Boom system structure optimization method and apparatus, engineering machine, and readable storage medium

Abstract

Disclosed in the present application are a boom system structure optimization method and apparatus, an engineering machine, and a readable storage medium. The method comprises: obtaining a three-dimensional model of a boom system of an engineering machine, at least one boom section in the three-dimensional model being obtained by performing weight reduction optimization with a single boom section as an optimization object; performing structural weight reduction optimization on the three-dimensional model with the boom system as an optimization object, so as to obtain a boom system weight reduction model, the boom system weight reduction model comprising a plurality of plates; selecting a target optimization object from all the plates; determining a redundancy mass according to the mass of the boom system corresponding to the three-dimensional model and the mass of the boom system corresponding to the boom system weight reduction model; and, according to the redundancy mass and the target optimization object, optimizing the boom system weight reduction model with a minimum end displacement of the boom system as an objective, thereby obtaining a target optimization model.

Description

Boom system structure optimization method, device, engineering machinery and readable storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Chinese patent application 202311739031.4 filed on December 15, 2023, the contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of engineering machinery, and specifically to a boom system structure optimization method, device, engineering machinery, and readable storage medium. Background Art

[0004] For construction machinery, such as concrete pump trucks, fierce market competition has led customers to favor trucks with longer reach lengths, less frequent relocations during pumping, higher efficiency, more flexible construction, and lower energy consumption. Developing compliant, cost-effective, and highly reliable ultra-long reach trucks is currently a top priority for truck manufacturers. The lighter the boom system of a truck, the longer it can be designed, the less load it carries, and the higher its stability. Therefore, improving the lightweighting of the boom system is crucial.

[0005] In addition, during the pumping process, the boom system is subject to impacts caused by the hydraulic system itself and changes in concrete load, causing the boom system to vibrate and the trajectory of the boom end to change, affecting the pumping efficiency and stability.

[0006] Therefore, there is an urgent need for a method to optimize the structure of the boom system, which can not only make the boom as lightweight as possible but also reduce the vibration of the boom system.

[0007] Summary of the Invention

[0008] The purpose of the embodiments of the present application is to provide a boom system structure optimization method, device, engineering machinery and readable storage medium, which are used to optimize the structure of the boom system to solve or at least partially solve the above-mentioned problems.

[0009] In order to achieve the above objectives, the present application provides, in a first aspect, a boom system structure optimization method, comprising:

[0010] Acquire a three-dimensional model of a boom system of an engineering machine, wherein at least one boom section of the three-dimensional model is obtained by weight reduction optimization with the single boom section as the optimization object;

[0011] The three-dimensional model is optimized for structural weight reduction with the boom system as the optimization object to obtain a boom system weight reduction model, wherein the boom system weight reduction model includes multiple panels;

[0012] Select the target optimization object from all sectors;

[0013] Determine the redundant mass according to the mass of the boom system corresponding to the three-dimensional model and the mass of the boom system corresponding to the boom system weight reduction model;

[0014] According to the redundant mass and the target optimization object, the boom system weight reduction model is optimized with the goal of minimizing the end deformation of the boom system to obtain the target optimization model.

[0015] Optionally, in an embodiment of the present application, a three-dimensional model is subjected to structural weight reduction optimization with the boom system as the optimization object to obtain a boom system weight reduction model, including:

[0016] Construct a finite element model of the boom system based on the three-dimensional model;

[0017] Based on the finite element model, the first optimization mathematical model of the boom system under different boom posture categories is constructed, with the unit density of the boom system as the first design variable, the minimum mass of the boom system as the first objective function, and the boom working stress being less than a preset stress threshold and the deformation of the end of the weight-reduced model boom system being less than or equal to a preset deformation threshold as the first constraint conditions;

[0018] Solving each first optimization mathematical model to determine an initial boom system weight reduction model under each boom posture category;

[0019] According to the principle of selecting the intersection of optimized solutions, the initial boom system weight reduction model under each boom posture category is used to determine the first optimized solution intersection under all boom posture categories as the boom system weight reduction model.

[0020] Optionally, in the embodiment of the present application, target optimization objects are selected from all sectors, including:

[0021] Divide each plate into multiple independent areas;

[0022] Using the plate thickness of multiple independent areas as the second design variable, minimizing the end deformation of the boom system as the second objective function, and ensuring that the mass of the boom system is less than or equal to the total mass of the boom system corresponding to the boom system weight reduction model as the second constraint, a second optimization mathematical model for the boom system under different boom posture categories was constructed.

[0023] Solve each second optimization mathematical model to obtain the sensitivity coefficient and mass sensitivity coefficient of the plate thickness variable in each independent area relative to the end deformation of the boom system under each boom posture category;

[0024] According to the intersection selection principle of the optimization solution, the independent areas with the terminal deformation sensitivity coefficient greater than the first coefficient threshold and the weight sensitivity coefficient less than the second coefficient threshold under each boom posture category are selected as the target optimization objects.

[0025] Optionally, in an embodiment of the present application, each plate is divided into multiple independent areas, including:

[0026] Each plate is divided into connected areas and non-connected areas, where the connected areas are where each plate connects with other plates;

[0027] For each plate, the connected area is divided into a first number of independent areas, and the unconnected area is divided into a second number of independent areas, wherein the first number is greater than the second number.

[0028] Optionally, in an embodiment of the present application, the method further includes:

[0029] Dividing the redundant mass into at least one target weight-increasing mass according to a preset weight;

[0030] According to the redundant mass and the target optimization object, the boom system weight reduction model is optimized with the goal of minimizing the end deformation of the boom system, and the target optimization model is obtained, including:

[0031] According to at least one target weight gain mass, a preset priority order of at least one target weight gain mass and a target optimization object, the boom system weight reduction model is optimized with the goal of minimizing the end deformation of the boom system to obtain a target optimization model.

[0032] Optionally, in an embodiment of the present application, the preset weights are determined according to a genetic algorithm, and the preset priority order of multiple target weight gain qualities is determined according to the preset weights, and the multiple target weight gain qualities include size-optimized weight gain qualities, morphology-optimized weight gain qualities, and partition design-optimized weight gain qualities.

[0033] Optionally, in an embodiment of the present application, the boom system weight reduction model is optimized according to multiple target weight gain masses, preset priority orders of the multiple target weight gain masses, and target optimization objects to obtain a target optimization model, including:

[0034] The boom system weight reduction model is optimized based on the target optimization object and the weight gain of size optimization to obtain the boom system size optimization model;

[0035] The boom system size optimization model is optimized based on the target optimization object and the weight gain of the shape optimization to obtain the boom system shape optimization model;

[0036] The boom system morphology optimization model is optimized based on the target optimization object and the bulkhead design optimization weight gain mass, and the boom system bulkhead design optimization model is obtained as the target optimization model.

[0037] Optionally, in an embodiment of the present application, the boom system weight reduction model is optimized for plate thickness based on the target optimization object and the size optimization weight gain mass to obtain the boom system size optimization model, including:

[0038] The third optimization mathematical model of the boom system under different boom posture categories is constructed by taking the mass of multiple independent areas in the boom system weight reduction model as the third design variable, minimizing the end deformation of the boom system as the third objective function, and ensuring that the mass of the boom system is less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model and the weight increase of the size optimization as the third constraint condition;

[0039] Solving each third optimization mathematical model to determine an initial boom system size optimization model under each boom posture category;

[0040] According to the principle of selecting the intersection of optimization solutions, the initial boom system size optimization model under each boom posture category is used to determine the second optimization solution intersection under all boom posture categories, and the boom system size optimization model is obtained.

[0041] Optionally, in an embodiment of the present application, the boom system size optimization model is optimized based on the target optimization object and the weight gain of the shape optimization to obtain the boom system shape optimization model, including:

[0042] The fourth optimization mathematical model of the boom system under different boom posture categories is constructed by taking the mass of multiple independent areas in the boom system size optimization model as the fourth design variable, minimizing the deformation of the boom system end as the fourth objective function, and taking the mass of the boom system less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model, the mass increased by size optimization, and the mass increased by shape optimization as the fourth constraint condition;

[0043] Solving each fourth optimization mathematical model to determine an initial boom system morphology optimization model under each boom posture category;

[0044] According to the principle of selecting the intersection of the optimization solutions, the initial boom system morphology optimization model under each boom posture category is optimized, the third optimization solution intersection under all boom posture categories is determined, and the boom system morphology optimization model is obtained.

[0045] Optionally, in an embodiment of the present application, the boom system morphology optimization model is optimized for the partition design based on the target optimization object and the partition design optimization weight gain, to obtain the boom system partition design optimization model as the target optimization model, including:

[0046] The fifth optimization mathematical model of the boom system under different boom posture categories is constructed by taking the mass of multiple independent areas in the boom system shape optimization model as the fifth design variable, minimizing the deformation of the boom system end as the fifth objective function, and taking the mass of the boom system less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model, the weight increase due to size optimization, the weight increase due to shape optimization, and the weight increase due to partition design optimization as the fifth constraint condition.

[0047] Solving each fifth optimization mathematical model to determine the initial boom system partition design optimization model under each boom posture category;

[0048] According to the optimization solution intersection selection principle, the initial boom system partition design optimization model under each boom posture category is determined, the fourth optimization solution intersection under all boom posture categories is determined, and the boom system partition design optimization model is obtained as the target optimization model.

[0049] Optionally, in an embodiment of the present application, the optimization solution intersection selection principle includes:

[0050] Find the intersection of the optimal solutions under each boom posture category;

[0051] When there is no intersection of the optimization solutions under each boom posture category, the optimization solution corresponding to the boom posture category with the smallest proportion is eliminated, and the step of finding the intersection of the optimization solutions of the corresponding models under each boom posture category is repeated until the intersection of the optimization solutions is obtained, where the proportion of each boom posture category is determined according to the actual working conditions.

[0052] Optionally, in an embodiment of the present application, the optimization solution intersection selection principle includes:

[0053] For each boom posture category, obtain the optimized solutions of the boom postures whose working time ratio exceeds the preset ratio threshold and calculate the intersection;

[0054] When there is no intersection of the optimization solutions of the boom posture whose working time proportion exceeds the preset proportion threshold in each boom posture category, the optimization solution corresponding to the boom posture category with the smallest proportion is eliminated, and the intersection of the optimization solutions of the boom posture whose working time proportion exceeds the preset proportion threshold is repeatedly performed for each boom posture category until the intersection of the optimization solutions is obtained, wherein the proportion of each boom posture category is determined according to the actual working conditions.

[0055] A second aspect of the present application provides a boom system structure optimization device, comprising:

[0056] a memory configured to store instructions; and

[0057] The processor is configured to call the instructions from the memory and implement the boom system structure optimization method according to the first aspect when executing the instructions.

[0058] A third aspect of the present application provides an engineering machine, wherein a boom system of the engineering machine is obtained by the boom system structure optimization method described in the first aspect.

[0059] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the boom system structure optimization method according to the first aspect.

[0060] Through the above technical solution, after obtaining a three-dimensional model of the boom system by performing weight reduction optimization on at least one boom section with the single boom section as the optimization object, the three-dimensional model is subjected to a secondary structural weight reduction optimization with the boom system as the optimization object, and the redundant mass during the second weight reduction optimization is redistributed to reduce the deformation of the boom end. In this way, the lightweight of the boom system is ensured by performing weight reduction optimization with the single boom section as the optimization object, and the boom vibration is reduced by redistributing the redundant mass.

[0061] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0063] FIG1 schematically shows a flow chart of a boom system structure optimization method according to an embodiment of the present application;

[0064] FIG2 schematically shows a weight reduction model of a boom system according to an embodiment of the present application;

[0065] FIG3 schematically shows a structural diagram of different boom posture categories during operation of a boom system according to an embodiment of the present application;

[0066] FIG4 schematically shows a structural diagram of a plate according to an embodiment of the present application;

[0067] FIG5 schematically shows a structural diagram of the boom system after plate thickness optimization according to an embodiment of the present application;

[0068] FIG6 schematically shows a schematic structural diagram of the boom system after morphology optimization according to an embodiment of the present application;

[0069] FIG7 schematically shows a structural diagram of an optimized partition design of a boom system according to an embodiment of the present application;

[0070] FIG8 schematically shows a structural diagram of a boom system structure optimization device according to an embodiment of the present application. DETAILED DESCRIPTION

[0071] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0072] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0073] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0074] Figure 1 schematically shows a flow chart of a boom system structure optimization method according to an embodiment of the present application. As shown in Figure 1 , the embodiment of the present application provides a boom system structure optimization method, which may include the following steps.

[0075] Step 110: Acquire a three-dimensional model of a boom system of an engineering machine, wherein at least one boom section of the three-dimensional model is obtained by performing weight reduction optimization with a single boom section as an optimization object.

[0076] The three-dimensional model is usually generated using a three-dimensional modeling tool, but can also be generated using other methods. In the embodiment of the present application, the three-dimensional model is used to describe the shape, size, posture and other attributes of the boom system of the engineering machinery.

[0077] In an embodiment of the present application, at least one boom section of the three-dimensional model of the boom system is obtained by weight reduction optimization with a single boom section as the optimization object. In other words, at least one boom section of the three-dimensional model has been subjected to weight reduction. The specific weight reduction optimization method for a single boom section is not limited in the embodiment of the present application. A topological optimization can be performed with a single boom section as the optimization object. For example, the boom structure unit density of the boom section is used as the optimization variable, the working stress of the boom section is less than the stress threshold corresponding to the boom section as the constraint condition, and the minimum volume of the boom section is used as the objective function in conjunction with the load boundary condition of the boom section to perform weight reduction optimization, thereby obtaining a three-dimensional model.

[0078] Step 120 : Perform structural weight reduction optimization on the three-dimensional model with the boom system as the optimization object to obtain a boom system weight reduction model, wherein the boom system weight reduction model includes multiple panels.

[0079] In the embodiment of the present application, secondary weight reduction optimization is performed based on the three-dimensional model to further remove redundant design mass. The specific weight reduction optimization method for the boom system is not limited in the embodiment of the present application. The boom system can be used as the optimization object for topological optimization. For example, the various plates of each section of the boom system are used as optimization variables, the working stress of the boom system is less than the corresponding stress threshold of the boom system as a constraint condition, and the minimum volume of the boom system is used as the objective function to cooperate with the boom system load boundary condition to perform weight reduction optimization, thereby obtaining a boom system weight reduction model.

[0080] It should be noted that the boom system weight reduction model is composed of multiple boom sections connected in sequence, and each boom section is composed of multiple plates. Therefore, the boom system weight reduction model includes multiple plates.

[0081] Step 130: Select the target optimization object from all sections.

[0082] In the embodiment of the present application, the target optimization object is selected in units of plates.

[0083] Step 140: Determine the redundant mass according to the mass of the boom system corresponding to the three-dimensional model and the mass of the boom system corresponding to the boom system weight reduction model.

[0084] In an embodiment of the present application, the mass of the boom system corresponding to the three-dimensional model is M0, and the mass of the boom system corresponding to the boom system weight reduction model is M1. M0 minus M1 can determine the redundant mass that can be used for redistribution, ensuring that the model obtained after optimization will not exceed the mass M0 of the boom system corresponding to the three-dimensional model.

[0085] Step 150 : Based on the redundant mass and the target optimization object, the boom system weight reduction model is optimized with the goal of minimizing the end deformation of the boom system to obtain a target optimization model.

[0086] In the embodiment of the present application, the mass of each area in the boom system is used as a variable to establish a mathematical model for optimizing the mass distribution of the boom system under different boom postures of the pump truck, see the following formulas (1)-(5): Find X=[X1,X2,…,X n ] T ∈R N (1) M(X)=X1+X2+…+X n (2) Min Disp (3) stM(X)=M0 (4) X min ≤X i ≤X max ,i=1,2,3,…,N (5)

[0087] Where X is the mass of different regions of the boom system, Xn is the mass of the nth region in the design area, N is the number of regions of the boom system, R N is the design area, M0 is the mass of the boom system corresponding to the three-dimensional model, M(X) is the mass of the boom system corresponding to the target optimization model, Disp is the deformation of the boom system end, X min 、X max These are the preset minimum and maximum values ​​for the mass of different boom system regions. The final optimized boom system mass must equal the mass of the boom system corresponding to the 3D model. It should be noted that the design area can be understood as the area of ​​the boom that can be used for design modification. Some areas of the boom cannot be used for design modification due to the original installation of components such as connectors, and these areas cannot be used for design modification.

[0088] For construction machinery, especially pump trucks, the amplitude of the boom end requires special attention. This amplitude affects material distribution efficiency and construction safety. The end amplitude represents the boom system's stiffness response under dynamic loads, while the end deformation represents the boom system's stiffness response under static loads. For optimization of static working conditions, minimizing the end deformation of the boom system is the objective function, with the constraint that the boom system's mass is less than the mass of the boom system corresponding to the three-dimensional model. Under the optimal solution, the redundant mass of the boom system's weight reduction model is redistributed for the target optimization object, thereby optimizing the target optimization model. Minimizing the end deformation of the boom system can mean minimizing the vertical displacement of the boom system end under the working load, minimizing the lateral displacement, minimizing both vertical and lateral displacements simultaneously, minimizing the weighted sum of weight coefficients for both, or even minimizing along a specific direction of interest.

[0089] Therefore, the boom system structure optimization method provided in the embodiment of the present application, after obtaining a three-dimensional model of the boom system by performing weight reduction optimization on at least one boom section with a single boom section as the optimization object, performs a secondary structural weight reduction optimization on the three-dimensional model with the boom system as the optimization object, and redistributes the redundant mass during the second weight reduction optimization to reduce the deformation of the boom end. In this way, the lightweight of the boom system is ensured by performing weight reduction optimization with a single boom section as the optimization object, and the boom vibration is reduced by redistributing the redundant mass.

[0090] In an optional implementation, step 120 includes:

[0091] Construct a finite element model of the boom system based on the three-dimensional model;

[0092] Based on the finite element model, a first optimization mathematical model of the boom system under different boom posture categories is constructed, with the unit density of the boom system as the first design variable, the minimum mass of the boom system as the first objective function, and the boom working stress being less than a preset stress threshold as the first constraint condition;

[0093] Solving each first optimization mathematical model to determine an initial boom system weight reduction model under each boom posture category;

[0094] According to the principle of selecting the intersection of optimized solutions, the initial boom system weight reduction model under each boom posture category is used to determine the first optimized solution intersection under all boom posture categories as the boom system weight reduction model.

[0095] Specifically, the 3D model can be imported into Hypermesh software, and a finite element model (Finite Element Modeling) of the boom system can be created in the Optistruct module. The finite element model meshes the 3D model, giving each area of ​​the boom system a simple shape, allowing for optimized design based on the finite element model.

[0096] Using the SIMP (Solid Isotropic Material with Penalization) method, based on the finite element model, the unit density of the boom system is taken as the first design variable, the minimum mass of the boom system is taken as the first objective function, and the boom working stress is less than the preset stress threshold as the first constraint condition. The first optimization mathematical model of the boom system under different boom posture categories is constructed, see the following formulas (6)-(10):

[0097] Find x=[x1,x2,…,x e ] T ∈R n, e=1,…,N (6) Minimize:V=f·V0 (7) Subject to:σ≤[σ r ] (8) F=KU (9) 0 <x min ≤x e ≤x max ≤1 (10)

[0098] Among them, x is the first design variable, which represents the unit density of different areas of the boom system, x e is the unit density of the e-th unit in the design area, N is the number of units in the design area, Rn is the design area, V is the first objective function, which represents the volume after system optimization, V0 is the initial volume of the boom system structure, f is the volume ratio, σ is the boom working stress, [σ r ] is the preset stress threshold, K is the overall stiffness matrix of the boom system, U is the overall displacement vector of the boom system, F is the load vector of the boom system, x min 、x max are the preset minimum and maximum values ​​corresponding to the unit density in different areas of the boom system respectively. The total volume of the optimized boom system is the smallest under stress constraints, that is, the mass M1 of the boom system corresponding to the boom system weight reduction model is the smallest.

[0099] Each first optimization mathematical model is solved to determine the initial boom system weight reduction model under each boom posture category. According to the optimization solution intersection selection principle, the initial boom system weight reduction model under each boom posture category is selected, and the first optimization solution intersection under all boom posture categories is determined as the boom system weight reduction model.

[0100] Please also refer to Figure 2, which schematically illustrates a weight reduction model for a boom system according to an embodiment of the present application. As shown in Figure 2, taking a three-section boom system as an example, the boom system includes a first boom 210, a second boom 220, and a third boom 230. Each boom has a hollow area to achieve weight reduction. The first boom 210 includes a first hollow area 211, the second boom 220 includes a second hollow area 221, and the third boom 230 includes a third hollow area 231. The shapes, sizes, and positions of the hollow areas of different booms vary to achieve an optimized design for minimum boom system mass.

[0101] The weight reduction optimization method of the present application is explained using topology optimization as an example. Other forms may also be adopted, for example, milling and thinning a local area of ​​the plate (incomplete hollowing out), etc. The embodiments of the present application do not limit this.

[0102] As a result, secondary structural weight reduction optimization of the three-dimensional model with the boom system as the optimization object was achieved, providing optimization space for subsequent weight redistribution.

[0103] In an embodiment of the present application, the first constraint condition also includes that the deformation of the end of the arm system of the weight-reducing model is less than or equal to a preset deformation threshold, that is, the deformation of the end of the arm system of the weight-reducing model is limited.

[0104] This application provides two schematic illustrations of the principles for selecting the intersection of optimized solutions. The principles for selecting the intersection of optimized solutions are described below and will not be repeated in the following text.

[0105] In the embodiment of the present application, the optimization solution intersection selection principle includes:

[0106] Find the intersection of the optimal solutions under each boom posture category;

[0107] When there is no intersection of the optimization solutions under each boom posture category, the optimization solution corresponding to the boom posture category with the smallest proportion is eliminated, and the step of finding the intersection of the optimization solutions of the corresponding models under each boom posture category is repeated until the intersection of the optimization solutions is obtained, where the proportion of each boom posture category is determined according to the actual working conditions.

[0108] It should be noted that the boom system has different boom posture categories when operating according to the different parameters such as the type and model of the engineering machinery. Please refer to Figure 3, which schematically shows a structural diagram of different boom posture categories when the boom system according to an embodiment of the present application is operating. As shown in Figure 3, taking the boom system of a certain model of pump truck as an example, according to statistics based on the actual operation of the pump truck, the boom posture categories of the boom system can be divided into five types: arch 1, arch 2, L-shaped, M-shaped and horizontal. The above five boom posture categories account for α1, α2, α3, α4 and α5 respectively in the total boom posture of the pump truck, and α1>α2>α3>α4>α5.

[0109] Specifically, the intersection of the optimized solutions under each boom posture category is found. In the embodiment of the present application, there are a total of five boom posture categories. When solving, each boom posture category has an optimized solution. The optimized solution here can be understood as a set including all solutions under the boom posture category. Therefore, there are five optimized solutions, and the intersection of these five optimized solutions is found. If there is an intersection, the intersection of the optimized solutions is directly obtained; if there is no intersection, the optimized solution corresponding to the boom posture category with the smallest proportion is eliminated. Taking the previous article as an example, after eliminating the optimized solution corresponding to the horizontal boom posture category, the four boom posture categories of arch 1, arch 2, L-shaped and M-shaped are used to find the intersection of the optimized solutions again until the intersection of the optimized solutions is obtained. In extreme cases, the optimized solution corresponding to the boom posture category with the largest proportion (arch 1) is used as the intersection of the optimal solutions.

[0110] In the embodiment of the present application, the optimization solution intersection selection principle includes:

[0111] For each boom posture category, obtain the optimized solutions of the boom postures whose working time ratio exceeds the preset ratio threshold and calculate the intersection;

[0112] When there is no intersection of the optimization solutions of the boom posture whose working time proportion exceeds the preset proportion threshold in each boom posture category, the optimization solution corresponding to the boom posture category with the smallest proportion is eliminated, and the intersection of the optimization solutions of the boom posture whose working time proportion exceeds the preset proportion threshold is repeatedly performed for each boom posture category until the intersection of the optimization solutions is obtained, wherein the proportion of each boom posture category is determined according to the actual working conditions.

[0113] In addition, if the previous method cannot obtain the optimal solution intersection or cannot quickly obtain the optimal solution intersection, the embodiment of the present application also provides another optimization solution intersection selection principle. Specifically, for each boom posture category, the optimization solution of the boom posture whose working time proportion exceeds the preset proportion threshold is obtained to obtain the intersection. The preset proportion threshold can be set according to actual needs, for example, it can be 60%, and the embodiment of the present application does not limit this. It can be understood that under each boom posture category, the working time of the specific boom posture will be different, and the boom posture under extreme working conditions may have a low proportion. Therefore, the boom posture with a low working time proportion can be excluded, and the optimization solution of the boom posture with a working time proportion exceeding the preset proportion threshold is obtained to obtain the intersection. Similarly, if there is an intersection, the optimization solution intersection is obtained directly; if there is no intersection, the optimization solution corresponding to the boom posture category with the smallest proportion is eliminated until the optimization solution intersection is obtained.

[0114] In the embodiment of the present application, the optimization solution of the boom system is selected according to the proportion of different postures in combination with the multi-posture characteristics of the engineering machinery in actual operation, which is more in line with the actual situation. The above two optimization solution intersection selection principles, the first one is more comprehensive because it takes into account all boom posture categories and covers the theoretical working range of the boom system; and the second one is more comprehensive because it selects the optimization solution and uses the optimization solution of the boom posture whose working time proportion exceeds the preset proportion threshold for processing. The boom posture of typical working conditions is selected from each boom posture category, and the posture of some low-probability working conditions of the boom system is discarded, avoiding the situation where the optimal solution intersection cannot be obtained or the optimal solution intersection cannot be obtained quickly.

[0115] In an optional implementation, step 130 includes:

[0116] Divide each plate into multiple independent areas;

[0117] Using the plate thickness of multiple independent areas as the second design variable, minimizing the end deformation of the boom system as the second objective function, and ensuring that the mass of the boom system is less than or equal to the total mass of the boom system corresponding to the boom system weight reduction model as the second constraint, a second optimization mathematical model for the boom system under different boom posture categories was constructed.

[0118] Solve each second optimization mathematical model to obtain the sensitivity coefficient and mass sensitivity coefficient of the plate thickness variable in each independent area relative to the end deformation of the boom system under each boom posture category;

[0119] According to the intersection selection principle of the optimization solution, the independent areas with the terminal deformation sensitivity coefficient greater than the first coefficient threshold and the weight sensitivity coefficient less than the second coefficient threshold under each boom posture category are selected as the target optimization objects.

[0120] The boom system weight reduction model obtained in step 120 is used as the research object. Based on the size of the panels, the panels are divided into a moderate number of independent regions along a preset direction. The preset direction can be the longitudinal direction, i.e., the length of the boom. Because too many optimization variables increase and the optimization calculation efficiency decreases, while too few optimization variables lead to insignificant optimization results, the number can be set according to actual needs and is not limited in this embodiment of the present application.

[0121] Taking the plate thickness of multiple independent areas as the second design variable, the minimum deformation of the end of the boom system as the second objective function, and the second constraint condition that the mass of the boom system is less than or equal to the total mass (M1) of the boom system corresponding to the boom system weight reduction model, the second optimization mathematical model of the boom system under different boom posture categories is constructed, referring to the following formulas (11)-(14): Find X=[X1,X2,…,X N ] T ∈R N (11) Min Disp (12) stM(X)≤M1 (13) X imin ≤X i ≤X imax ,i=1,2,3,…,N (14)

[0122] Where X is the second design variable, which represents the plate thickness of each independent area in the boom system. N is the thickness of the Nth plate in the design area, N is the number of plates in the design area, R N is the design area, Disp is the deformation of the boom system end, M1 is the mass of the boom system corresponding to the boom system weight reduction model, Ximin 、X imax are the preset minimum and maximum values ​​corresponding to the plate thicknesses of different independent areas of the boom system, respectively. The mass of the boom system after final optimization must be less than or equal to the mass of the boom system corresponding to the boom system weight reduction model.

[0123] Each second optimization mathematical model is solved, and the Sobol global sensitivity analysis algorithm is used to determine the sensitivity coefficients of the plate thickness variable of each independent region relative to the end deformation of the boom system in each boom posture category and the mass sensitivity coefficient. Based on the optimization solution intersection selection principle, independent regions whose end deformation sensitivity coefficients are greater than a first coefficient threshold and whose weight sensitivity coefficients are less than a second coefficient threshold in each boom posture category are selected as target optimization objects. Both the first and second coefficient thresholds can be set according to actual needs and are not limited in this embodiment of the application.

[0124] Therefore, the plate that is more sensitive to the deformation of the end of the boom system is found among the plates as the target optimization object, so that a more ideal effect of reducing the deformation of the end of the boom system can be obtained with a smaller weight increase.

[0125] In an optional implementation, each plate is divided into multiple independent areas, including:

[0126] Each plate is divided into connected areas and non-connected areas, where the connected areas are where each plate connects with other plates;

[0127] For each plate, the connected area is divided into a first number of independent areas, and the unconnected area is divided into a second number of independent areas, wherein the first number is greater than the second number.

[0128] For more details, please refer to Figure 4, which schematically illustrates a structural diagram of a plate according to an embodiment of the present application. As shown in Figure 4, in this embodiment of the present application, when dividing the plate, plate 400 is divided into a connected area 410 and a non-connected area 420 based on whether it is connected to other plates. It is understood that the areas of the connected area 410 and the non-connected area 420 differ, with the area of ​​the non-connected area 420 being larger than that of the connected area 410, and generally, the difference between the two areas is significant.

[0129] The connection between the plates is the weld location 430. It is preferred to divide the plates at the weld location 430, and to divide the plates densely within a preset range from the weld location 430. The preset range can be set according to actual needs and is not limited in this embodiment of the application. Therefore, the purpose of the division is to find a more appropriate plate division location, that is, to redesign the weld location to minimize the deformation of the end of the boom system.

[0130] In an optional embodiment, the method further includes:

[0131] Dividing the redundant mass into at least one target weight-increasing mass according to a preset weight;

[0132] Step 150 includes:

[0133] Step 151: Optimize the boom system weight reduction model with the goal of minimizing the end deformation of the boom system according to at least one target weight gain quality, a preset priority order of at least one target weight gain quality, and a target optimization object to obtain a target optimization model.

[0134] Specifically, when allocating redundant mass (M0-M1), preset weights are introduced. The number of preset weights is determined according to the number of target weight gain masses. Taking 3 as an example, the preset weights include λ1, λ2, and λ3, where λ i =m i / (M0-M1), i=1,2,3.

[0135] In an embodiment of the present application, the preset weights can be determined based on a genetic algorithm, and the preset priority order of multiple target weight gain qualities can be determined based on the preset weights.

[0136] The present application embodiment schematically provides two methods for determining preset weights. The first method is to determine the preset weights by optimizing and solving them using a genetic algorithm. The maximum evolutionary generation is set, and an initial population is randomly generated for the preset weights. The optimal solution in the evolution process is obtained through selection, crossover, and mutation operations. The specific genetic algorithm can be set according to actual needs and is not limited in the present application embodiment. The second method is to obtain the preset weights based on engineering experience, for example, λ1 = 5, λ2 = 3, and λ3 = 2.

[0137] The preset priority order of the target weight gain qualities can be determined according to the preset weights. For example, when λ1=5, λ2=3, and λ3=2, the preset priority of the first target weight gain quality is the highest, the preset priority of the second target weight gain quality is the second, and the preset priority of the third target weight gain quality is the lowest.

[0138] Based on step 150 , optimization may be further performed based on at least one target weight gain mass obtained after allocating the redundant mass.

[0139] In the embodiment of the present application, the multiple target weight gain qualities include size-optimized weight gain quality, morphology-optimized weight gain quality, and partition design-optimized weight gain quality.

[0140] The multiple target weight gain qualities of the embodiment of the present application are allocated according to three optimization methods: size optimization, shape optimization, and partition design optimization. It is understandable that other methods of weight gain optimization can also be used, and the embodiment of the present application does not limit this.

[0141] The following schematically illustrates the process of obtaining the target optimization model, taking the preset priorities of size optimization weight gain, shape optimization weight gain, and partition design optimization weight gain as examples.

[0142] In an optional implementation, step 151 includes:

[0143] Step 151a: Optimize the plate thickness of the boom system weight reduction model based on the target optimization object and the weight gain of size optimization to obtain a boom system size optimization model;

[0144] Step 151b: performing shape optimization on the boom system size optimization model based on the target optimization object and the shape optimization weight gain mass to obtain the boom system shape optimization model;

[0145] Step 151c: perform partition design optimization on the boom system morphology optimization model based on the target optimization object and the partition design optimization weight gain mass, and obtain the boom system partition design optimization model as the target optimization model.

[0146] Schematically, the order of size optimization weight gain m1, shape optimization weight gain m2 and partition design optimization weight gain m3 is used, and the subsequent optimization steps are all performed on the basis of the optimization model obtained in the previous steps. The use of a progressive optimization method can better distribute the mass of the boom system, so that the stiffness distribution of the boom system is more uniform. It should be noted that if in step 151a, one of the target optimization objects, for example, the target optimization object A, is optimized for the plate thickness, it is not recommended to perform other optimizations on the target optimization object A in subsequent steps, thereby making the stiffness distribution of the boom system more reasonable. It is understandable that multiple methods can also be used to optimize at the same level to obtain the optimal solution.

[0147] In an optional implementation, step 151a includes:

[0148] The third optimization mathematical model of the boom system under different boom posture categories is constructed by taking the mass of multiple independent areas in the boom system weight reduction model as the third design variable, minimizing the end deformation of the boom system as the third objective function, and ensuring that the mass of the boom system is less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model and the weight increase of the size optimization as the third constraint condition;

[0149] Solving each third optimization mathematical model to determine an initial boom system size optimization model under each boom posture category;

[0150] According to the principle of selecting the intersection of optimization solutions, the initial boom system size optimization model under each boom posture category is used to determine the second optimization solution intersection under all boom posture categories, and the boom system size optimization model is obtained.

[0151] Taking the mass of multiple independent areas in the boom system weight reduction model as the third design variable, the minimum deformation of the end of the boom system as the third objective function, and the mass of the boom system less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model and the size optimization weight gain (M1+m1) as the third constraint condition, the third optimization mathematical model of the boom system under different boom posture categories is constructed; each third optimization mathematical model is solved, and the initial boom system size optimization model under each boom posture category is determined by MFD (Method offeasible directions); according to the optimization solution intersection selection principle, the initial boom system size optimization model under each boom posture category is used to determine the second optimization solution intersection under all boom posture categories to obtain the boom system size optimization model. It should be noted that when mass is described as a design variable in this article, any related factors related to mass (the related factors refer to changes in related factors related to mass that will lead to numerical changes in mass, such as plate thickness) can be used as design variables. This application does not limit this, and similar parts will not be repeated later.

[0152] Taking into account the differences in plate thickness in each independent area of ​​the boom system size optimization model obtained after optimization, in order to facilitate actual production and manufacturing, it can be stipulated that the plates in adjacent independent areas with a thickness difference of less than 1 mm are merged into a new plate, and the thickness of the new plate can be taken as the average of the thicknesses of all the plates included.

[0153] Please refer to Figure 5, which schematically shows a schematic diagram of the structure of the boom system after plate thickness optimization according to an embodiment of the present application. As shown in Figure 5, with the illustrated direction as a reference, the boom includes multiple plates, specifically, a left web 510, an upper cover plate 520, a lower cover plate 530 and a right web 540. The plate thickness is optimized to find the plate with the largest sensitivity coefficient affecting the deformation of the end of the boom system, and the plate is strengthened. Since the boom is a closed box-type structure, the size of the cross section is optimized to obtain the optimal size under the goal of minimizing the deformation of the end of the boom system. The above provides two optimization methods, namely, optimization by the thickness of the plate itself or the cross-sectional size of the boom. The two optimization methods can be used alone or in combination to reduce the deformation of the end of the boom system.

[0154] In this way, the size optimization of the weight-added plate thickness is achieved for the independent area with a large deformation sensitivity coefficient and a small mass sensitivity coefficient at the end of the boom system.

[0155] In an optional implementation, step 151b includes:

[0156] The fourth optimization mathematical model of the boom system under different boom posture categories is constructed by taking the mass of multiple independent areas in the boom system size optimization model as the fourth design variable, minimizing the deformation of the boom system end as the fourth objective function, and taking the mass of the boom system less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model, the mass increased by size optimization, and the mass increased by shape optimization as the fourth constraint condition;

[0157] Solving each fourth optimization mathematical model to determine an initial boom system morphology optimization model under each boom posture category;

[0158] According to the principle of selecting the intersection of the optimization solutions, the initial boom system morphology optimization model under each boom posture category is optimized, the third optimization solution intersection under all boom posture categories is determined, and the boom system morphology optimization model is obtained.

[0159] Taking the masses of multiple independent areas in the boom system size optimization model as the fourth design variable, the minimum deformation of the end of the boom system as the fourth objective function, and the mass of the boom system being less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model, the size optimization weight gain mass and the morphology optimization weight gain mass (M1+m1+m2) as the fourth constraint condition, a fourth optimization mathematical model of the boom system under different boom posture categories is constructed; each fourth optimization mathematical model is solved, and the initial boom system morphology optimization model under each boom posture category is determined by MFD (Method offeasible directions); according to the principle of intersection selection of optimization solutions, the initial boom system morphology optimization model under each boom posture category is selected, and the third optimization solution intersection under all boom posture categories is determined to obtain the boom system morphology optimization model.

[0160] Through morphology optimization, the local structure of the boom system can be reinforced to reduce the deformation of the boom system end. Please refer to Figure 6, which schematically illustrates the structure of the boom system after morphology optimization according to an embodiment of the present application. As shown in Figure 6, the structure includes a boom 610 and reinforcement ribs 620. Adding a cover plate and web reinforcement to the boom can reduce the deformation of the boom system end. Adjusting the length, position, number, and thickness of the reinforcement ribs can control the reduction in deformation of the boom system end.

[0161] In this way, the morphology optimization of adding ribs to improve stiffness is achieved for independent areas at the end of the boom system where the deformation sensitivity coefficient is large and the mass sensitivity coefficient is small, thus avoiding stiffness inconsistency.

[0162] In an optional implementation, step 151c includes:

[0163] The fifth optimization mathematical model of the boom system under different boom posture categories is constructed by taking the mass of multiple independent areas in the boom system shape optimization model as the fifth design variable, minimizing the deformation of the boom system end as the fifth objective function, and taking the mass of the boom system less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model, the weight increase due to size optimization, the weight increase due to shape optimization, and the weight increase due to partition design optimization as the fifth constraint condition.

[0164] Solving each fifth optimization mathematical model to determine the initial boom system partition design optimization model under each boom posture category;

[0165] According to the optimization solution intersection selection principle, the initial boom system partition design optimization model under each boom posture category is determined, the fourth optimization solution intersection under all boom posture categories is determined, and the boom system partition design optimization model is obtained as the target optimization model.

[0166] Taking the masses of multiple independent areas in the boom system morphology optimization model as the fifth design variable, the minimum deformation of the end of the boom system as the fifth objective function, and the mass of the boom system being less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model, the weight gain mass of size optimization, the weight gain mass of morphology optimization, and the weight gain mass of partition design optimization (M1+m1+m2+m3) as the fifth constraint condition, the fifth optimization mathematical model of the boom system under different boom posture categories is constructed; each fifth optimization mathematical model is solved to determine the initial boom system partition design optimization model under each boom posture category; according to the principle of intersection selection of optimization solutions, the initial boom system partition design optimization model under each boom posture category is selected, and the fourth optimization solution intersection under all boom posture categories is determined to obtain the boom system partition design optimization model as the target optimization model.

[0167] The partition design inside the boom can effectively reduce the deformation of the end of the boom system with less weight increase. The partition design can also increase the force transmission path, improve the stress distribution of the local structure, and enhance the strength. Please refer to Figure 7, which schematically shows a schematic diagram of the structure after the partition design of the boom system is optimized according to an embodiment of the present application. As shown in Figure 7, the structure includes a circular partition 710 and a boom 720. The boom system can reduce the deformation of the end of the boom system by locally adding partitions. The shape and position design of the partition are selected according to the actual situation of the analysis object. The form of the partition should be selected according to the principles of reducing stress concentration and facilitating manufacturing and processing.

[0168] In this way, a partition design is achieved to increase the partition stiffness for the independent area with a large deformation sensitivity coefficient and a small mass sensitivity coefficient at the end of the boom system.

[0169] FIG8 schematically shows a block diagram of a boom system structure optimization device according to an embodiment of the present application. As shown in FIG8 , the present application provides a boom system structure optimization device 800, which may include:

[0170] Memory 810 configured to store instructions; and

[0171] The processor 820 is configured to call instructions from the memory 810 and implement the above-mentioned boom system structure optimization method when executing the instructions.

[0172] The boom system structure optimization device provided in the embodiment of the present application can implement each process of the boom system structure optimization method in the method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described here.

[0173] The present application also provides an engineering machine whose boom system can be optimized using the above-mentioned boom system structure optimization method. This allows the boom system of the engineering machine to achieve vibration reduction. While the above-mentioned embodiment uses a concrete pump truck as an example, the present invention is not limited to optimizing the boom system of concrete pump trucks and can also be applied to optimizing the boom systems of other engineering machines, such as excavators, aerial work vehicles, and cranes.

[0174] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned boom system structure optimization method.

[0175] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0176] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0177] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0178] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0179] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0180] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0181] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0182] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0183] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for optimizing the structure of a boom system, characterized in that, Including: Obtain a three-dimensional model of the boom system of construction machinery, wherein at least one boom section of the three-dimensional model is obtained by weight reduction optimization with a single boom section as the optimization object; Perform structural weight reduction optimization on the three-dimensional model with the boom system as the optimization object to obtain a boom system weight reduction model, wherein the boom system weight reduction model includes multiple plates; Select a target optimization object from all the plates; Determine the redundant mass according to the mass of the boom system corresponding to the three-dimensional model and the mass of the boom system corresponding to the boom system weight reduction model; Optimize the boom system weight reduction model with the minimum end deformation of the boom system as the target according to the redundant mass and the target optimization object to obtain a target optimization model.

2. The method according to claim 1, characterized in that, The performing structural weight reduction optimization on the three-dimensional model with the boom system as the optimization object to obtain a boom system weight reduction model includes: Construct a finite element model of the boom system according to the three-dimensional model; According to the finite element model, with the element density of the boom system as the first design variable, the minimum mass of the boom system as the first objective function, and the boom working stress being less than a preset stress threshold and the end deformation of the weight reduction model boom system being less than or equal to a preset deformation threshold as the first constraint condition, construct the first optimization mathematical model of the boom system under different boom attitude categories; Solve each of the first optimization mathematical models to determine the initial boom system weight reduction model under each boom attitude category; According to the optimization solution intersection selection principle, select the initial boom system weight reduction models under each boom attitude category to determine the first optimization solution intersection under all boom attitude categories as the boom system weight reduction model.

3. The method according to claim 1, characterized in that, The selecting a target optimization object from all the plates includes: Divide each of the plates into multiple independent regions; With the plate thickness of the multiple independent regions as the second design variable, the minimum end deformation of the boom system as the second objective function, and the mass of the boom system being less than or equal to the total mass of the boom system corresponding to the boom system weight reduction model as the second constraint condition, construct the second optimization mathematical model of the boom system under different boom attitude categories; Solve each of the second optimization mathematical models to obtain the sensitivity coefficient of the plate thickness variable of each independent region to the end deformation of the boom system and the mass sensitivity coefficient under each boom attitude category with respect to the boom system; According to the optimization solution intersection selection principle, select the independent regions with the sensitivity coefficient of the end deformation greater than a first coefficient threshold and the weight sensitivity coefficient less than a second coefficient threshold under each boom attitude category as the target optimization objects.

4. The method according to claim 3, characterized in that, The dividing each of the plates into multiple independent regions includes: Divide each of the plates into a connection region and a non-connection region, wherein the connection region is the connection part of each plate with other plates; For each plate, divide the connection region into a first number of independent regions and divide the non-connection region into a second number of independent regions, wherein the first number is greater than the second number.

5. The method according to claim 1, characterized in that, The method further includes: Divide the redundant mass into at least one target weight gain mass according to a preset weight; Optimizing the boom system weight reduction model with the minimum end deformation of the boom system as the goal according to the redundant mass and the target optimization object, including: Optimizing the boom system weight reduction model with the minimum end deformation of the boom system as the goal according to the at least one target weight gain mass, the preset priority order of the at least one target weight gain mass, and the target optimization object, to obtain a target optimization model.

6. The method according to claim 5, characterized in that, The preset weight is determined according to the genetic algorithm, the preset priority order of the multiple target weight gain masses is determined according to the preset weight, and the multiple target weight gain masses include size optimization weight gain mass, morphology optimization weight gain mass, and partition design optimization weight gain mass.

7. The method according to claim 6, characterized in that, Optimizing the boom system weight reduction model according to the multiple target weight gain masses, the preset priority order of the multiple target weight gain masses, and the target optimization object to obtain a target optimization model, including: Performing plate thickness size optimization on the boom system weight reduction model based on the target optimization object and the size optimization weight gain mass to obtain a boom system size optimization model; Performing morphology optimization on the boom system size optimization model based on the target optimization object and the morphology optimization weight gain mass to obtain a boom system morphology optimization model; Performing partition design optimization on the boom system morphology optimization model based on the target optimization object and the partition design optimization weight gain mass to obtain a boom system partition design optimization model as the target optimization model.

8. The method according to claim 7, characterized in that, The performing plate thickness size optimization on the boom system weight reduction model based on the target optimization object and the size optimization weight gain mass to obtain a boom system size optimization model, including: Taking the mass of multiple independent regions in the boom system weight reduction model as the third design variable, taking the minimum end deformation of the boom system as the third objective function, and taking the mass of the boom system being less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model and the size optimization weight gain mass as the third constraint condition, to construct a third optimization mathematical model of the boom system under different boom attitude categories; Solving each of the third optimization mathematical models to determine the initial boom system size optimization model for each boom attitude category; According to the optimization solution intersection selection principle, for the initial boom system size optimization model in each boom attitude category, determine the second optimization solution intersection for all boom attitude categories to obtain the boom system size optimization model.

9. The method according to claim 7, wherein, Performing morphology optimization on the boom system size optimization model based on the target optimization object and the morphology optimization weight gain mass to obtain a boom system morphology optimization model, including: Taking the masses of multiple independent areas in the boom system size optimization model as the fourth design variable, taking the minimum deformation of the end of the boom system as the fourth objective function, taking the mass of the boom system less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model, the size optimization weight gain mass and the shape optimization weight gain mass as the fourth constraint condition, constructing a fourth optimization mathematical model of the boom system under different boom posture categories; Solving each of the fourth optimization mathematical models to determine an initial boom system morphology optimization model under each boom posture category; According to the optimization solution intersection selection principle, the initial boom system morphology optimization model under each boom posture category is optimized, and the third optimization solution intersection under all boom posture categories is determined to obtain the boom system morphology optimization model.

10. The method according to claim 7, wherein, The boom system morphology optimization model is optimized based on the target optimization object and the bulkhead design optimization weight gain mass to obtain the boom system bulkhead design optimization model as the target optimization model, including: Taking the masses of multiple independent areas in the boom system shape optimization model as the fifth design variable, taking the minimum deformation of the end of the boom system as the fifth objective function, taking the mass of the boom system less than or equal to the sum of the mass of the boom system corresponding to the boom system weight reduction model, the size optimization weight increase mass, the shape optimization weight increase mass and the partition design optimization weight increase mass as the fifth constraint condition, constructing the fifth optimization mathematical model of the boom system under different boom posture categories; Solving each of the fifth optimization mathematical models to determine an initial boom system partition design optimization model under each boom posture category; According to the optimization solution intersection selection principle, the initial boom system partition design optimization model under each boom posture category is determined, the fourth optimization solution intersection under all boom posture categories is determined, and the boom system partition design optimization model is obtained as the target optimization model.

11. The method according to any one of claims 2, 3, 8 - 10, wherein, The optimization solution intersection selection principle includes: Find the intersection of the optimal solutions under each boom posture category; When there is no intersection of the optimization solutions under each boom posture category, the optimization solution corresponding to the boom posture category with the smallest proportion is eliminated, and the step of finding the intersection of the optimization solutions of the corresponding models under each boom posture category is repeated until the intersection of the optimization solutions is obtained, wherein the proportion of each boom posture category is determined according to the actual working conditions.

12. The method according to any one of claims 2, 3, 8 - 10, wherein, The optimization solution intersection selection principle includes: For each boom posture category, obtain the optimized solutions of the boom postures whose working time proportion exceeds the preset proportion threshold and find the intersection; When there is no intersection of the optimization solutions of the boom posture whose working time proportion exceeds the preset proportion threshold in each boom posture category, the optimization solution corresponding to the boom posture category with the smallest proportion is eliminated, and the optimization solution of the boom posture whose working time proportion exceeds the preset proportion threshold is obtained for each boom posture category, and the intersection is repeatedly performed until the intersection of the optimization solutions is obtained, wherein the proportion of each boom posture category is determined according to the actual working conditions.

13. An optimized device for the structure of a boom system, wherein, include: a memory configured to store instructions; as well as A processor, configured to call the instructions from the memory and capable of implementing the boom system structure optimization method according to any one of claims 1 to 12 when executing the instructions.

14. An engineering machinery, wherein, The boom system of the construction machinery is obtained by the boom system structure optimization method according to any one of claims 1 to 12.

15. A machine-readable storage medium, wherein, Instructions are stored on the machine-readable storage medium, and the instructions are used to cause the machine to execute the boom system structure optimization method according to any one of claims 1 to 12.

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