Arc gate maintenance-oriented double-arc-section suspension platform adaptive vibration suppression control method and system

Abstract

The application discloses a double-arc-section suspension platform adaptive vibration suppression control method and system for arc gate maintenance, relates to the technical field of vibration control, and has the technical scheme as follows: joint angles of two joints are collected, and an angle deviation and a band-pass error signal are calculated; based on the joint angles and actual control quantities, angular velocities and equivalent disturbances of the joints are estimated; based on the band-pass error signal, a dominant disturbance frequency is estimated online; taking the energy of the band-pass error signal as an index, virtual impedance parameters of the joints and cross-coupling damping parameters between the two joints are self-tuned online; based on the self-tuned parameters, the angle deviation, the angular velocity estimation and the equivalent disturbance, preliminary control quantities of the joints are synthesized; and after the preliminary control quantities are subjected to safety limiting and degradation processing, the preliminary control quantities are sent to corresponding electric cylinder execution units. The application can automatically adapt to frequency and intensity changes of wind-induced and gait disturbances, and coordinate and suppress absolute swing and relative motion of the two arc sections.

Description

Technical Field

[0001] This invention relates to the field of vibration control technology, and more specifically, to an adaptive vibration suppression control method and system for a double-arc suspended platform for arc gate maintenance. Background Technology

[0002] In maintenance work on the upstream side of the surface gate of a hydroelectric dam, a double-arc suspended platform driven by an electric cylinder is often used. The first and second arc segments of this platform are connected in series via hinge points and can rotate around the base hinge and the inter-segment hinge, respectively, to adapt to the curved surface of the gate and adjust its attitude. However, such platforms are exposed to complex wind fields for extended periods, and maintenance personnel frequently pass through and operate within them. Therefore, they are continuously subjected to the combined effects of unsteady wind-induced disturbances and near-periodic gait excitations. These excitations easily induce coupled low-frequency oscillations in two degrees of freedom, leading to increased peak displacement, decreased operational stability and safety, and also severely impacting the comfort of personnel.

[0003] To suppress such vibrations, existing technologies have proposed various approaches, but all have obvious limitations and are difficult to meet the stringent requirements of the above-mentioned complex working conditions. Specifically: (1) The method of using passive or semi-active vibration damping devices, such as tuned mass dampers, usually requires preset parameters and offline tuning, which cannot adapt to the drift of the dominant disturbance frequency caused by wind speed and load changes. Once detuned, the vibration damping effect will be significantly reduced. (2) The method of using fixed parameter feedback control or fixed frequency notch filtering is simple to implement, but lacks the ability to track the dominant frequency of time-varying disturbances online; especially in dual-joint coupled systems, it is easy to cause the vibration of one joint to be suppressed while the residual vibration of the other joint is amplified due to uncoordinated control. (3) Active control methods that rely heavily on accurate models and multi-sensor information have high requirements for the accuracy of system models and sensor configuration, and are complex to deploy and maintain. In the case of actuator saturation and on-site uncertainties, it is difficult to ensure its stability and robustness. (4) Existing research focuses on vibration suppression of objects with single degree of freedom or single joint, and lacks a systematic collaborative vibration suppression strategy designed for the unique coupled vibration modes of dual-arc platforms.

[0004] Therefore, researching and designing an adaptive vibration suppression control method and system for a double-arc suspension platform oriented towards arc gate maintenance that can overcome the above-mentioned defects is an urgent problem to be solved. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide an adaptive vibration suppression control method and system for a dual-arc suspension platform for arc gate maintenance. This method enables the identification, parameter self-tuning, and collaborative suppression of low-frequency coupled swaying caused by wind-induced disturbances and personnel gait excitation under minimal measurement conditions, thereby reducing the platform's angular displacement and angular velocity response and improving stability and robustness.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution: Firstly, an adaptive vibration suppression control method for a dual-arc suspension platform designed for arc gate maintenance is provided, including the following steps: The joint angles of the two joints are collected, and the corresponding angle deviations and bandpass error signals are calculated. Based on the joint angles and actual control quantities, the angular velocity and equivalent disturbance of each joint are estimated. Based on the bandpass error signal, the dominant perturbation frequency is estimated online; Using the energy of the bandpass error signal as an indicator, the virtual impedance parameters of each joint and the cross-coupling damping parameters between the two joints are self-tuned online. Based on the self-tuned parameters, the angle deviation, the angular velocity estimation, and the equivalent disturbance, the preliminary control quantities of each joint are synthesized. After the initial control quantity is subjected to safety limiting and degradation processing, it is sent to the corresponding electric cylinder actuator.

[0007] Furthermore, the calculation of the corresponding angle deviation and bandpass error signal includes: The angle deviation is obtained by calculating the difference between the joint angle of each joint and the preset balance angle. The angle deviation is bandpass filtered to obtain a bandpass error signal with a frequency band between 0.4 Hz and 3.5 Hz.

[0008] Furthermore, the estimation of the angular velocity and equivalent perturbation of each joint is achieved through an extended state observer and / or a perturbation observer.

[0009] Furthermore, the online estimation of the dominant perturbation frequency is achieved through an adaptive second-order resonator; The input to the adaptive second-order resonator is a weighted sum of the bandpass error signals corresponding to the two joints.

[0010] Furthermore, the virtual impedance parameters of each joint and the cross-coupling damping parameters between the two joints in the online self-tuning follow the two-time-scale principle that frequency updates are faster than parameter updates, and are updated using gradient descent combined with interval projection.

[0011] Furthermore, the preliminary control quantities for synthesizing each joint specifically include: Based on the self-tuned virtual damping coefficient, virtual stiffness coefficient, estimated angular velocity, and angular deviation, a virtual impedance control component is synthesized. Based on the difference between the self-tuned cross-coupling damping coefficient and the estimated angular velocity of the two joints, the cross-coupling control component is synthesized. The virtual impedance control component, the cross-coupling control component, and the disturbance compensation term based on the equivalent disturbance are superimposed to obtain the preliminary control quantity.

[0012] Furthermore, the disturbance compensation term is obtained by multiplying the equivalent disturbance by a disturbance compensation weight coefficient between 0 and 1 and taking a negative value.

[0013] Furthermore, the security limiting and degradation processing includes: The amplitude and rate of change of the preliminary control quantity are limited; Furthermore, when the preset security degradation conditions are met, the freeze parameters are automatically tuned and the system switches to the preset conservative parameter set for operation. The security degradation conditions include at least one of the following: continuous exceedance of control variables, abnormality of the equivalent disturbance estimate, and low confidence level of the dominant disturbance frequency estimate.

[0014] Furthermore, the method also includes: When recovering from a degraded state, the system has an online self-tuning function that gradually restores parameters according to the annealing factor after meeting the recovery conditions and continuing for a preset time.

[0015] Secondly, an adaptive vibration suppression control system for a dual-arc suspension platform designed for arc gate maintenance is provided, including: Angle processing module is used to acquire the joint angles of the two joints and calculate the corresponding angle deviation and bandpass error signal; The state observation module is used to estimate the angular velocity and equivalent disturbance of each joint based on the joint angle and the actual control quantity. The main frequency tracking module is used to estimate the dominant perturbation frequency online based on the bandpass error signal; The parameter tuning module is used to self-tune the virtual impedance parameters of each joint and the cross-coupling damping parameters between two joints online, using the energy of the bandpass error signal as an indicator. The control synthesis module is used to synthesize the preliminary control quantities of each joint based on the self-tuned parameters, the angle deviation, the angular velocity estimation, and the equivalent disturbance. The safety processing module is used to perform safety limiting and degradation processing on the preliminary control quantity before sending it to the corresponding electric cylinder actuator.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The adaptive vibration suppression control method for a dual-arc suspended platform for arc gate maintenance provided by this invention extracts the target frequency band vibration signal through preprocessing, then simultaneously observes state disturbances and identifies the dominant frequency online, and then adaptively tunes the virtual impedance and cross-coupling parameters using vibration energy as an indicator. Finally, it synthesizes a collaborative control law that integrates virtual damping dissipation, stiffness recovery, coupling suppression, and disturbance feedforward compensation, enabling the system to automatically adapt to the frequency and intensity changes of wind-induced and gait disturbances, and coordinate the suppression of the absolute oscillation and relative motion of the two arc segments. Thus, it achieves stable and adaptive suppression of time-varying, coupled low-frequency oscillation of the dual-arc suspended platform with minimal hardware modifications, improving the stability, safety, and comfort of platform operation.

[0017] 2. This invention obtains the angle deviation by limiting the calculation of the difference between the joint angle and the preset equilibrium angle, and then performs a bandpass filter of 0.4Hz to 3.5Hz on this deviation to obtain a bandpass error signal. The angle deviation directly reflects the degree to which the platform deviates from the desired equilibrium posture and is the direct target of control. The 0.4-3.5Hz bandpass filter focuses on the main low-frequency vibration frequency band caused by wind-induced disturbances and personnel gait excitation, filtering out high-frequency measurement noise and low-frequency drift signals. This ensures that subsequent core algorithms such as frequency tracking and parameter self-tuning only respond to the effective vibration components within the target vibration suppression frequency band, thereby avoiding interference from irrelevant signals and improving the target targeting and vibration suppression accuracy of the entire control system.

[0018] 3. This invention estimates angular velocity and equivalent disturbance by employing an extended state observer or disturbance observer. This expands the unmodeled dynamics, parameter uncertainties, and external disturbances of the system into a new state variable and allows for real-time observation. This enables the acquisition of the necessary angular velocity feedback signal and real-time estimation of equivalent disturbances for high-performance closed-loop control without the need for additional angular velocity or force sensors, even with only an angle sensor installed. This not only reduces system hardware costs and deployment complexity but also provides feedforward disturbance rejection capability through negative compensation of the disturbance estimation value. This effectively solves the engineering deployment challenges of traditional highly sensor-dependent solutions and enhances the robustness of the system.

[0019] 4. This invention employs an adaptive second-order resonator, setting its input as a weighted sum of the bandpass error signals of the two joints. The adaptive second-order resonator is a resonant system whose natural frequency can be dynamically adjusted. Through the interaction between its internal state and the input bandpass error, it drives its natural frequency to automatically lock onto the frequency component with the strongest energy in the input signal. It can automatically track the main frequency drift caused by wind field changes or differences in people's gait, ensuring that subsequent control strategies such as virtual impedance are always aligned with the current core excitation frequency. This solves the problem of attenuation or even failure of vibration suppression effect caused by frequency mismatch in fixed parameter control or fixed notch filters.

[0020] 5. This invention ensures that frequency tracking can respond quickly to disturbance changes by following the two-time-scale principle, while the virtual impedance and cross-coupling parameters are adjusted slowly and smoothly according to the index J reflecting the overall vibration energy. The gradient descent method guides the parameters to automatically optimize in the direction of reducing vibration energy J, while interval projection ensures that all parameters are always constrained within the preset physical feasibility and system stability safety boundaries. It can adapt to different platform loads, wind speeds, and operating conditions, solving the technical problem that preset parameters or offline tuning parameters cannot adapt to changes in operating conditions, resulting in a decrease in control performance, and improving the universality and adaptability of the method.

[0021] 6. In this invention, the virtual impedance component provides a virtual spring-damper for each joint, used to dissipate vibration energy and provide attitude recovery force, respectively; the cross-coupling component specifically generates a damping force proportional to the difference in angular velocity between the two joints, actively suppressing the relative oscillation between the two arc segments; the disturbance compensation term feeds forward to compensate for the observed equivalent disturbance, weakening the influence of external disturbances. The three components work synergistically, exerting force simultaneously from three dimensions: absolute motion suppression of a single joint, relative motion coordination of two joints, and external disturbance compensation. This effectively solves the coupled vibration problem that may occur with traditional methods, where vibration is suppressed in one joint but residual vibration is amplified in the other, achieving coordinated suppression of the overall rigid body mode and the relative deformation mode of the platform.

[0022] 7. This invention enhances the reliability and fault tolerance of the entire adaptive control method in real complex engineering environments by introducing a safety degradation mechanism that includes control quantity limiting, safety condition monitoring, parameter freezing and switching to a conservative parameter set, and a recovery strategy that gradually restores self-tuning according to the annealing factor after the conditions are met. It solves the risk of instability of pure adaptive algorithms under extreme conditions and ensures the safety of equipment and personnel. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of the double-arc suspension platform in Embodiment 1 of the present invention; Figure 2 This is a control flow diagram in Embodiment 1 of the present invention; Figure 3 This is a time-domain comparison diagram from Embodiment 1 of the present invention; Figure 4 This is a frequency domain comparison diagram from Embodiment 1 of the present invention; Figure 5 This is a system block diagram in Embodiment 2 of the present invention.

[0024] The attached diagram shows the markings and corresponding component names: 1. First arc segment; 2. Second arc segment. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0026] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly or indirectly attached to that other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to that other component.

[0027] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] Example 1: Adaptive vibration suppression control method for a double-arc suspended platform for arc gate maintenance, such as Figure 2 As shown, this is achieved through the following steps.

[0030] Step 1: Collect the joint angles of the two joints and calculate the corresponding angle deviation and bandpass error signal.

[0031] like Figure 1 As shown, the main body of the double-arc suspension platform described in this invention is a series-connected double-arc structure, including a first arc segment 1, a second arc segment 2, a base hinge A, an inter-segment hinge B, and a first electric cylinder actuator unit. Second electric cylinder actuator .

[0032] Specifically, the upper end of the first arc segment 1 is hinged to the fixed base above via a base hinge A, allowing the first arc segment 1 to rotate relative to the fixed base about the axis of base hinge A. The lower end of the first arc segment 1 is hinged to the upper end of the second arc segment 2 via an inter-segment hinge B, allowing the second arc segment 2 to rotate relative to the first arc segment 1 about the axis of inter-segment hinge B. Base hinge A and inter-segment hinge B together constitute the two motion joints of the platform.

[0033] The first electric cylinder actuator that drives the movement of this double-arc structure One end of it is connected to a fixed base near the base hinge A, and the other end is connected to the first arc segment 1. The extension and retraction can drive the first arc segment 1 to rotate around the base hinge A. The second electric cylinder actuator unit... One end is connected to the first arc segment 1, and the other end is connected to the second arc segment 2. The extension and retraction can drive the second arc segment 2 to rotate around the intersegment hinge B.

[0034] The dual-arc structure, through two hinge points and two electric cylinder actuators, achieves series connection and independent drive of the two arc segments, forming a dual-joint robotic arm-type suspended platform capable of variable amplitude motion in the vertical plane. The external wind-induced disturbance and personnel gait excitation encountered by the platform during operation are shown in the figure. , .

[0035] First, joint angle signals are acquired. Angle sensors installed at the base hinge A and inter-segment hinge B, corresponding to the first arc segment 1 and the second arc segment 2, are used to acquire the rotation angle signals of the two joints in real time. The joint angle corresponding to the first arc segment 1 is denoted as... The joint angle corresponding to the second arc segment 2 is denoted as Together, they constitute the joint angle state vector of the system. Where the superscript T denotes the transpose of the vector, indicating that... It is a column vector containing two joint angle elements.

[0036] Next, the angular deviation of each joint is calculated. The equilibrium angle of the i-th joint (i∈{1,2}) under statically stable conditions or the target attitude is defined as... The collected real-time joint angles Its corresponding equilibrium angle By subtracting the values, we obtain the angular deviation of the joint relative to its equilibrium position. The calculation formula is as follows: .in, This reflects the degree to which the joint deviates from the desired equilibrium position and is the main control target for subsequent vibration suppression.

[0037] Then, bandpass filtering is applied to the angle deviation to extract the vibration components of the target frequency band. The calculated angle deviation signal is then processed. Input a bandpass filter with a bandpass frequency range of 0.4Hz to 3.5Hz. This band covers the main low-frequency oscillation frequencies caused by wind-induced disturbances (approximately 1Hz) and human gait excitation (approximately 1.8Hz to 2Hz). After filtering, the output signal is the bandpass error signal. Bandpass error signal High-frequency noise and low-frequency drift were filtered out, while the core low-frequency vibration information that needed to be suppressed was retained, providing accurate input for subsequent adaptive frequency tracking and parameter self-tuning.

[0038] Step 2: Estimate the angular velocity and equivalent disturbance of each joint based on the joint angles and actual control variables.

[0039] The estimation of the joint angular velocities and equivalent perturbations can be achieved using an Extended State Observer (ESO), or, depending on engineering requirements, using a Disturbance Observer (DOB) or a combination of ESO and DOB. Taking the use of an Extended State Observer as an example, based on the joint angle signals acquired in the current sampling period... And the control quantity actually sent to the electric cylinder actuator after the safety module's amplitude limiting processing in the previous control cycle. This allows for integrated observation of the system's internal state and external disturbances. The extended state observer incorporates unmodeled system dynamics, parameter uncertainties, and external wind-induced disturbances. Personnel gait incentives The sum of all these combined effects is uniformly defined as a total perturbation, which is then expanded into a new state variable. Through the observer's calculations, estimates of two key physical quantities are output in real time: one is the estimated angular velocity of each joint. This is used to approximate the true angular velocity, which may introduce noise, by directly differentiating from it. Second, the estimated disturbances experienced by each joint. This is used to characterize the combined effect of the equivalent external disturbance and the unmodeled dynamics acting on the joint. Its core observation relationship can be expressed as: based on the input quantity ( , By extending the dynamic update law within the state observer, it calculates and outputs the results online. , This allows the system to obtain the full-state feedback and disturbance feedforward compensation information necessary for closed-loop control with a minimal hardware configuration that only requires the installation of angle sensors and does not require direct measurement of angular velocity and disturbance force.

[0040] Step 3: Based on the bandpass error signal, estimate the dominant perturbation frequency online.

[0041] Online estimation of the dominant perturbation frequency is achieved using an adaptive second-order resonator. First, the input signal to the adaptive second-order resonator is generated. Then, the bandpass error signals obtained in step one, corresponding to the first and second joints respectively, are used. and Weighted fusion is performed to form a comprehensive error signal for frequency tracking. The weighting coefficients of the weighted fusion can be assigned their proportion in the synthesized signal based on the magnitude or importance of the vibration energy of the two joints, thus affecting the overall error signal. It fully embodies the principal components of the overall vibration of the dual-joint system within the target frequency band (0.4-3.5Hz), serving as a direct input for subsequent frequency estimation.

[0042] Then, the integrated error signal By inputting an adaptive second-order resonator, the dominant excitation frequency estimate is obtained. : ; in, and The internal state variables of the adaptive second-order resonator can be understood as two orthogonal states of the virtual resonator, used to characterize the combined error signal. The oscillatory response near the current estimated frequency; Internal state variables The first derivative with respect to time; Internal state variables The first derivative with respect to time; This represents the damping coefficient, used to control the bandwidth and convergence speed of the resonator; This represents the error injection coefficient, which determines the external error signal. Regarding the internal state The intensity of the incentive, This represents the frequency adaptive update coefficient, controlling the frequency estimate. The tracking speed and stability.

[0043] This invention drives the continuous adjustment of the dominant excitation frequency estimation through the correlation between the internal state and the input error, until the resonator's natural frequency synchronizes with the dominant frequency component in the input signal. and The product of these has a mean of zero. By stopping updates, online, adaptive, and accurate estimation of the dominant frequency of time-varying disturbances can be achieved. Ultimately, the real-time output... The value will be used to guide the self-tuning of the control parameters in step four.

[0044] Step 4: Using the energy of the bandpass error signal as an indicator, online self-tuning is performed on the virtual impedance parameters of each joint and the cross-coupling damping parameters between the two joints.

[0045] The virtual impedance parameters of each joint and the cross-coupling damping parameters between two joints are self-tuned online, following the two-time-scale principle that frequency updates are faster than parameter updates, and are updated using gradient descent combined with interval projection.

[0046] Specifically, using bandpass error energy For indicators, parameters are updated according to the principle of high frequency and low parameter update: ; in, An energy index representing the bandpass error within a statistical window, used to evaluate the current vibration intensity; Indicates the length of the error energy statistics window; This is the time variable for integration.

[0047] Based on this index, the virtual damping, virtual stiffness, and cross-coupling damping are updated, and projection limiting and first-order smoothing are applied: ; in, Indicates the first Virtual damping coefficient of each joint Indicates the first Virtual stiffness coefficients of each joint This represents the cross-coupling damping coefficient between the two joints; the superscript "+" indicates the updated parameter value. This represents the interval projection operator, used to limit parameters within a preset range; and These represent the minimum and maximum values ​​of the virtual damping coefficient, respectively. This represents the maximum value of the virtual stiffness coefficient; This represents the maximum value of the cross-coupling damping coefficient; These represent the update step sizes for virtual damping, virtual stiffness, and cross-coupling damping, respectively. This represents the rate of change of the bandpass error energy with respect to the corresponding parameter.

[0048] Step 5: Based on the self-tuned parameters, angle deviation, angular velocity estimation, and equivalent disturbance, synthesize the preliminary control quantities for each joint.

[0049] The preliminary control quantities for each joint are synthesized, specifically including: synthesizing virtual impedance control components based on the self-tuned virtual damping coefficient, virtual stiffness coefficient, angular velocity estimate, and angular deviation; synthesizing cross-coupling control components based on the self-tuned cross-coupling damping coefficient and the difference in angular velocity estimates between the two joints; and superimposing the virtual impedance control components, cross-coupling control components, and disturbance compensation terms based on equivalent disturbances to obtain the preliminary control quantities.

[0050] Specifically, based on the updated parameters, virtual impedance control components and cross-coupling control components are generated: ; in, Indicates the first Virtual impedance control components of each joint; and These represent the cross-coupling control components of the first joint and the second joint, respectively. This is the estimated angular velocity of the first joint; This is the estimated angular velocity of the second joint.

[0051] The virtual impedance control component, cross-coupling control component, and disturbance compensation term are superimposed to obtain the preliminary control quantity: ; in, Indicates the first Initial control values ​​for each joint; This represents the disturbance compensation weighting coefficient; This indicates that negative compensation is applied to the observed disturbance estimate; For the first Cross-coupling control components of each joint.

[0052] When the input direction of the objects is not defined synchronously, the sign of the compensation term is adjusted accordingly.

[0053] Step Six: After applying safety limits and downgrading to the initial control quantity, it is sent to the corresponding electric cylinder actuator.

[0054] Safety limiting and degradation processing includes: limiting the amplitude and rate of change of the initial control quantity; and when the preset safety degradation conditions are met, freezing the parameters for self-tuning and switching to the preset conservative parameter set for operation; wherein the safety degradation conditions include at least one of the following: continuous over-limit of control quantity, abnormal equivalent disturbance estimate, and low confidence of dominant disturbance frequency estimate.

[0055] Specifically, for By applying amplitude and rate of change limits, the actual output control quantity is obtained. : ; in, Represents the saturation limiting function; Indicates the upper limit of the control amplitude; Indicates the rate of change of the control quantity; This indicates the upper limit of the rate of change of the control quantity.

[0056] If the limit is exceeded N times consecutively, abnormally high or If the confidence level decreases, the frozen parameters are updated and the system switches to a conservative parameter set. ; in, This represents the threshold number of samples in the continuous exceedance criterion; These represent the conservative virtual damping, conservative virtual stiffness, and conservative cross-coupling damping parameters used after the system enters degraded mode, respectively. The recovery condition is met and maintained. Then, the adaptive process is slowly restored according to the annealing factor. This indicates the time required for the system to continuously meet the recovery conditions before it can recover from a degraded state to an adaptive state.

[0057] The actual output control quantities of the first and second joints Distribute to two execution units; and simultaneously... Feedback is sent back to the observer for calculation in the next cycle. Record. The response metrics (peak value, RMS) are used for operation, maintenance, and performance evaluation. RMS represents the root mean square value, which characterizes the average energy of the vibration signal within a statistical window.

[0058] like Figure 3 and Figure 4 As shown in the figure, the Open curve represents the open-loop response without using the method described in this invention, and the Closed curve represents the closed-loop response with the method described in this invention enabled. Under the combined perturbation of wind-induced (around 1 Hz) and human gait (1.8–2 Hz), the adaptive notch-perturbation observation-virtual impedance coordination (DANC-VIC) method of this invention significantly reduces the oscillation of the two joints in the target frequency band of 0.4–3.5 Hz: with the parameters of this embodiment, the worst joint peak value decreases by about 86.6%, the RMS decreases by about 84.3%, and the corresponding main peak frequency attenuation is about 14–20 dB. The envelope of the closed-loop time domain response shrinks significantly, and no slow drift or new resonance peaks appear; the frequency domain energy sinks overall within the target band, and the noise floor outside the band does not rise significantly. The above results show that the perturbation estimation and negative compensation based on model consistent ESO, the energy dissipation mainly based on virtual damping, and the coordinated control of moderate cross-coupling to suppress relative oscillation can achieve a stable and quantifiable low-frequency vibration suppression effect under minimum measurement conditions, and has good engineering robustness and adjustable parameters.

[0059] Example 2: Adaptive vibration suppression control system for a dual-arc suspended platform for arc gate maintenance. This system is used to implement the adaptive vibration suppression control method for a dual-arc suspended platform for arc gate maintenance described in Example 1, such as... Figure 5 As shown, it includes an angle processing module, a state observation module, a main frequency tracking module, a parameter tuning module, a control synthesis module, and a safety processing module.

[0060] The system includes: an angle processing module for acquiring the joint angles of two joints and calculating the corresponding angle deviation and bandpass error signal; a state observation module for estimating the angular velocity and equivalent disturbance of each joint based on the joint angles and actual control quantities; a main frequency tracking module for estimating the dominant disturbance frequency online based on the bandpass error signal; a parameter tuning module for self-tuning the virtual impedance parameters of each joint and the cross-coupling damping parameters between two joints online, using the energy of the bandpass error signal as an indicator; a control synthesis module for synthesizing the preliminary control quantities of each joint based on the self-tuned parameters, angle deviation, angular velocity estimation, and equivalent disturbance; and a safety processing module for performing safety limiting and degradation processing on the preliminary control quantities before sending them to the corresponding electric cylinder actuator.

[0061] Working principle: This invention extracts the target frequency band vibration signal through preprocessing, then simultaneously observes state disturbances and identifies the dominant frequency online. Subsequently, it adaptively tunes the virtual impedance and cross-coupling parameters using vibration energy as an indicator. Finally, it synthesizes a collaborative control law that integrates virtual damping dissipation, stiffness recovery, coupling suppression, and disturbance feedforward compensation. This enables the system to automatically adapt to the frequency and intensity changes of wind-induced and gait disturbances, and coordinate the suppression of the absolute oscillations and relative motion of the two arc segments. Thus, it achieves stable and adaptive suppression of time-varying, coupled low-frequency oscillations of the dual-arc suspended platform with minimal hardware modifications, improving the stability, safety, and comfort of platform operation.

[0062] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0063] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0064] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0066] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive vibration suppression control method for a double-arc suspended platform for arc gate maintenance, characterized in that, Includes the following steps: The joint angles of the two joints are collected, and the corresponding angle deviations and bandpass error signals are calculated. Based on the joint angles and actual control quantities, the angular velocity and equivalent disturbance of each joint are estimated. Based on the bandpass error signal, the dominant perturbation frequency is estimated online; Using the energy of the bandpass error signal as an indicator, the virtual impedance parameters of each joint and the cross-coupling damping parameters between the two joints are self-tuned online. Based on the self-tuned parameters, the angle deviation, the angular velocity estimation, and the equivalent disturbance, the preliminary control quantities of each joint are synthesized. After the initial control quantity is subjected to safety limiting and degradation processing, it is sent to the corresponding electric cylinder actuator.

2. The adaptive vibration suppression control method for a double-arc suspended platform for arc gate maintenance according to claim 1, characterized in that, The calculation yields the corresponding angle deviation and bandpass error signals, including: The angle deviation is obtained by calculating the difference between the joint angle of each joint and the preset balance angle. The angle deviation is bandpass filtered to obtain a bandpass error signal with a frequency band between 0.4 Hz and 3.5 Hz.

3. The adaptive vibration suppression control method for a double-arc suspended platform for arc gate maintenance according to claim 1, characterized in that, The estimation of the angular velocity and equivalent perturbation of each joint is achieved through an extended state observer and / or a perturbation observer.

4. The adaptive vibration suppression control method for a double-arc suspended platform for arc gate maintenance according to claim 1, characterized in that, The online estimation of the dominant perturbation frequency is achieved through an adaptive second-order resonator. The input to the adaptive second-order resonator is a weighted sum of the bandpass error signals corresponding to the two joints.

5. The adaptive vibration suppression control method for a double-arc suspended platform for arc gate maintenance according to claim 1, characterized in that, The online self-tuning of the virtual impedance parameters of each joint and the cross-coupling damping parameters between two joints follows the two-time-scale principle that frequency updates are faster than parameter updates, and is updated using gradient descent combined with interval projection.

6. The adaptive vibration suppression control method for a double-arc suspended platform for arc gate maintenance according to claim 1, characterized in that, The preliminary control quantities for each joint in the synthesis specifically include: Based on the self-tuned virtual damping coefficient, virtual stiffness coefficient, estimated angular velocity, and angular deviation, a virtual impedance control component is synthesized. Based on the difference between the self-tuned cross-coupling damping coefficient and the estimated angular velocity of the two joints, the cross-coupling control component is synthesized. The virtual impedance control component, the cross-coupling control component, and the disturbance compensation term based on the equivalent disturbance are superimposed to obtain the preliminary control quantity.

7. The adaptive vibration suppression control method for a double-arc suspended platform for arc gate maintenance according to claim 6, characterized in that, The disturbance compensation term is obtained by multiplying the equivalent disturbance by a disturbance compensation weight coefficient between 0 and 1 and taking a negative value.

8. The adaptive vibration suppression control method for a double-arc suspended platform for arc gate maintenance according to claim 1, characterized in that, The security limiting and degradation processing includes: The amplitude and rate of change of the preliminary control quantity are limited; Furthermore, when the preset security degradation conditions are met, the freeze parameters are automatically tuned and the system switches to the preset conservative parameter set for operation. The security degradation conditions include at least one of the following: continuous exceedance of control variables, abnormality of the equivalent disturbance estimate, and low confidence level of the dominant disturbance frequency estimate.

9. The adaptive vibration suppression control method for a double-arc suspended platform for arc gate maintenance according to claim 8, characterized in that, The method also includes: When recovering from a degraded state, the system has an online self-tuning function that gradually restores parameters according to the annealing factor after meeting the recovery conditions and continuing for a preset time.

10. An adaptive vibration suppression control system for a dual-arc suspended platform for arc gate maintenance, characterized in that, include: Angle processing module is used to acquire the joint angles of the two joints and calculate the corresponding angle deviation and bandpass error signal; The state observation module is used to estimate the angular velocity and equivalent disturbance of each joint based on the joint angle and the actual control quantity. The main frequency tracking module is used to estimate the dominant perturbation frequency online based on the bandpass error signal; The parameter tuning module is used to self-tune the virtual impedance parameters of each joint and the cross-coupling damping parameters between two joints online, using the energy of the bandpass error signal as an indicator. The control synthesis module is used to synthesize the preliminary control quantities of each joint based on the self-tuned parameters, the angle deviation, the angular velocity estimation, and the equivalent disturbance. The safety processing module is used to perform safety limiting and degradation processing on the preliminary control quantity before sending it to the corresponding electric cylinder actuator.

Images