CN103092225A

CN103092225A - Controller, system and method for actively controlling vibration of arm support

Info

Publication number: CN103092225A
Application number: CN2012100370353A
Authority: CN
Inventors: 黄毅; 王佳茜
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2012-02-17
Filing date: 2012-02-17
Publication date: 2013-05-08
Anticipated expiration: 2032-02-17
Also published as: WO2013120372A1; CN103092225B

Abstract

The invention discloses a controller, a system and a method for actively controlling the vibration of a boom, wherein the controller (100) comprises: the system comprises a signal acquisition unit (10) and a control unit, wherein the signal acquisition unit is used for acquiring a vibration signal representing the vibration condition of the arm support and an attitude signal representing the attitude of the arm support and converting the vibration signal and the attitude signal into vibration data and attitude data respectively; the boom dynamic characteristic acquisition unit (20) is used for acquiring the boom dynamic characteristic corresponding to the attitude data according to the attitude data converted by the signal acquisition unit (10); and the vibration control unit (30) is used for calculating a control signal according to the vibration data and the dynamic characteristics of the arm support and outputting the control signal to the arm joint actuating control unit. The dynamic characteristic of the arm support under the current posture is obtained by utilizing the posture signal, and the control signal is calculated by combining the vibration signal to control the arm section actuating control unit, so that the aim of active vibration reduction is fulfilled.

Description

The controller, system and the method that are used for the vibration of arm ACTIVE CONTROL

Technical field

The present invention relates to engineering machinery field, particularly, relate to a kind of controller for the vibration of arm ACTIVE CONTROL, system and method.

Background technology

Engineering machinery (for example concrete mixer) when work jib with jib partly stretches larger, belongs to cantilever beam structure on mechanics, and stressed more complicated easily produces vibration.Vibration of concrete pump vehicle cantilever crane is one of key factor that affects pump truck vehicle performance and construction quality, vibrates conference and causes the flexible pipe of arm support tail end accurately to locate, and produced simultaneously dynamic stress directly affects the fatigue lifetime of pump truck.Along with high pressure, high-duty pump send development with overlength jib technology, the vibration of arm problem comes into one's own all the more, and how effectively the demand of active suppression vibration of arm is day by day urgent.

A kind of mode of the method for existing active suppression vibration of arm is to set up the inhibition oil cylinder, and the action that suppresses oil cylinder by adjustment reaches the purpose of vibration damping, but this mode will increase and suppresses oil cylinder, transformation physical construction, implements comparatively complicated; Put down in writing in another kind of mode such as CN102071809A, gather jib Oscillation Amplitude and angle parameter and control electromagnetic proportional valve to reach the purpose of vibration damping, still this mode can only play simple active suppression effect, and is accurate not.

Summary of the invention

The purpose of this invention is to provide a kind of controller for the vibration of arm ACTIVE CONTROL, system and method.

To achieve these goals, the invention provides a kind of controller for the vibration of arm ACTIVE CONTROL, this controller comprises: signal gathering unit is used for gathering the vibration signal that characterizes the vibration of arm situation and characterizes the attitude signal of jib attitude and vibration signal and attitude signal are converted to respectively vibration data and attitude data; Jib dynamic perfromance acquiring unit, the attitude data that is used for being converted to according to signal gathering unit obtains the jib dynamic perfromance corresponding with this attitude data; And the vibration control unit, be used for the jib dynamic perfromance that the vibration data that is converted to according to signal gathering unit and jib dynamic perfromance acquiring unit obtain and calculate control signal and this control signal is outputed to arm joint start control module.

According to a further aspect in the invention, the present invention also provides a kind of active control system for vibration of arm, and this system comprises: the controller for the vibration of arm ACTIVE CONTROL provided by the invention; The vibration of arm monitoring means for detection of the Vibration Condition of jib, generates vibration signal and outputs to signal gathering unit in described controller; Jib attitude monitoring unit for detection of the attitude of jib, generates attitude signal and outputs to signal gathering unit in described controller; And arm joint start control module, be used for receiving from the control signal of described controller vibration control unit and according to this control signal operation.

According to another aspect of the invention, the present invention also provides a kind of Active Control Method for vibration of arm, and the method comprises the following steps: gather the vibration signal that characterizes the vibration of arm situation and characterize the attitude signal of jib attitude and vibration signal and attitude signal are converted to respectively vibration data and attitude data; Obtain the jib dynamic perfromance corresponding with this attitude data according to the attitude data that is converted to; And calculate control signal and this control signal is outputed to arm joint start control module according to the vibration data that is converted to and the jib dynamic perfromance obtained.

Pass through technique scheme, controller, control system and the method for the ACTIVE CONTROL for vibration of arm provided by the invention are by carrying out vibration monitoring to jib and thereby attitude monitoring obtains vibration signal and attitude signal, then utilize attitude signal to obtain the dynamic perfromance of jib under current attitude, calculate control signal in order to control arm joint start control module in conjunction with vibration signal, thereby reached the purpose of active damping preferably.The effectiveness in vibration suppression that the present invention obtains is good, can subdue the vibratory output of each arm joint of concrete mixer more than 90% under desirable pumping operating mode, and system stability is reliable.

Other features and advantages of the present invention will partly be described in detail in embodiment subsequently.

Description of drawings

Accompanying drawing is to be used to provide a further understanding of the present invention, and consists of the part of instructions, is used from explanation the present invention with following embodiment one, but is not construed as limiting the invention.In the accompanying drawings:

Fig. 1 is the structured flowchart according to the controller for the vibration of arm ACTIVE CONTROL provided by the invention;

Fig. 2 is the schematic diagram calculation of vibration control unit in the controller that provides according to the preferred embodiment for the present invention;

Fig. 3 is the structured flowchart according to the active control system for vibration of arm provided by the invention;

Fig. 4 is the structural drawing of the vibration of arm monitoring means that provides according to the preferred embodiment for the present invention;

Fig. 5 is the process flow diagram according to the Active Control Method for vibration of arm provided by the invention;

Fig. 6 is the control effect schematic diagram that adopts active control strategies of the present invention to reach.

Description of reference numerals

Embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only is used for description and interpretation the present invention, is not limited to the present invention.

As shown in Figure 1, be the controller 100 for the vibration of arm ACTIVE CONTROL provided by the invention (being designated hereinafter simply as " controller 100 "), this controller 100 comprises: signal gathering unit 10 is used for gathering the vibration signal that characterizes the vibration of arm situation and characterizes the attitude signal of jib attitude and vibration signal and attitude signal are converted to respectively vibration data and attitude data; Jib dynamic perfromance acquiring unit 20, the attitude data that is used for being converted to according to signal gathering unit 10 obtains the jib dynamic perfromance corresponding with this attitude data; And vibration control unit 30, be used for the jib dynamic perfromance that the vibration data that is converted to according to signal gathering unit 10 and jib dynamic perfromance acquiring unit 20 obtain and calculate control signal and this control signal is outputed to arm joint start control module.

Wherein, the vibration signal that signal gathering unit 10 gathers is any signal that can characterize the vibration of arm situation, preferably characterize the signal of the Vibration Condition of arm support tail end, include but not limited to the vibration signals such as displacement signal, rate signal, acceleration signal, dip angle signal, so long as it is all passable to characterize the signal of vibration.The attitude signal that gathers is any signal that can characterize the jib attitude, can comprise each arm joint with respect to the horizontal plane dip angle signal and/or jib integral body with respect to the angle of revolution signal of panoramic table axis.

The processing of 10 pairs of vibration signals of signal gathering unit and attitude signal is mainly analog-to-digital conversion process, because vibration signal and attitude signal are generally to be the simulating signal of 4-20mA by the current value that sensor collects, and signal gathering unit 10 obtains digital signal by simulating signal being carried out analog to digital conversion, namely convert vibration signal to vibration data, convert attitude signal to attitude data.In addition, under preferable case, signal gathering unit 10 can also be carried out the processing such as filtering, conditioning to the received signal.

Signal gathering unit 10 also further outputs to vibration data vibration control unit 30 after converting vibration signal and attitude signal to data, attitude data is outputed to jib dynamic perfromance acquiring unit 20.

Jib dynamic perfromance acquiring unit 20 is used for obtaining jib in the situation that the jib dynamic perfromance of this attitude data representative and send vibration control unit 30 to according to attitude data.Be preset with database in this jib dynamic perfromance acquiring unit 20, this database stores the relation between jib dynamic perfromance and attitude data, obtains the jib dynamic perfromance thereby can search according to attitude data.This database can obtain by the mathematical model that theoretical method is set up boom system, also can obtain by great many of experiments, for example set an attitude (namely setting one group of inclination angle and/or the angle of revolution of arm joint) of jib, then jib is carried out exciting, measure the jib dynamic perfromance of this moment, and corresponding stored gets up, and is standby to call.So-called jib dynamic perfromance can include but not limited to mass matrix, stiffness matrix, damping matrix of jib etc.Under preferable case, also store the structural parameters of jib in described database, corresponding with the jib dynamic perfromance, jib dynamic perfromance acquiring unit 20 is also considered the structural parameters of jib when obtaining the jib dynamic perfromance.

Then, vibration control unit 30 is controlled according to the dynamic perfromance of vibration data and jib, calculate the control signal of arm joint start control module, this signal sends to arm joint start control module (for example terminal pin end of arm fuel-economizing cylinder solenoid valve) by the mode of PWM, work under the control of this control signal by making arm joint start control module, be able to the motion state of control arm joint, apply the ACTIVE CONTROL effect to the arm joint, thereby make vibration of arm be inhibited.Wherein, this control signal can be for controlling voltage signal or controlling current signal.

Under preferable case, vibration control unit 30 utilizes the independent modal algorithm for space analysis to calculate control signal.Model analysis refers to the physical coordinates in Linear Time-Invariant System oscillatory differential equation group is transformed to modal coordinate, makes the system of equations decoupling zero, becomes one group of independent equation of describing with modal coordinate and modal parameter, in order to obtain the modal parameter of system.The transformation matrix of coordinate transform is modal matrix, and it often classifies Mode Shape as.

Describe the principle of work of vibration control unit 30 in detail below in conjunction with Fig. 2.What one of ordinary skill in the art will appreciate that is, the computation process that the below introduces not is unique, this embodiment neither be used for limiting scope of the present invention, and be to provide a kind of implementation, yet those of ordinary skills can use the method for model analysis neatly under instruction of the present invention.In embodiment below, suppose that the vibration signal that collects is acceleration signal

The jib dynamic perfromance of obtaining is mass matrix M, stiffness matrix K and the damping matrix C of boom system under current attitude.

(1) in order to realize the independent modal space ACTIVE CONTROL of boom system, need to know the response of mode displacement q of vibrational system _iRespond with modal velocity

And according to acceleration signal

Can obtain the modal acceleration response

Lower mask body introduction.

At first, modal filter is introduced to acceleration signal in vibration control unit 30 Process, to realize from the physics acceleration to each rank modal acceleration response

Conversion.

Have according to the mode superposition principle:

Formula (1)

Wherein

Be acceleration signal,

Be i first order mode vector,

Be i rank modal acceleration response, i is the exponent number of mode, can control arbitrarily selected modal vibration, and the rank number of mode of control is more, and control accuracy is just higher.For the vibration control of jib, because the pumping vehicle arm rack system is mainly take the first step mode vibration as main in pumping procedure, so select to control the first step mode vibration, effect is just clearly namely got i=1.

Then multiply by the modal filter vector on the both sides of formula (1)

(

M is mass matrix,

Be the transposed matrix of i first order mode vector), have

Formula (2)

Again because

Obtain

Φ_{i}^{T} \overset{\cdot \cdot}{x} = {\overset{\cdot \cdot}{q}}_{i}

Formula (4)

Thereby obtain Formula (6)

Realized from the physics acceleration

To each rank modal acceleration response

Conversion.

(2) then, realize responding from modal acceleration by state observer

To the modal velocity response

With response of mode displacement q _iConversion.This step is known for those skilled in the art, and the below simply introduces.Wherein modal velocity response

With response of mode displacement q _iObtain in the following manner:

{\overset{\cdot}{q}}_{i} = {fun}_{1} (K_{o}, \overset{\cdot \cdot}{q})

Formula (7)

q_{i} = {fun}_{2} (K_{o}, \overset{\cdot \cdot}{q})

Formula (8)

K wherein _oBe the gain matrix of state observer, fun ₁() is modal velocity response observer function, fun ₂() is response of mode displacement observer function.

(3) then, the i rank mode for controlling calculates corresponding mode control f according to formula (9) _i

f_{i} = - g_{i} q_{i} - h_{i} {\overset{\cdot}{q}}_{i}

Formula (9)

Wherein, g _iBe mode control displacement gain, h _iBe the speed gain of mode control.These two yield values are determined by Method of Pole Placement.

For example, by the closed loop secular equation

And characteristic of correspondence equation λ ²+ h _iλ+ω _i(ω _i+ g _i)=0 can draw, if require i rank mode POLE PLACEMENT USING at λ _i=α _i± β _iThe j place (is that the coordinate that α, β are respectively the i rank mode limit that requires configuration is λ _i=α _i± β _iJ), g _iAnd h _iBe shown below:

\{\begin{matrix} g_{i} = \frac{(α_{i}^{2} + β_{i}^{2})}{ω_{i}} - ω_{i} \\ h_{i} = 2 α_{i} \end{matrix}

Formula (10)

ω wherein _iBe the i of system rank natural frequency, jointly determined by mass matrix M, stiffness matrix K and damping matrix C.

(4) then, concerning the control algolithm of independent modal space, each rank mode of vibrational system is all separate, so can be according to mode control f _iObtain working control power F _Ctrl

F _Ctrl=V _if _iFormula (11)

V wherein _iFor by mode control f _iTo working control power F _CtrlTransformation matrix.

For vibration equation

By modal theory Can obtain

And

I is unit matrix, namely

And both sides are with multiply by

Just can be from mode control f _iBe transformed into working control power F _CtrlSo, can obtain:

Formula (12)

Substitution formula (11) obtains

Formula (13)

(5) last, according to working control power F _CtrlWith working control power F _CtrlBe converted to the control signal S of arm joint start control module _Ctrl

Formula (14)

W wherein _iFor by working control power F _CtrlControl signal S to arm joint start control module _CtrlTransformation matrix, be equivalent to by the conversion coefficient of arm support oil cylinder control power to the control signal of arm joint start control module.The control signal S that finally obtains _CtrlBe a matrix, vibration control unit 30 comes control arm joint start control module to operate with corresponding signal according to this matrix.In fact be boom system have been applied size be F _CtrlControl, at the exciting force F of boom system _exiWith control F _CtrlActing in conjunction under, active suppression is implemented in the vibration of jib.

Above-mentioned mode control algolithm can realize the independent of required mode of oscillation controlled, do not control mode and do not affect other, have advantages of easy design, easily realize, can be applied to easily on the jib of existing engineering machinery such as concrete mixer, realize real-time Active Vibration Control.

The below introduces the active control system for vibration of arm provided by the invention in conjunction with Fig. 3 according to a further aspect in the invention.As shown in Figure 3, this system comprises: above-mentioned controller 100; Vibration of arm monitoring means 200 for detection of the Vibration Condition of jib, generates vibration signal and outputs to signal gathering unit 10 in described controller 100; Jib attitude monitoring unit 400 for detection of the attitude of jib, generates attitude signal and outputs to signal gathering unit 10 in described controller 100; And arm joint start control module 300, be used for receiving from the control signal of described controller 100 vibration control unit 30 and according to this control signal operation.

Wherein, vibration of arm monitoring means 200 can for the various devices that can detect the Vibration Condition (Vibration Condition of preferred detection arm support tail end) of jib, be for example one or a few person in displacement transducer, speed pickup, acceleration transducer, angular transducer.The vibration signal that generates can comprise one or a few person in displacement signal, rate signal, acceleration signal, dip angle signal for characterizing the signal of vibration of arm situation, gathers for signal gathering unit 10.

Under preferable case, can adopt this vibration of arm monitoring means 200 as shown in Figure 4, this vibration of arm monitoring means 200 comprises the first vibration transducer 201, the second vibration transducer 202 and angular transducer 203, the detection side of the first vibration transducer 201 and the second vibration transducer 202 quadrature towards each other wherein, angular transducer 203 is for detection of the angle between jib and surface level.Wherein, the first vibration transducer 201 and the second vibration transducer 202 can be preferably acceleration transducer for acceleration transducer, speed pickup or displacement transducer, and described angular transducer 203 can be the angular transducer of single shaft.The vibration signal that generates of vibration of arm monitoring means 200 comprises two acceleration signals (or rate signal, displacement signal) and an angle signal like this, thereby signal gathering unit 10 can convert the acceleration signal on any given direction to two acceleration signals (or rate signal, displacement signal) according to angle signal, for example acceleration of gravity direction or horizontal direction are to obtain the vibration signal on assigned direction.

For the ease of above-mentioned the first vibration transducer 201 and the second vibration transducer 202 are installed so that quadratures both, this vibration of arm monitoring means 200 also comprises erecting frame 204, this erecting frame 204 is orthogonal two boards, the first vibration transducer 201 and the second vibration transducer 202 are arranged on respectively wherein on a plate, guaranteeing detection side's quadrature towards each other, angular transducer 203 is arranged on wherein on a plate.

In order to protect each sensor; under preferable case; this vibration of arm monitoring means 200 can also comprise protective cover 205; above-mentioned the first vibration transducer 201, the second vibration transducer 202, angular transducer 203 and erecting frame 204 all are placed in protective cover 205; and erecting frame 204 is fixedly connected with protective cover 205; protective cover 205 has an opening, is used for the output line of the first vibration transducer 201, the second vibration transducer 202, angular transducer 203 is drawn.

The described attitude signal that described jib attitude monitoring unit 400 generates comprise each arm joint with respect to the horizontal plane the inclination angle and/or jib with respect to the angle of revolution of panoramic table axis.Therefore, described jib attitude monitoring unit 400 can comprise a plurality of angular transducers, described a plurality of angular transducer is arranged on respectively on the upper and/or panoramic table of each arm joint of jib, for detection of each arm joint with respect to the horizontal plane the inclination angle and/or jib integral body with respect to the angle of revolution of panoramic table axis.

Arm joint start control module 300 can or be used for arm for arm fuel-economizing cylinder solenoid valve (rod chamber of each arm fuel-economizing cylinder and the solenoid valve of rodless cavity) and reduce the solenoid valve that shakes, and this solenoid valve can be controlled vibration damping.

The active control system for vibration of arm provided by the invention is by carrying out vibration monitoring to jib and thereby attitude monitoring obtains vibration signal and attitude signal, then utilize attitude signal to obtain the dynamic perfromance of jib under current attitude, calculate control signal in order to control arm joint start control module in conjunction with vibration signal, thereby reached the purpose of active damping preferably.

In addition, the present invention also provides a kind of Active Control Method for vibration of arm, and as shown in Figure 5, the method comprises the following steps:

Gather the vibration signal that characterizes the vibration of arm situation and characterize the attitude signal of jib attitude and vibration signal and attitude signal are converted to respectively vibration data and attitude data;

Obtain the jib dynamic perfromance corresponding with this attitude data according to the attitude data that is converted to; And

Calculate control signal and this control signal is outputed to arm joint start control module according to the vibration data that is converted to and the jib dynamic perfromance obtained.

Above-mentioned three steps respectively by the signal gathering unit 10 in controller 100 provided by the invention, jib dynamic perfromance obtain 20, vibration control unit 30 is performed, because the front is illustrated the principle of work of each unit, same content does not repeat them here.

Especially need to prove, the step that the attitude data that described basis is converted to obtains the jib dynamic perfromance corresponding with this attitude data is to obtain by searching default database, and this database stores the relation between jib dynamic perfromance and attitude data.

The step of described calculating control signal utilizes the independent modal algorithm for space analysis to calculate control signal.The performed flow process in independent modal algorithm for space analysis and above-mentioned vibration control unit 30 is the same, does not repeat them here.

As shown in Figure 6, for applying before active damping strategy of the present invention the time dependent dashed line view of displacement with afterwards arm support tail end, therefrom can find out, apply the effectiveness in vibration suppression that obtains after active damping strategy of the present invention good, can subdue the vibratory output of each arm joint of concrete mixer more than 90% under desirable pumping operating mode, and system stability is reliable.

Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; in technical conceive scope of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.

Need to prove in addition, each concrete technical characterictic described in above-mentioned embodiment in reconcilable situation, can make up by any suitable mode, for fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.

In addition, also can carry out combination in any between various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.

Claims

1. controller that is used for the vibration of arm ACTIVE CONTROL, this controller comprises:

Signal gathering unit (10) is used for gathering the vibration signal that characterizes the vibration of arm situation and characterizes the attitude signal of jib attitude and vibration signal and attitude signal are converted to respectively vibration data and attitude data;

Jib dynamic perfromance acquiring unit (20), the attitude data that is used for being converted to according to signal gathering unit (10) obtains the jib dynamic perfromance corresponding with this attitude data; And

Vibration control unit (30) is used for the jib dynamic perfromance that the vibration data that is converted to according to signal gathering unit (10) and jib dynamic perfromance acquiring unit (20) obtain and calculates control signal and this control signal is outputed to arm joint start control module.

2. controller according to claim 1, wherein, be preset with database in described jib dynamic perfromance acquiring unit (20), and this database stores the relation between jib dynamic perfromance and attitude data.

3. controller according to claim 1 and 2, wherein, described jib dynamic perfromance comprises mass matrix, stiffness matrix, the damping matrix of jib.

4. controller according to claim 1, wherein, described vibration control unit (30) utilizes the independent modal algorithm for space analysis to calculate control signal.

5. controller according to claim 4, wherein, the vibration signal that described signal gathering unit (10) collects is acceleration signal

The jib dynamic perfromance that described jib dynamic perfromance acquiring unit (20) obtains is mass matrix M, stiffness matrix K and the damping matrix C of boom system under current attitude, and described vibration control unit (30) calculates control signal in the following manner:

1) use modal filter to acceleration signal

Process, to be transformed into each rank modal acceleration response from the physics acceleration

Wherein Be acceleration signal,

Be i first order mode vector,

Be the transposed matrix of i first order mode vector, M is mass matrix,

Be i rank modal acceleration response, i is the exponent number of mode;

2) realize responding from modal acceleration by state observer To the modal velocity response

With response of mode displacement q _iConversion;

3) for the i rank mode that will control, calculate corresponding mode control f _i:

f_{i} = - g_{i} q_{i} - h_{i} {\overset{\cdot}{q}}_{i}

Wherein, g _iBe mode control displacement gain, h _iBe the speed gain of mode control;

4) according to mode control f _iObtain working control power F _Ctrl:

F _ctrl＝V _if _i

V wherein _iFor by mode control f _iTo working control power F _CtrlTransformation matrix,

5) according to working control power F _CtrlWith working control power F _CtrlBe converted to the control signal S of arm joint start control module _Ctrl:

W wherein _iFor by working control power F _CtrlControl signal S to arm joint start control module _CtrlTransformation matrix.

6. controller according to claim 5, wherein, described mode control displacement gain g _iWith mode control speed gain h _iDetermine by Method of Pole Placement.

7. active control system that is used for vibration of arm, this system comprises:

The described controller for the vibration of arm ACTIVE CONTROL of any one claim (100) according to claim 1-6;

Vibration of arm monitoring means (200) for detection of the Vibration Condition of jib, generates vibration signal and outputs to the signal gathering unit (10) of described controller for the vibration of arm ACTIVE CONTROL (100);

Jib attitude monitoring unit (400) for detection of the attitude of jib, generates attitude signal and outputs to the signal gathering unit (10) of described controller for the vibration of arm ACTIVE CONTROL (100); And

Arm joint start control module (300) is used for receiving from the control signal of described controller for the vibration of arm ACTIVE CONTROL (100) vibration control unit (30) and according to this control signal operation.

8. system according to claim 7, wherein, described vibration of arm monitoring means (200) comprises the first vibration transducer (201), the second vibration transducer (202) and angular transducer (203), the detection side of the first vibration transducer (201) and the second vibration transducer (202) quadrature towards each other wherein, angular transducer (203) is for detection of the angle between jib and surface level.

9. system according to claim 7, wherein, the described attitude signal that described jib attitude monitoring unit (400) generates comprise each arm joint with respect to the horizontal plane the inclination angle and/or jib with respect to the angle of revolution of panoramic table axis.

10. system according to claim 9, wherein, described jib attitude monitoring unit (400) comprises a plurality of angular transducers, described a plurality of angular transducer is arranged on respectively on the upper and/or panoramic table of each arm joint of jib, for detection of each arm joint with respect to the horizontal plane the inclination angle and/or jib integral body with respect to the angle of revolution of panoramic table axis.

11. an Active Control Method that is used for vibration of arm, the method comprises the following steps:

12. method according to claim 11, wherein, the step that the attitude data that described basis is converted to obtains the jib dynamic perfromance corresponding with this attitude data is to obtain by searching default database, and this database stores the relation between jib dynamic perfromance and attitude data.

13. according to claim 11 or 12 described methods, wherein, described jib dynamic perfromance comprises mass matrix, stiffness matrix, the damping matrix of jib.

14. method according to claim 11, wherein, the step of described calculating control signal utilizes the independent modal algorithm for space analysis to calculate control signal.

15. controller according to claim 14, wherein, the vibration signal that collects is acceleration signal

The jib dynamic perfromance of obtaining is mass matrix M, stiffness matrix K and the damping matrix C of boom system under current attitude, and the step of described calculating control signal comprises:

1) use modal filter to acceleration signal

Wherein Be acceleration signal,

Be i first order mode vector, Be the transposed matrix of i first order mode vector, M is mass matrix, Be i rank modal acceleration response, i is the exponent number of mode;

2) realize responding from modal acceleration by state observer

To the modal velocity response

With response of mode displacement q _iConversion;

f_{i} = - g_{i} q_{i} - h_{i} {\overset{\cdot}{q}}_{i}

4) according to mode control f _iObtain working control power F _Ctrl:

F _ctrl＝V _if _i

16. method according to claim 15, wherein, described mode control displacement gain g _iWith mode control speed gain h _iDetermine by Method of Pole Placement.