

Technical Field

[0001] This invention relates to the field of mechanical control technology, and more specifically to a method, system, device, equipment, medium, and program product for suppressing boom vibration. Background Technology

[0002] Boom-type aerial work platforms use the extension, luffing, and slewing movements of the boom to transport personnel and equipment to designated high-altitude positions, and are widely used in construction, power, aerospace, and other fields. However, the boom is a large-span flexible structure, which is prone to generating continuous low-frequency residual vibrations under conditions such as start-up and shutdown, sudden load changes, and high-altitude wind disturbances. This can lead to minor issues such as positioning deviations at the end of the work platform, failing to meet the high-precision requirements of welding, precision equipment installation, etc.; or it can significantly reduce the operating comfort of personnel and even cause safety risks. Long-term vibrations can also exacerbate fatigue damage to boom welds and hinge points, shortening the service life of the equipment.

[0003] For solutions to suppress boom vibration, the control parameters of the boom are usually fixed, which makes it difficult to adapt to complex and ever-changing high-altitude working conditions and effectively suppress vibration. Summary of the Invention

[0004] In view of the above problems, the present invention provides a method, system, device, equipment, medium and program product for suppressing boom vibration.

[0005] According to a first aspect of the present invention, a boom vibration suppression method is provided, comprising: inputting the current vibration signal and current operating parameters of the boom into a prediction model to obtain a prediction adjustment coefficient of the boom, wherein the prediction adjustment coefficient is used to adjust the operating state of the boom; determining the prediction valve opening parameter of the hydraulic cylinder based on the control correlation between the valve opening parameter of the hydraulic cylinder valve and the adjustment coefficient of the boom, wherein the control correlation is determined based on the basic opening coefficient of the hydraulic cylinder valve and the vibration amplitude of the current vibration signal; controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve according to the prediction valve opening parameter, the vibration phase and vibration period in the current vibration signal, so that the hydraulic cylinder suppresses the vibration of the boom through mechanical transmission.

[0006] According to an embodiment of the present invention, the movement of the hydraulic cylinder is controlled via the hydraulic cylinder valve based on the predicted valve opening parameters, the vibration phase and the vibration period in the current vibration signal, including: determining the suppression phase of the suppression action that is opposite to the vibration phase and the suppression action time that is the same as the vibration period; and controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve based on the suppression phase, the suppression action time and the predicted valve opening parameters.

[0007] According to an embodiment of the present invention, controlling the movement of a hydraulic cylinder via a hydraulic cylinder valve based on the suppression phase, the suppression action time, and the predicted valve opening parameters includes: determining the flow direction of the hydraulic cylinder valve based on the suppression phase, and determining the valve action time of the hydraulic cylinder valve based on the suppression action time; and controlling the movement of the hydraulic cylinder via a hydraulic cylinder valve based on the valve flow direction, the valve action time, and the predicted valve opening parameters.

[0008] According to an embodiment of the present invention, the above method further includes: obtaining the vibration amplitude of the boom after vibration suppression, wherein the vibration amplitude after vibration suppression is obtained by controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve based on the predicted valve opening parameters, the vibration phase and vibration period in the vibration signal; if the vibration amplitude after vibration suppression is greater than a preset threshold, updating the flow direction, valve action time and predicted valve opening parameters of the valve based on the vibration signal of the boom after vibration suppression and the working condition parameters after vibration suppression corresponding to the vibration amplitude after vibration suppression, until the vibration amplitude after vibration suppression is less than or equal to the preset threshold.

[0009] According to an embodiment of the present invention, based on the vibration signal of the boom after vibration suppression and the operating parameters after vibration suppression corresponding to the vibration amplitude after vibration suppression, the flow direction, valve action time, and predicted valve opening parameters of the valve are updated, including: updating the model parameters of the prediction model based on the vibration signal after vibration suppression and the operating parameters after vibration suppression, and determining the updated valve opening parameters; updating the basic opening coefficient of the valve based on the operating parameters after vibration suppression, obtaining the updated basic opening coefficient, and determining the updated control correlation based on the updated basic opening coefficient; and updating the flow direction, valve action time, and predicted valve opening parameters of the valve based on the updated valve opening parameters and the updated control correlation.

[0010] According to an embodiment of the present invention, the current operating parameters include at least one of the following: current load, current arm length, current motion speed, and current posture; the prediction adjustment coefficient includes at least one of the load adjustment coefficient and the arm length adjustment coefficient.

[0011] A second aspect of the present invention provides a boom vibration suppression system, comprising: a data acquisition device for acquiring current vibration signals and current operating parameters of the boom; and a controller connected to the data acquisition device and hydraulic cylinder valve signals for executing the above-described method, controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve so that the hydraulic cylinder suppresses the vibration of the boom through mechanical transmission.

[0012] According to an embodiment of the present invention, the current operating parameters include at least one of the following: current load, current boom length, current operating speed, and current posture; the acquisition device includes at least one of the following: a vibration sensor, installed at the end of the boom, for acquiring current vibration signals; a load cell, installed on the work platform connected to the boom, for acquiring the current load of the work platform; a wire displacement sensor, for acquiring the current boom length; a speed sensor, integrated on the hydraulic cylinder, for acquiring the current operating speed; and a tilt sensor, installed on the boom, for acquiring the current posture, wherein the boom is hinged to the end of the boom and is used to change the operating amplitude of the boom.

[0013] According to an embodiment of the present invention, the hydraulic cylinder includes at least one of the following: a luffing cylinder, a telescopic cylinder, and a boom cylinder, wherein the luffing cylinder is used to control the pitching and luffing motion of the boom, the telescopic cylinder is used to control the telescopic motion of the boom, and the boom cylinder is used to control the pitching and swinging motion of the boom.

[0014] A third aspect of the present invention provides a boom vibration suppression device, comprising: an input module for inputting the current vibration signal and current operating parameters of the boom into a prediction model to obtain a prediction adjustment coefficient of the boom, wherein the prediction adjustment coefficient is used to adjust the operating state of the boom; a determination module for determining the prediction valve opening parameter of the cylinder based on the control correlation between the valve opening parameter of the cylinder valve and the adjustment coefficient of the boom, wherein the control correlation is determined based on the basic opening coefficient of the cylinder valve and the vibration amplitude of the current vibration signal; and a control module for controlling the movement of the cylinder via the cylinder valve according to the prediction valve opening parameter, the vibration phase and vibration period in the current vibration signal, so that the cylinder suppresses the vibration of the boom through mechanical transmission.

[0015] A fourth aspect of the present invention provides an electronic device comprising: one or more processors; and a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the method described above.

[0016] A fifth aspect of the present invention also provides a computer-readable storage medium having a computer program or instructions stored thereon, wherein the computer program or instructions, when executed by a processor, implement the steps of the above-described method.

[0017] A sixth aspect of the present invention also provides a computer program product, including a computer program or instructions that, when executed by a processor, implement the steps of the above-described method.

[0018] According to embodiments of the present invention, the current vibration signal and current operating parameters of the boom are input into the prediction model. The resulting prediction adjustment parameters can adapt to different boom lengths, loads, and attitudes, overcoming the limitations of fixed control parameters. This allows for stable vibration suppression under varying operating conditions, resulting in greater versatility and robustness. The prediction model enables early vibration suppression, improving the real-time performance of vibration suppression.

[0019] The predicted valve opening parameter is determined by the predicted adjustment coefficient based on the control correlation between the valve opening parameter of the hydraulic cylinder valve and the adjustment coefficient of the boom. Based on the predicted valve opening parameter, vibration phase, and vibration period, precise and quantitative control of the hydraulic cylinder valve is achieved, resulting in better vibration damping and higher stability of the boom. Attached Figure Description

[0020] The above-described features, other objects, and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which:

[0021] Figure 1 A hardware schematic diagram of a boom vibration suppression system according to an embodiment of the present invention is shown;

[0022] Figure 2 A flowchart of a boom vibration suppression method according to an embodiment of the present invention is shown;

[0023] Figure 3 A schematic diagram illustrating the training and optimization process of a lightweight autonomous learning model according to an embodiment of the present invention is shown.

[0024] Figure 4 A structural block diagram of a boom vibration suppression system according to an embodiment of the present invention is shown;

[0025] Figure 5 A schematic diagram of a boom vibration suppression system according to another embodiment of the present invention is shown;

[0026] Figure 6 A schematic diagram of a fully closed-loop vibration suppression control of a boom according to an embodiment of the present invention is shown;

[0027] Figure 7 A structural block diagram of a boom vibration suppression device according to an embodiment of the present invention is shown;

[0028] Figure 8 A block diagram of an electronic device suitable for implementing a boom vibration suppression method according to an embodiment of the present invention is shown. Detailed Implementation

[0029] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the invention for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0030] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0031] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0032] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0033] Boom-type aerial work platforms use the extension, luffing, and slewing movements of the boom to transport personnel and equipment to designated high-altitude positions, and are widely used in construction, power, aerospace, and other fields. However, the boom is a large-span flexible structure, which is prone to generating continuous low-frequency residual vibrations under conditions such as start-up and shutdown, sudden load changes, and high-altitude wind disturbances. This can lead to minor issues such as positioning deviations at the end of the work platform, failing to meet the high-precision requirements of welding, precision equipment installation, etc.; or it can significantly reduce the operating comfort of personnel and even cause safety risks. Long-term vibrations can also exacerbate fatigue damage to boom welds and hinge points, shortening the service life of the equipment.

[0034] For solutions to suppress boom vibration, the control parameters of the boom are usually fixed, which makes it difficult to adapt to complex and ever-changing high-altitude working conditions and effectively suppress vibration.

[0035] This invention provides a boom vibration suppression method. The method involves inputting the current vibration signal and current operating parameters of the boom into a prediction model to obtain a predicted adjustment coefficient for the boom. This predicted adjustment coefficient is used to adjust the boom's operating state. Based on the control correlation between the valve opening parameters of the hydraulic cylinder and the boom adjustment coefficient, the predicted valve opening parameters of the hydraulic cylinder are determined according to the predicted adjustment coefficient. The control correlation is determined based on the basic valve opening coefficient of the hydraulic cylinder and the vibration amplitude of the current vibration signal. The hydraulic cylinder movement is controlled via the hydraulic cylinder valve according to the predicted valve opening parameters, the vibration phase and vibration period in the current vibration signal, so that the hydraulic cylinder can suppress boom vibration through mechanical transmission.

[0036] Figure 1 A hardware schematic diagram of a boom vibration suppression system according to an embodiment of the present invention is shown.

[0037] like Figure 1 As shown, the hardware schematic diagram of the boom vibration suppression system according to this embodiment may include a boom aerial work platform body, a data acquisition device, hydraulic cylinders, and a controller. The controller is connected to the data acquisition device and the hydraulic cylinder valve signals.

[0038] The main body of the boom aerial work platform includes boom 101, boom 102, and work platform 103. Boom 101 uses telescopic, luffing, and slewing movements to transport personnel and equipment to designated high-altitude positions.

[0039] The boom 102 is hinged to the end of the boom 101 and is used to change the working radius of the boom 101. The work platform 103 is connected to the boom 101 and is used to support the workers and equipment.

[0040] The data acquisition device is used to acquire the current vibration signal and current operating parameters of the boom 101. The current operating parameters include at least one of the following: current load, current boom length, current operating speed, and current posture. The data acquisition device includes a vibration sensor 104, a load cell 105, a wire displacement sensor 106, and a speed sensor (…). Figure 1 (Not shown) Tilt sensor 107. Vibration sensor 104, mounted on the bottom of the work platform 103 connected to the end of the boom 101, is used to collect the current vibration signal of the boom 101. Weighing sensor 105, mounted on the work platform 103, is used to collect the current load of the work platform 103. Cable displacement sensor 106, is used to collect the current boom length of the boom 101. Speed ​​sensor, integrated on the hydraulic cylinder, is used to collect the current operating speed of the boom 101. Boom tilt sensor 107, mounted on the boom, is used to collect the current attitude of the boom 101. Flying boom tilt sensor 108, mounted on the flying boom, is used to collect the current attitude of the flying boom 102.

[0041] The controller can be a main control unit 109, which can execute the boom vibration suppression method of the present invention. The hydraulic cylinder can receive commands from the main control unit 109 via a CAN (Controller Area Network) bus multi-way valve 110 to control the flow direction and valve action time of the hydraulic cylinder valve, thereby driving the hydraulic cylinder movement. As an actuator, the hydraulic cylinder can be a servo hydraulic cylinder or a servo electric cylinder, without limitation. The hydraulic cylinder includes at least one of the following: a luffing cylinder 111 for controlling the pitch luffing movement of the boom 101; a telescopic cylinder 112 for controlling the telescopic movement of the boom 101; and a boom sway cylinder 113 for controlling the pitch swing movement of the boom 102.

[0042] Figure 2 A flowchart of a boom vibration suppression method according to an embodiment of the present invention is shown.

[0043] like Figure 2 As shown, the boom vibration suppression method of this embodiment includes operations S210 to S230.

[0044] In operation S210, the current vibration signal and current operating parameters of the boom are input into the prediction model to obtain the prediction adjustment coefficient of the boom, which is used to adjust the operating condition of the boom.

[0045] According to embodiments of the present invention, the boom can be a multi-section telescopic and articulated load-bearing structure, which can be used to provide work coverage and bear work loads. It achieves attitude adjustment and precise positioning through hydraulic cylinder drive, and is the core execution structure for engineering machinery to perform high-altitude operations.

[0046] According to an embodiment of the present invention, the boom is a slender and flexible structure, which is prone to vibration during operation. For example, hydraulic shocks and motion excitations caused by cylinder start-stop, reversing, and multi-way valve flow switching; sudden changes in inertial forces and loads caused by boom luffing, telescoping, and boom flying movements; external disturbances such as uneven road surfaces, wind loads, and operational collisions; and insufficient flexibility of the boom's own structure, joint clearances, and system damping, all of which lead to continuous oscillations under excitation.

[0047] The current vibration signal of the boom reflects its current dynamic characteristics. This signal can include vibration amplitude, vibration frequency, vibration phase, vibration velocity, and vibration time-domain waveform. Vibration amplitude characterizes the strength and sway of the boom vibration; vibration frequency reflects the inherent vibration characteristics and oscillation speed of the boom; vibration phase characterizes the current direction and temporal position of the boom's vibration, used for reverse suppression; vibration velocity reflects the rate of vibration change, used to determine vibration trends and vibration suppression response requirements; and the vibration time-domain waveform reflects the vibration's variation over time, and can be used to identify vibration type, source, and stability.

[0048] Current operating parameters can include the boom's current total extension length, telescopic joint extension, current luffing angle, current load, current motion state, and current external operating conditions. The current luffing angle can be the boom's pitch angle relative to the horizontal plane, affecting the boom's stress state and vibration characteristics. The current load can be the load on the work platform, reflecting the magnitude of the force on the boom. The current motion state can include dynamic operating conditions such as boom luffing speed, telescopic speed, and cylinder movement speed. Current external operating conditions can include operating wind load, tilt angle, and road surface conditions. The boom's stiffness, inertia, damping, and vibration characteristics differ significantly under different operating conditions. By introducing operating parameters, adaptive correction of control parameters can be achieved, making the vibration suppression strategy more closely match the current boom state and improving vibration suppression accuracy and system stability under different operating postures.

[0049] According to embodiments of the present invention, the prediction model may be a machine learning model, a mathematical prediction model, or a deep learning model.

[0050] Machine learning models can be support vector machines, neural networks, decision trees, etc. Machine learning models can learn the dynamic characteristics of the boom from vibration signals and operating parameters, and output predictive adjustment parameters.

[0051] Mathematical prediction models can include linear regression models, nonlinear fitting models, and dynamic models. The prediction of adjustment parameters is achieved by establishing a mathematical mapping relationship between vibration and operating conditions.

[0052] Deep learning models, including convolutional neural networks and recurrent neural networks, can be used for high-precision prediction and adaptive adjustment of boom vibration under complex working conditions.

[0053] According to embodiments of the present invention, the predictive adjustment coefficient may include a predictive load adjustment coefficient and a predictive boom length adjustment coefficient. The predictive load adjustment coefficient can be used to adapt to the cylinder output requirements under different loads. The predictive boom length adjustment coefficient can be used to adapt to the boom flexibility characteristics under different boom lengths.

[0054] In operation S220, based on the control correlation between the valve opening parameters of the hydraulic cylinder valve and the adjustment coefficient of the boom, the predicted valve opening parameters of the hydraulic cylinder are determined according to the predicted adjustment coefficient. The control correlation is determined based on the basic opening coefficient of the hydraulic cylinder valve and the vibration amplitude of the current vibration signal.

[0055] According to an embodiment of the present invention, the hydraulic cylinder valve can be a proportional multi-way valve structure, mainly composed of a valve body, a proportional electromagnet, a valve core, a valve sleeve, a return spring, an oil port interface, and a compensation control unit. The valve body is provided with an oil inlet, an oil return port, and multiple working oil ports, which are respectively connected to the hydraulic pump, the oil tank, and the rod-side and rodless-side chambers of the corresponding hydraulic cylinder; the proportional electromagnet receives the electrical signal output by the controller and drives the valve core to make axial displacement within the valve sleeve. By changing the size and position of the valve core opening, the flow rate and direction of the hydraulic oil are controlled.

[0056] According to an embodiment of the present invention, the valve opening parameter can be the opening parameter of a CAN bus multi-way valve (control range 0-100%, with a safety limit set to ≤80% to avoid flow surge).

[0057] The control correlation between the valve opening parameter of the hydraulic cylinder valve and the adjustment coefficient of the boom is shown in formula (1):

[0058] (1);

[0059] S can be a valve opening parameter; k S It can be the basic opening coefficient of the hydraulic cylinder valve, which can be obtained through a single calibration via bench testing; A v It can be the vibration amplitude of the current vibration signal; k F It can be a load adjustment factor; k L It can be an arm length adjustment factor.

[0060] The predicted load adjustment coefficient and predicted arm length adjustment coefficient output by the prediction model, and the vibration amplitude of the current vibration signal can be substituted into formula (1) to obtain the predicted valve opening parameters of the oil cylinder.

[0061] In operation S230, the movement of the hydraulic cylinder is controlled via the hydraulic cylinder valve according to the predicted valve opening parameters, the vibration phase and vibration period in the current vibration signal, so that the hydraulic cylinder can suppress the vibration of the boom through mechanical transmission.

[0062] According to an embodiment of the present invention, the vibration amplitude can characterize the strength and sway of the boom vibration, and the flow rate released by the hydraulic cylinder valve can be determined based on the vibration amplitude to match the magnitude of the vibration amplitude; the vibration phase can be used to achieve reverse suppression, and the flow direction of the hydraulic cylinder valve can be determined based on the vibration phase so that the phase generated by the flow direction is opposite to the vibration phase.

[0063] According to embodiments of the present invention, the current vibration signal and current operating parameters of the boom are input into the prediction model. The resulting prediction adjustment parameters can adapt to different boom lengths, loads, and attitudes, overcoming the limitations of fixed control parameters. This allows for stable vibration suppression under varying operating conditions, resulting in greater versatility and robustness. The prediction model enables early vibration suppression, improving the real-time performance of vibration suppression.

[0064] The predicted valve opening parameter is determined by the predicted adjustment coefficient based on the control correlation between the valve opening parameter of the hydraulic cylinder valve and the adjustment coefficient of the boom. Based on the predicted valve opening parameter, vibration phase, and vibration period, precise and quantitative control of the hydraulic cylinder valve is achieved, resulting in better vibration damping and higher stability of the boom.

[0065] According to an embodiment of the present invention, the movement of the hydraulic cylinder is controlled via the hydraulic cylinder valve based on the predicted valve opening parameters, the vibration phase and the vibration period in the current vibration signal, including: determining the suppression phase of the suppression action that is opposite to the vibration phase and the suppression action time that is the same as the vibration period; and controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve based on the suppression phase, the suppression action time and the predicted valve opening parameters.

[0066] According to an embodiment of the present invention, a vibration cycle includes two vibration phases with different vibration directions. For example, the boom vibrates upward in the first half of the cycle, and the boom vibrates downward in the second half of the cycle. Therefore, the direction of the suppression action in the first half of the cycle is downward, and the suppression duration is half a cycle. The direction of the suppression action in the first half of the cycle is upward, and the suppression duration is also half a cycle. That is, the direction of the hydraulic cylinder valve needs to be switched once every half cycle.

[0067] The phase control formula is as follows:

[0068] (2);

[0069] θ represents the phase of the cylinder's suppression action; θv represents the vibration phase in the current vibration signal. The suppression action phase of the cylinder is made completely opposite to the vibration phase of the boom. When the vibration is upward, the cylinder pulls the boom downward; when the vibration is downward, the cylinder pushes the boom upward, thus canceling the vibration excitation at its source.

[0070] According to an embodiment of the present invention, the suppression time of the suppression action with the same vibration period, that is, the total suppression time Ta of the two suppression actions in one cycle, is the same as the vibration period Tv, ensuring that the reverse action can accurately cover each vibration period and that there will be no vibration suppression failure caused by phase shift.

[0071] According to an embodiment of the present invention, controlling the movement of a hydraulic cylinder via a hydraulic cylinder valve based on the suppression phase, the suppression action time, and the predicted valve opening parameters includes: determining the flow direction of the hydraulic cylinder valve based on the suppression phase, and determining the valve action time of the hydraulic cylinder valve based on the suppression action time; and controlling the movement of the hydraulic cylinder via a hydraulic cylinder valve based on the valve flow direction, the valve action time, and the predicted valve opening parameters.

[0072] According to embodiments of the present invention, the suppression phase and suppression duration affect the flow direction, valve action time, and valve switching direction time of the hydraulic cylinder valve, respectively. The flow rate of the hydraulic cylinder valve is determined based on the predicted valve opening parameters, and the suppression vibration amplitude generated by the flow rate of the hydraulic cylinder valve on the boom can be the same as the vibration amplitude.

[0073] According to an embodiment of the present invention, the current operating parameters include at least one of the following: current load, current arm length, current motion speed, and current posture; the prediction adjustment coefficient includes at least one of the load adjustment coefficient and the arm length adjustment coefficient.

[0074] Existing simple active vibration suppression solutions have two major drawbacks: First, they lack high-precision real-time capture of vibration parameters, making it impossible to dynamically match the vibration period, amplitude, and phase. The reverse action is not synchronized with the vibration, which easily leads to the problem of "the more you suppress, the more you shake." Second, the control parameters are fixed, lacking the ability to learn autonomously and optimize online, making it unable to adapt to complex and ever-changing high-altitude working conditions, resulting in poor consistency in vibration suppression effects.

[0075] According to an embodiment of the present invention, the above method further includes: obtaining the vibration amplitude of the boom after vibration suppression, wherein the vibration amplitude after vibration suppression is obtained by controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve based on the predicted valve opening parameters, the vibration phase and vibration period in the vibration signal; if the vibration amplitude after vibration suppression is greater than a preset threshold, updating the flow direction, valve action time and predicted valve opening parameters of the valve based on the vibration signal of the boom after vibration suppression and the working condition parameters after vibration suppression corresponding to the vibration amplitude after vibration suppression, until the vibration amplitude after vibration suppression is less than or equal to the preset threshold.

[0076] Figure 3 A schematic diagram illustrating the training and optimization process of a lightweight autonomous learning model according to an embodiment of the present invention is shown.

[0077] like Figure 3As shown, the lightweight autonomous learning model training and optimization process includes a first stage and a second stage. The first stage can be offline basic training performed on the boom vibration suppression system before it leaves the factory to complete a one-time calibration. The first stage includes parameter initialization (310), multi-condition dataset construction (320), lightweight neural network model training (330), and model solidification before leaving the factory (340). The second stage can be online autonomous learning optimization (running in real-time during actual equipment operation, with lifelong self-optimization). After the equipment leaves the factory, during actual operation, the model continuously optimizes autonomously based on real-time feedback data, adapting to scenarios such as equipment aging and changes in operating conditions, without the need for manual recalibration. The second stage includes real-time vibration effect evaluation (350), incremental iterative model optimization (360), parameter convergence locking (370), and operating condition memory bank update (380).

[0078] The parameter initialization 310 can be the initial value of the preset basic control parameters, providing a baseline for model training. The basic opening coefficient k... S The initial value can be set to 0.05% / mm (pre-calibrated through bench testing). The valve opening parameter range can be set to 0-80% (safety limit), the suppression action phase adjustment range can be 0-360°, and the load adjustment coefficient k... F The range can be 1.0-1.5, and the arm length adjustment coefficient k L The range can be 0.8-1.4. The training convergence condition for the prediction model can be parameter calculation error ≤3% and vibration attenuation rate ≥90%.

[0079] A multi-condition dataset of 320 was constructed (using orthogonal experimental design, significantly reducing the number of tests). Four core factors affecting boom vibration were selected: load, boom length, operating speed, and initial vibration amplitude. Each factor can be set to three levels. Using an L9(3^4) orthogonal experimental table, only nine core tests are needed to cover the entire operating condition range. Input data for each test group were collected: vibration parameters (T... v A v θ v Operating parameters (load, boom length, speed, luffing angle). Output label for each test group: k, which achieves the optimal vibration suppression effect under this operating condition. F k L Optimal value.

[0080] The lightweight neural network model training 330 can be based on 9 sets of experimental data, and the initial training dataset (data volume ≥ 1000 sets) can be expanded and constructed through simulation software to complete the normalization processing of the dataset.

[0081] The prediction model can be a 3-layer BP (Back Propagation) neural network model, with the following structure: The input layer includes 6 nodes, corresponding to the input parameters (T). v Av θ v (Load, arm length, speed). The hidden layer consists of 10 nodes and uses the ReLU activation function. The output layer consists of 2 nodes, corresponding to the optimized k output. F k L The prediction model is trained using gradient descent until it meets the convergence condition (parameter calculation error ≤ 3%).

[0082] Model solidification at the factory 340 can be the process of solidifying the trained model into the PLC (Programmable Logic Controller) of the controller (such as the main control unit) to complete the basic calibration at the factory.

[0083] According to an embodiment of the present invention, based on the vibration signal of the boom after vibration suppression and the operating parameters after vibration suppression corresponding to the vibration amplitude after vibration suppression, the flow direction, valve action time, and predicted valve opening parameters of the valve are updated, including: updating the model parameters of the prediction model based on the vibration signal after vibration suppression and the operating parameters after vibration suppression, and determining the updated valve opening parameters; updating the basic opening coefficient of the valve based on the operating parameters after vibration suppression, obtaining the updated basic opening coefficient, and determining the updated control correlation based on the updated basic opening coefficient; and updating the flow direction, valve action time, and predicted valve opening parameters of the valve based on the updated valve opening parameters and the updated control correlation.

[0084] The real-time vibration effect evaluation 350 can compare the vibration amplitude after each vibration suppression operation with the user-set preset threshold to calculate the deviation of the current vibration suppression effect.

[0085] The incremental iterative optimization of the model (360°) can be performed if the vibration amplitude after vibration suppression exceeds a preset threshold. The prediction model, based on the vibration signal of the boom corresponding to the vibration amplitude after suppression and the operating parameters after suppression, uses an incremental learning method to iteratively correct the load adjustment coefficient k. F and arm length adjustment coefficient k L At the same time, fine-tune the basic opening coefficient k S Optimize control parameters.

[0086] The parameter convergence lock-in 370 means that when the vibration amplitude is stable within a preset threshold for three consecutive vibration cycles, the prediction model locks in the current optimal parameters to avoid system oscillations caused by frequent adjustments.

[0087] The working condition memory library update 380 can record the optimal control parameters under different working conditions by the predictive model, forming a working condition-parameter mapping library. When the same working condition is encountered later, the optimal parameters can be directly called to achieve "predictive" vibration suppression and faster response speed.

[0088] Figure 4 A structural block diagram of a boom vibration suppression system according to an embodiment of the present invention is shown.

[0089] like Figure 4 As shown, the boom vibration suppression system 400 includes a data acquisition device 410 and a controller 420.

[0090] The acquisition device 410 is used to acquire the current vibration signal and current operating parameters of the boom.

[0091] The controller 420 is connected to the acquisition device 410 and the cylinder valve signal, and is used to execute the boom vibration suppression method. It controls the movement of the cylinder through the cylinder valve so that the cylinder can suppress the boom vibration through mechanical transmission.

[0092] The acquisition device 410 can acquire all vibration parameters and operating condition parameters in real time, providing full data for control calculation and model learning.

[0093] According to an embodiment of the present invention, the current operating parameters include at least one of the following: current load, current boom length, current operating speed, and current posture; the acquisition device includes at least one of the following: a vibration sensor, installed at the end of the boom, for acquiring current vibration signals; a load cell, installed on the work platform connected to the boom, for acquiring the current load of the work platform; a wire displacement sensor, for acquiring the current boom length; a speed sensor, integrated on the hydraulic cylinder, for acquiring the current operating speed; and a boom tilt sensor, installed on the boom, for acquiring the current posture.

[0094] Vibration sensors can be installed at the bottom of the work platform at the end of the boom to directly collect real vibration data of the worker's position. They adopt MEMS (Micro-Electro-Mechanical System) triaxial capacitive vibration sensors, which collect the change in capacitance value in real time through the dedicated integrated circuit built into the sensor. After the signal conditioning module completes filtering, amplification, and noise reduction, the vibration-related electrical signal is output.

[0095] The controller 420 can be the main control unit, serving as the core processing device of the boom vibration suppression system 400, completing data processing, model calculation, parameter calculation, and instruction generation. The controller 420 may include a data preprocessing module, a lightweight autonomous learning module, a parameter calculation module, and a CAN bus communication module. The data preprocessing module is used to filter and denoise the raw data collected by the sensors, remove outliers, and ensure data validity; the lightweight autonomous learning module is used to complete working condition identification, real-time optimization of correction coefficients, and online autonomous learning. The prediction model has only 3 layers of BP neural network, with 6 nodes in the input layer, 10 nodes in the hidden layer, and 2 nodes in the output layer. The computational load is extremely small, and a conventional PLC can run it in real time; the parameter calculation module is used to calculate the control parameters such as the opening degree, flow direction, actuator phase, and cycle of the multi-way valve in real time based on formula (1); the CAN bus communication module is used to generate standard protocol instructions and send control signals to the multi-way valve.

[0096] According to an embodiment of the present invention, the hydraulic cylinder includes at least one of the following: a luffing cylinder, a telescopic cylinder, and a boom cylinder, wherein the luffing cylinder is used to control the pitching and luffing motion of the boom, the telescopic cylinder is used to control the telescopic motion of the boom, the boom cylinder is used to control the pitching and swinging motion of the boom, and the boom is hinged to the end of the boom to change the working amplitude of the boom.

[0097] Figure 5 A schematic diagram of a boom vibration suppression system according to another embodiment of the present invention is shown.

[0098] like Figure 5 As shown, the boom vibration suppression system may include a human-machine input device 510, a controller 420, a hydraulic cylinder valve 520, an actuator (servo hydraulic cylinder / servo electric cylinder) 530, a boom aerial work platform 540, and a data acquisition device 410.

[0099] The human-machine interface device 510 is used to receive user setting instructions for operational requirements. For example, parameters can be set: operational mode (high-precision operational mode / fast operational mode) and allowable vibration threshold (i.e., preset threshold). Mode description: High-precision mode prioritizes stability and has a smaller allowable threshold; fast mode prioritizes operational efficiency and has a larger allowable threshold. The model automatically switches optimization priorities. The controller 420 is used to execute the boom vibration suppression method to generate control instructions for the movement of the hydraulic cylinders. The hydraulic cylinder valve 520 is used to execute operations according to the control instructions to achieve flow and direction control. The actuator (servo hydraulic cylinder / servo electric cylinder) 530 is used to suppress the vibration of the boom aerial work platform 540 through mechanical transmission. The data acquisition device 410 collects current vibration signals and current operating parameters in real time, providing real-time feedback optimization for the control calculation process and model learning process in the controller 420.

[0100] Figure 6A schematic diagram of a fully closed-loop vibration suppression control of a boom according to an embodiment of the present invention is shown.

[0101] like Figure 6 As shown, the boom's full closed-loop vibration suppression control can cover the entire process from motion prediction to vibration suppression, while incorporating multiple anomaly protections, ensuring stable operation and high safety. Specifically, the boom's full closed-loop vibration suppression control includes: setting operating parameters and system initialization 610; pre-vibration prediction and pre-control 620; real-time acquisition of vibration signals and operating parameters 630; intelligent model optimization and control parameter calculation 640; control command transmission and reverse action execution 650; real-time vibration effect detection and closed-loop judgment 660; anomaly protection and redundant control 670; and optimal parameter locking and operating condition memory bank update 680.

[0102] The specific steps of setting operating parameters and initializing the system 610 are as follows: The user selects the operating mode and sets the allowable vibration threshold (i.e., the preset threshold) through the human-machine input device; the control unit starts the vibration suppression program, loads the lightweight autonomous learning model, initializes the basic control parameters, and completes the self-test of sensor and CAN bus communication.

[0103] The pre-vibration suppression prediction and advance control 620 specifically works as follows: When the controller receives a stop command for boom movement (extension, luffing, slewing), it triggers the pre-vibration suppression function 0.5 seconds in advance. Based on the current boom length, load, and movement speed, the prediction model directly calls the optimal pre-control parameters in the working condition memory library and sends the pre-control command to the CAN bus multi-way valve in advance. This drives the actuator to perform a buffered reverse action, thus offsetting the vibration excitation caused by the start and stop of the movement in advance. This reduces the initial amplitude of vibration from the source and achieves "pre-vibration suppression".

[0104] The 630 series of vibration signal and operating parameter real-time acquisition devices mainly acquire vibration parameters (T) at the boom end in real time at a frequency of ≥100 Hz. v A v θ v The preprocessed parameters and full operating parameters (load, boom length, speed, attitude) are continuously transmitted to the controller.

[0105] The intelligent model optimization and control parameter calculation 640 mainly includes: the controller inputs the real-time collected parameters into the lightweight autonomous learning model, and outputs the optimized load adjustment coefficient k. F Arm length adjustment coefficient k L Combined with formula (1), control parameters (such as predicted valve opening parameters, suppression phase, suppression action cycle, etc.) are calculated in real time.

[0106] The control command sending and reverse action execution 650 includes the controller sending precise control commands to the multi-way valve via the CAN bus with a communication cycle of ≤5 milliseconds to drive the servo cylinder to perform reverse synchronous action; the electric drive model directly sends pulse control commands to the servo electric cylinder to ensure that the action of the actuator is completely synchronized, reversed and amplitude matched with the boom vibration, generating active counteracting force.

[0107] The vibration effect real-time detection and closed-loop judgment 660 includes a data acquisition device that continuously detects the real-time vibration amplitude at the end of the boom and performs closed-loop judgment.

[0108] If the amplitude of the suppressed vibration is less than or equal to the preset threshold set by the user, the vibration suppression is deemed to have met the standard. The controller maintains the current optimal control parameters. After the vibration is completely stabilized, the opening of the multi-way valve is gradually reduced to 0. The controller immediately enters the optimal parameter locking and working condition memory bank update 680, that is, the prediction model records the optimal parameters of the current working condition and updates the working condition memory bank.

[0109] If the amplitude of the suppressed vibration is greater than the preset threshold, it is determined that the vibration suppression has not met the standard. It immediately returns to the intelligent model optimization and control parameter calculation 640. Based on the latest real-time feedback data and the coefficients after the prediction model optimization, the control parameters are recalculated, and the amplitude and phase of the actuator are dynamically adjusted until the vibration decays to within the preset threshold.

[0110] The anomaly protection and redundancy control 670 can include real-time monitoring of the system status throughout the process. If anomalies such as sensor failure, communication interruption, or model output exceeding limits occur, the system will immediately trigger redundancy protection: suspend the online optimization function, switch to the factory-preset basic vibration suppression parameters to ensure the basic vibration suppression effect; at the same time, send a fault alarm prompt to the vehicle display screen, so as not to affect the normal operation and safe shutdown of the equipment, and avoid safety risks caused by system failure.

[0111] Open-loop filtering control schemes weaken the control signal for boom movements and slow down start-stop speeds to reduce vibration excitation through input shaping, low-pass filtering, and other algorithms. Essentially, this "trades efficiency for stability," which significantly prolongs the boom's arrival time and reduces operational efficiency. Furthermore, it can only suppress vibrations caused by the start-stop of movements in advance and cannot cope with random vibrations caused by sudden external forces such as load changes and wind disturbances during operation.

[0112] Open-loop filtering schemes typically trade efficiency for stability, but this invention does not require weakening the control signal for boom movement or slowing down the start-stop speed. While ensuring vibration suppression, it does not affect the normal operating efficiency of the boom, thus meeting the fast-paced and high-efficiency construction needs of high-altitude operations.

[0113] Passive mechanical damping solutions achieve vibration suppression by adding dampers and shock-absorbing pads at the boom hinges. This approach only attenuates vibrations at fixed frequencies and cannot adapt to varying vibration conditions under different boom lengths, loads, and operating speeds, resulting in limited vibration suppression effectiveness. Furthermore, the added mechanical structures increase equipment weight, manufacturing costs, and maintenance complexity. In contrast, this invention utilizes a lightweight, self-learning model with online optimization and operating condition memory capabilities. It can automatically adapt to all vibration conditions under different boom lengths, loads, operating speeds, and external disturbances, eliminating the need for manual calibration of control parameters for different operating conditions. The equipment can self-optimize for life after leaving the factory, significantly reducing maintenance costs.

[0114] This invention can significantly reduce the vibration amplitude and duration of the boom, which not only improves the operating comfort of high-altitude workers and avoids safety risks such as dizziness and operational errors caused by shaking, but also greatly reduces fatigue damage to boom welds and hinge points, extending the overall service life of the equipment.

[0115] Figure 7 A structural block diagram of a boom vibration suppression device according to an embodiment of the present invention is shown.

[0116] like Figure 7 As shown, the boom vibration suppression device 700 of this embodiment includes an input module 710, a determination module 720 and a control module 730.

[0117] The input module 710 is used to input the current vibration signal and current operating parameters of the boom into the prediction model to obtain the prediction adjustment coefficient of the boom, wherein the prediction adjustment coefficient is used to adjust the operating state of the boom. In one embodiment, the input module 710 can be used to perform the operation S210 described above, which will not be repeated here.

[0118] The determination module 720 is used to determine the predicted valve opening parameter of the hydraulic cylinder based on the control correlation between the valve opening parameter of the hydraulic cylinder valve and the adjustment coefficient of the boom, and to determine the predicted valve opening parameter of the hydraulic cylinder according to the predicted adjustment coefficient. The control correlation is determined based on the basic opening coefficient of the hydraulic cylinder valve and the vibration amplitude of the current vibration signal. In one embodiment, the determination module 720 can be used to perform the operation S220 described above, which will not be repeated here.

[0119] The control module 730 is used to control the movement of the hydraulic cylinder via the hydraulic cylinder valve based on the predicted valve opening parameters, the vibration phase and vibration period in the current vibration signal, so that the hydraulic cylinder can suppress the vibration of the boom through mechanical transmission. In one embodiment, the control module 730 can be used to perform the operation S230 described above, which will not be repeated here.

[0120] According to an embodiment of the present invention, the control module 730 includes a first determining submodule and a control submodule. The first determining submodule is used to determine the suppression phase of the suppression action that is opposite to the vibration phase and the suppression duration of the suppression action that is the same as the vibration period; the control submodule is used to control the movement of the hydraulic cylinder via the hydraulic cylinder valve according to the suppression phase, the suppression duration, and the predicted valve opening parameters.

[0121] According to an embodiment of the present invention, the control submodule includes a first determining unit and a control unit. The first determining unit is used to determine the flow direction of the hydraulic cylinder valve based on the suppression phase and to determine the valve action time of the hydraulic cylinder valve based on the suppression action time; the control unit is used to control the movement of the hydraulic cylinder via the hydraulic cylinder valve based on the valve flow direction, valve action time, and predicted valve opening parameters.

[0122] According to an embodiment of the present invention, the above-mentioned device further includes: an acquisition module and an update module. The acquisition module is used to acquire the vibration amplitude of the boom after vibration suppression, wherein the vibration amplitude after vibration suppression is obtained by controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve based on the predicted valve opening parameters, the vibration phase and the vibration period in the vibration signal; the update module is used to update the flow direction, valve action time and predicted valve opening parameters of the valve based on the vibration signal of the boom after vibration suppression and the operating parameters after vibration suppression, when the vibration amplitude after vibration suppression is greater than a preset threshold, until the vibration amplitude after vibration suppression is less than or equal to the preset threshold.

[0123] According to an embodiment of the present invention, the update module includes a first update submodule, an acquisition submodule, and a second update submodule. The first update submodule is used to update the model parameters of the prediction model based on the vibration signal and the operating parameters after vibration suppression, and to determine the updated valve opening parameters; the acquisition submodule is used to update the basic valve opening coefficient based on the operating parameters after vibration suppression, to obtain the updated basic opening coefficient, and to determine the updated control correlation based on the updated basic opening coefficient; the second update submodule is used to update the valve flow direction, valve action time, and predicted valve opening parameters based on the updated valve opening parameters and the updated control correlation.

[0124] According to an embodiment of the present invention, the current operating parameters include at least one of the following: current load, current arm length, current motion speed, and current posture; the prediction adjustment coefficient includes at least one of the load adjustment coefficient and the arm length adjustment coefficient.

[0125] According to embodiments of the present invention, any plurality of modules among the input module 710, the determination module 720, and the control module 730 may be combined into one module, or any one of these modules may be split into multiple modules. Alternatively, at least a portion of the functionality of one or more of these modules may be combined with at least a portion of the functionality of other modules and implemented in one module. According to embodiments of the present invention, at least one of the input module 710, the determination module 720, and the control module 730 may be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, at least one of the input module 710, the determination module 720, and the control module 730 may be at least partially implemented as a computer program module, which, when run, can perform corresponding functions.

[0126] Figure 8 A block diagram of an electronic device suitable for implementing a boom vibration suppression method according to an embodiment of the present invention is shown.

[0127] like Figure 8 As shown, an electronic device 800 according to an embodiment of the present invention includes a processor 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage portion 808 into a random access memory (RAM) 803. The processor 801 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 801 may also include onboard memory for caching purposes. The processor 801 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0128] RAM 803 stores various programs and data required for the operation of electronic device 800. Processor 801, ROM 802, and RAM 803 are interconnected via bus 804. Processor 801 executes various operations of the method flow according to embodiments of the present invention by executing programs in ROM 802 and / or RAM 803. It should be noted that the programs may also be stored in one or more memories other than ROM 802 and RAM 803. Processor 801 may also execute various operations of the method flow according to embodiments of the present invention by executing programs stored in said one or more memories.

[0129] According to an embodiment of the present invention, the electronic device 800 may further include an input / output (I / O) interface 805, which is also connected to a bus 804. The electronic device 800 may also include one or more of the following components connected to the input / output (I / O) interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the input / output (I / O) interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 810 as needed so that computer programs read from it can be installed into the storage section 808 as needed.

[0130] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present invention.

[0131] According to embodiments of the present invention, a computer-readable storage medium may be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of the present invention, a computer-readable storage medium may include ROM 802 and / or RAM 803 and / or one or more memories other than ROM 802 and RAM 803 described above.

[0132] Embodiments of the present invention also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to enable the computer system to implement the boom vibration suppression method provided in the embodiments of the present invention.

[0133] When the computer program is executed by the processor 801, it performs the functions defined in the system / apparatus of this invention. According to embodiments of the invention, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0134] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 809, and / or installed from a removable medium 811. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0135] In such an embodiment, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by processor 801, it performs the functions defined in the system of this embodiment of the invention. According to embodiments of the invention, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0136] According to embodiments of the present invention, program code for executing the computer programs provided in the embodiments of the present invention can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0137] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0138] Those skilled in the art will understand that the features described in the various embodiments of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments of the present invention can be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

[0139] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention.

Claims

1. A method of boom vibration suppression, characterized by, The method includes: The current vibration signal and current operating parameters of the boom are input into the prediction model to obtain the prediction adjustment coefficient of the boom, wherein the prediction adjustment coefficient is used to adjust the operating state of the boom. Based on the control correlation between the valve opening parameters of the hydraulic cylinder valve and the adjustment coefficient of the boom, the predicted valve opening parameters of the hydraulic cylinder are determined according to the predicted adjustment coefficient, wherein the control correlation is determined based on the basic opening coefficient of the hydraulic cylinder valve and the vibration amplitude of the current vibration signal. Based on the predicted valve opening parameters, the vibration phase and vibration period in the current vibration signal, the hydraulic cylinder movement is controlled via the hydraulic cylinder valve so that the hydraulic cylinder can suppress the vibration of the boom through mechanical transmission.

2. The method according to claim 1, characterized in that, The step of controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve based on the predicted valve opening parameters, the vibration phase and vibration period in the current vibration signal includes: Determine the suppression phase of the suppression action that is opposite to the vibration phase, and the suppression duration of the suppression action that is the same as the vibration period; The movement of the hydraulic cylinder is controlled via the hydraulic cylinder valve according to the suppression phase, the suppression time, and the predicted valve opening parameters.

3. The method according to claim 2, characterized in that, The step of controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve based on the suppression phase, the suppression duration, and the predicted valve opening parameter includes: The flow direction of the hydraulic cylinder valve is determined based on the suppression phase, and the valve action time of the hydraulic cylinder valve is determined based on the suppression action time. The movement of the hydraulic cylinder is controlled via the hydraulic cylinder valve according to the flow direction of the valve, the valve action time, and the predicted valve opening parameters.

4. The method according to claim 3, characterized in that, The method further includes: The vibration amplitude of the boom after vibration suppression is obtained, wherein the vibration amplitude after vibration suppression is obtained by controlling the movement of the hydraulic cylinder through the hydraulic cylinder valve based on the predicted valve opening parameter, the vibration phase and vibration period in the vibration signal; If the vibration amplitude after vibration suppression is greater than a preset threshold, the flow direction of the valve, the valve action time, and the predicted valve opening parameter are updated based on the vibration signal and operating condition parameters of the boom after vibration suppression corresponding to the vibration amplitude after vibration suppression, until the vibration amplitude after vibration suppression is less than or equal to the preset threshold.

5. The method according to claim 4, characterized in that, The process of updating the valve's flow direction, valve action time, and predicted valve opening parameters based on the vibration signal and operating parameters of the boom corresponding to the vibration amplitude after vibration suppression includes: The model parameters of the prediction model are updated based on the vibration signal after vibration suppression and the operating parameters after vibration suppression, and the updated valve opening parameters are determined. The valve's base opening coefficient is updated based on the vibration-damped operating parameters to obtain the updated base opening coefficient, and the updated control correlation is determined based on the updated base opening coefficient. Based on the updated valve opening parameters and the updated control correlation, the valve flow direction, valve action time, and predicted valve opening parameters are updated.

6. The method according to any one of claims 1 to 3, characterized in that, The current operating parameters include at least one of the following: current load, current arm length, current motion speed, and current posture; the prediction adjustment coefficient includes at least one of the load adjustment coefficient and the arm length adjustment coefficient.

7. A boom vibration suppression system characterized by comprising: The system includes: The data acquisition device is used to collect the current vibration signal and current operating parameters of the boom. The controller, connected to the acquisition device and the hydraulic cylinder valve signal, is used to execute the method described in any one of claims 1 to 6, controlling the movement of the hydraulic cylinder via the hydraulic cylinder valve so that the hydraulic cylinder can suppress the vibration of the boom through mechanical transmission.

8. The system of claim 7, wherein, The current operating parameters include at least one of the following: current load, current arm length, current motion speed, and current posture; the data acquisition device includes at least one of the following: A vibration sensor, installed at the end of the boom, is used to collect the current vibration signal; A load cell is installed on the work platform connected to the boom to collect the current load of the work platform; A wire displacement sensor is used to collect the current arm length; A speed sensor, integrated on the hydraulic cylinder, is used to collect the current operating speed; A boom tilt sensor, mounted on the boom, is used to collect the current attitude.

9. The system of claim 8, wherein, The hydraulic cylinder includes at least one of the following: a luffing cylinder, a telescopic cylinder, and a boom cylinder, wherein the luffing cylinder is used to control the pitching motion of the boom, the telescopic cylinder is used to control the telescopic motion of the boom, the boom cylinder is used to control the pitching motion of the boom, and the boom cylinder is used to control the pitching motion of the boom. The boom is hinged to the end of the boom and is used to change the working radius of the boom.

10. A boom vibration suppression device, characterized in that, The device includes: The input module is used to input the current vibration signal and current working condition parameters of the boom into the prediction model to obtain the prediction adjustment coefficient of the boom, wherein the prediction adjustment coefficient is used to adjust the working condition of the boom. The determination module is used to determine the predicted valve opening parameter of the hydraulic cylinder based on the control correlation between the valve opening parameter of the hydraulic cylinder valve and the adjustment coefficient of the boom, and to determine the predicted valve opening parameter of the hydraulic cylinder according to the predicted adjustment coefficient, wherein the control correlation is determined based on the basic opening coefficient of the hydraulic cylinder valve and the vibration amplitude of the current vibration signal. The control module is used to control the movement of the hydraulic cylinder via the hydraulic cylinder valve according to the predicted valve opening parameters, the vibration phase and vibration period in the current vibration signal, so that the hydraulic cylinder can suppress the vibration of the boom through mechanical transmission.

11. An electronic device, comprising: One or more processors; Memory, used to store one or more computer programs. The characteristic feature is that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1 to 6.

12. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by a processor, they implement the steps of the method according to any one of claims 1 to 6.

13. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by a processor, they implement the steps of the method according to any one of claims 1 to 6.

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