Boom Assembly Vibration Control via Coordinate Transformation
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Solution Overview
Problem
Construction vehicles with boom assemblies face challenges in vibration reduction, which affects operator responsiveness and precision, as conventional methods often result in systems that are not responsive to operator inputs.
Innovation Solution
A method and system that include a boom assembly with an actuator and flow control valve, where a control signal is generated to reduce vibration by converting desired coordinates from Cartesian space to actuator space, calculating deflection errors, and shaping the signal using a time-varying input shaping scheme based on measured natural frequency and damping ratio.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If conventional vibration reduction techniques are applied to the boom assembly, then vibration is reduced, but the system becomes less responsive to operator inputs
Solution Approach 1:
The control system dynamically adjusts its characteristics based on operating conditions. The coordinate transformation from Cartesian to actuator space, combined with real-time deflection error calculation and input shaping, creates a dynamic control response that adapts to the boom's flexible behavior while maintaining operator responsiveness.
Solution Approach 2:
The system implements feedback by calculating deflection errors based on measured actuator displacements and using this information to adjust the control signal. The coordinate transformation and deflection compensation create a closed-loop system that continuously corrects for boom flexibility while preserving responsive control.
2Length of moving object
If the boom assembly is extended to reach inaccessible areas, then accessibility is improved, but vibration increases
Solution Approach 1:
The patent replaces traditional mechanical vibration suppression methods with an electronic control system. The coordinate transformation module and input shaping module use computational methods to counteract vibration effects, allowing the boom to be extended without proportionally increasing vibration problems.
Solution Approach 2:
The system changes the control parameters dynamically through coordinate transformation from Cartesian to actuator space. This parameter transformation allows the control system to account for the changing dynamic characteristics of the extended boom, maintaining stability and reducing vibration even at full extension.
3Manufacturing precision
If precise control of the end effector is achieved through coordinate transformation and deflection compensation, then positioning accuracy is improved, but control system complexity increases
Solution Approach 1:
The controller performs multiple functions through a unified coordinate transformation approach. The same transformation module that converts Cartesian coordinates to actuator space also enables deflection error calculation and compensation, reducing the need for separate complex subsystems while achieving precise positioning.
Data Source
AI summary
A method for controlling a boom assembly includes providing a boom assembly having an end effortor. The boom assembly includes an actuator in fluid communication with a flow control valve. A desired coordinate of the end effector of the boom assembly is converted from Cartesian space to actuator space. A deflection error of the end effector based on a measured displacement of the actuator is calculated. A resultant desired coordinate of the end effector is calculated based on the desired coordinate and the deflection error. A control signal for the flow control valve is generated based on the resultant desired coordinate and the measured displacement of the actuator. The control signal is shaped to reduce vibration of the boom assembly. The shaped control signal is transmitted to the flow control valve.