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CN113979329B - Control method and device for arm support, controller and engineering machinery - Google Patents

Control method and device for arm support, controller and engineering machinery Download PDF

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Publication number
CN113979329B
CN113979329B CN202111175140.9A CN202111175140A CN113979329B CN 113979329 B CN113979329 B CN 113979329B CN 202111175140 A CN202111175140 A CN 202111175140A CN 113979329 B CN113979329 B CN 113979329B
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CN
China
Prior art keywords
arm support
control signal
boom
parameter information
vibration frequency
Prior art date
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Active
Application number
CN202111175140.9A
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Chinese (zh)
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CN113979329A (en
Inventor
李乡安
熊忆
蒋旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoomlion Heavy Industry Science and Technology Co Ltd
Hunan Zoomlion Emergency Equipment Co Ltd
Original Assignee
Zoomlion Heavy Industry Science and Technology Co Ltd
Hunan Zoomlion Emergency Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Zoomlion Heavy Industry Science and Technology Co Ltd, Hunan Zoomlion Emergency Equipment Co Ltd filed Critical Zoomlion Heavy Industry Science and Technology Co Ltd
Priority to CN202111175140.9A priority Critical patent/CN113979329B/en
Publication of CN113979329A publication Critical patent/CN113979329A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B66C23/821—Bracing equipment for booms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The embodiment of the invention provides a control method and device for an arm support, a controller and engineering machinery, wherein the control method for the arm support comprises the following steps: acquiring parameter information of the arm support; acquiring a control signal; the control signal is subjected to low-pass filtering according to the parameter information so as to obtain a filtered control signal; and controlling the arm support to move according to the filtered control signal. The embodiment of the invention can solve the technical problem of large vibration amplitude of the engineering machinery, in particular to the boom of the elevating fire truck in the prior art.

Description

Control method and device for arm support, controller and engineering machinery
Technical Field
The invention relates to the technical field of vibration suppression of an engineering mechanical arm support, in particular to a control method and device for the arm support, a controller and engineering machinery.
Background
The elevating fire truck is a mobile rescue device integrating high-altitude rescue, rescue and fire extinguishment, and has the advantages of wide operation range, flexibility, safety, reliability, high working efficiency and the like. Can be widely applied to fire-fighting operation of urban high-rise buildings, and is one of the most important fire-fighting equipment of fire-fighting departments. The quality and the technical level of the fire engine are directly related to the life safety of people and fire fighters.
The elevating fire truck mainly comprises five parts shown in fig. 1, and the lower truck 1 bears the load transmitted by the boom system and enables the whole truck to have a flexible running function on a road; the turntable 2 is connected with the lower carriage 1 and the arm support 4, and enables the arm support 4 to rotate within a 360-arm range; the amplitude-variable oil cylinder 3 is connected with the lower carriage 2 and the arm support 4, and enables the arm support 4 to perform amplitude-variable movement in a working plane, so that the included angle between the arm support and the horizontal plane is changed; the arm support 4 can stretch (lengthen or shorten) according to the use requirement, and drives the working bucket 5 to move from one point to the other point in space; the working bucket 5 is always kept in a horizontal state and is used for bearing firefighters, objects to be saved and firefighting equipment.
With the increase of the working height of the elevating fire truck and the wide application of the ladder frame light-weight technology, the national road regulations strictly limit the height, width and axle load of the whole truck, so that the elevation of the long arm frame appears to be slender, soft and weaker in overall rigidity. As long as there is a small disturbance in the rescue process, such as: when the arm support is operated by the operation handle to perform sudden amplitude variation or telescopic movement, and when the operation handle is suddenly placed in a zero position during amplitude variation or telescopic movement, the working bucket at the tail end of the arm support can vibrate to a larger extent when the automatic leveling amplitude of the working bucket is too large. When the vibration amplitude of the ladder frame is overlarge, the working bucket is difficult to approach the building in rescue actions, the ladder frame is not beneficial to rapidly positioning in fire rescue operation, and moreover, the firefighter and the rescued person are extremely easy to fear, fatigue and discomfort due to high-altitude vibration.
How to make the elevating fire truck arm support 'stop and stop' can furthest inhibit and reduce the vibration of the working hopper, improve the comfort of passengers in the working hopper, improve the rescue efficiency, ensure that firefighters keep good physical state and lasting combat, and is a technical problem which must be considered in the design of the elevating fire truck arm support.
In the prior art, a plurality of schemes are proposed to solve the problems, but most of the schemes in the prior art have defects, such as a closed-loop control strategy, when the cantilever crane vibration reduction system detects that the tail end of the cantilever crane has excessive vibration, the control system operates to eliminate the vibration until the vibration amplitude reaches an acceptable degree, for example, an active vibration reduction algorithm based on a dynamic model is complex in control system, development and debugging software are high in cost, more sensors are needed to detect state information such as the vibration size, direction, load and cantilever crane posture of the cantilever crane, possible fault points are more, the reliability of the system is reduced, for example, a high-precision flow valve capable of accurately controlling the flow size and low delay is needed to be equipped, and the system is high in hardware realization cost. Therefore, there is an urgent need to propose a technical solution to solve the above technical problems in the prior art.
Disclosure of Invention
The embodiment of the invention aims to provide a control method and device for an arm support, a controller and engineering machinery, and solves the technical problem that in the prior art, the vibration amplitude of the arm support of an engineering machinery, particularly a lifting fire truck, is large.
In order to achieve the above object, a first aspect of the present invention provides a control method for an arm support, including: acquiring parameter information of the arm support; acquiring a control signal; low-pass filtering is carried out on the control signal according to the parameter information so as to obtain a filtered control signal; and controlling the arm support to move according to the filtered control signal.
In an embodiment of the present invention, the parameter information includes at least one of: the total mass of the arm support; elastic modulus of the arm support; moment of inertia of the bending-resistant section of the arm support; the mass of the working bucket of the arm support; the mass of the load in the working bucket; the telescopic length of the arm support; and an included angle between the arm support and the horizontal plane.
In an embodiment of the present invention, low-pass filtering is performed on a control signal according to parameter information to obtain a filtered control signal, including: determining the cut-off frequency of the low-pass filtering according to the parameter information; and performing low-pass filtering on the control signal according to the cut-off frequency to obtain a filtered control signal.
In an embodiment of the present invention, determining a cut-off frequency of the low-pass filter according to the parameter information includes: determining the first-order vibration frequency of the arm support in the amplitude variation direction according to the parameter information and the arm support vibration frequency model; and determining a cutoff frequency based on the first order vibration frequency; the arm support vibration frequency model comprises corresponding relation between parameter information and first-order vibration frequency.
In the embodiment of the invention, the boom vibration frequency model is defined as: cos (bL) ch (bL) +1= abL (sin (bL) ch (bL) -cos (bL) sh (bL)); wherein a=m 0/m,L is the telescopic length of the arm support, m is the total mass of the arm support, E is the elastic modulus of the arm support, I is the bending-resistant section moment of inertia of the arm support, m 0 is the sum of the mass of a working bucket of the arm support and the mass of a load in the working bucket, and w is the first-order vibration frequency of the arm support in the amplitude-changing direction.
In the embodiment of the invention, the boom vibration frequency model is obtained by performing polynomial fitting on the result of the boom multi-working-condition finite element modal simulation; or the vibration frequency model of the arm support is obtained by performing polynomial fitting on the result of the multi-working-condition modal test of the arm support.
In an embodiment of the present invention, determining the cutoff frequency according to the first order vibration frequency includes: the first order vibration frequency is multiplied by a preset coefficient to obtain a cut-off frequency.
In the embodiment of the invention, the preset coefficient is less than or equal to 0.9.
In the embodiment of the invention, the preset coefficient is 0.707.
In the embodiment of the invention, the arm support motion is controlled according to the filtered control signal, and the method comprises the following steps: and sending the filtered control signal to the flow valve so that the flow valve can adjust the flow of hydraulic oil of the amplitude variation oil cylinder according to the filtered control signal to drive the arm support to move.
A second aspect of the present invention provides a controller configured to perform the control method for a boom of the foregoing embodiments.
A third aspect of the present invention provides a control device for an arm support, including: the stay wire sensor is configured to detect the telescopic length of the arm support; a load cell configured to detect a mass of a load in the bucket; the flow valve is configured to adjust the flow of hydraulic oil of the amplitude variation oil cylinder so as to drive the arm support to move; and the controller of the foregoing embodiment.
In an embodiment of the present invention, the control device for the boom further includes: and the inclination angle sensor is configured to detect the included angle between the arm support and the horizontal plane.
In an embodiment of the present invention, the control device for the boom further includes: an operating handle configured to transmit a control signal.
A fourth aspect of the present invention provides a construction machine, comprising: arm support; and the control device for the arm support of the previous embodiment.
In an embodiment of the invention, the construction machine comprises a lifting fire truck.
According to the embodiment of the invention, through the technical scheme, the vibration of the boom can be restrained and reduced, so that the vibration of the working bucket is restrained and reduced, and the technical problem that the vibration amplitude of the boom of an engineering machine, particularly a lifting fire truck, is large in the prior art can be solved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a schematic diagram of a typical elevating fire truck;
FIG. 2 is a tangential acceleration change trend chart of the movement track of the tail end of the boom of the elevating fire truck in the process of starting and stopping the boom in a luffing manner;
Fig. 3 is a flow chart of a control method 100 for a boom according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a control device 200 for a boom according to an embodiment of the present invention;
FIG. 5 is a schematic layout of an exemplary control device for a boom of the present invention; and
Fig. 6 is a schematic structural diagram of a construction machine 300 according to an embodiment of the present invention.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
It should be noted that, in the embodiment of the present application, directional indications (such as up, down, left, right, front, and rear … …) are referred to, and the directional indications are merely used to explain a relative positional relationship, a movement condition, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
As shown in fig. 2, the following rule can be found through analysis of measured vibration data in the luffing motion process of the boom of the elevating fire truck: the vibration of the tail end of the arm support is larger in the starting stage of the amplitude-changing movement of the ladder frame, namely, the vibration is larger when the running speed of the system is from a static state to the maximum speed; when the system runs stably at the maximum speed all the time, the vibration is small; when the bucket is moved to the target position, the bucket needs to transition from the maximum speed to a stationary state, during which again a large vibration occurs. The phenomenon is caused by the fact that the state of the arm support is excessively severely switched by the manipulator through the operation handle, the arm support system can excite the resonance of the arm support due to the excessively severe state change, namely, the control signal which is sent out by the control handle and is subjected to abrupt change contains frequency components which are close to the current arm support gesture vibration frequency. Therefore, the frequency close to the vibration frequency of the arm support in the control signal of the filtering operation handle is a key for inhibiting the vibration of the arm support, and based on the key, the embodiment of the invention provides the following technical scheme.
As shown in fig. 3, in an embodiment of the present invention, a control method 100 for an arm support is provided, including the following steps:
Step S110: and acquiring parameter information of the arm support.
Step S130: a control signal is acquired.
Step S150: and carrying out low-pass filtering on the control signal according to the parameter information to obtain a filtered control signal. And
Step S170: and controlling the arm support to move according to the filtered control signal.
Specifically, the parameter information includes, for example, at least one of: the total mass of the arm support; elastic modulus of the arm support; moment of inertia of the bending-resistant section of the arm support; the mass of the working bucket of the arm support; the mass of the load in the working bucket; the telescopic length of the arm support; and an included angle between the arm support and the horizontal plane.
Specifically, the control signal is low-pass filtered according to the parameter information to obtain a filtered control signal, that is, step S150 includes, for example, the sub-steps of:
(a1) The cut-off frequency of the low-pass filter is determined from the parameter information. And
(A2) And carrying out low-pass filtering on the control signal according to the cut-off frequency to obtain a filtered control signal.
More specifically, determining the cut-off frequency of the low-pass filtering from the parameter information, i.e. sub-step (a 1) comprises, for example: determining the first-order vibration frequency of the arm support in the amplitude variation direction according to the parameter information and the arm support vibration frequency model; and determining a cutoff frequency based on the first order vibration frequency; the arm support vibration frequency model comprises corresponding relation between parameter information and first-order vibration frequency.
Specifically, the boom vibration frequency model may be defined as, for example: cos (bL) ch (bL) +1= abL (sin (bL) ch (bL) -cos (bL) sh (bL)). Wherein a=m 0/m,L is the telescopic length of the arm support, m is the total mass of the arm support, E is the elastic modulus of the arm support, I is the bending-resistant section moment of inertia of the arm support, m 0 is the sum of the mass of a working bucket of the arm support and the mass of a load in the working bucket, and w is the first-order vibration frequency of the arm support in the amplitude-changing direction. In this case, the parameter information includes, for example: the method comprises the steps of total mass of the arm support, elastic modulus of the arm support, bending-resistant section moment of inertia of the arm support, mass of a working bucket of the arm support, mass of load in the working bucket and telescopic length of the arm support.
The boom vibration frequency model may also be defined, for example, as: the method comprises the steps of performing polynomial fitting on a result of multi-working-condition finite element modal simulation on the arm support; or the vibration frequency model of the arm support is obtained by performing polynomial fitting on the result of the multi-working-condition modal test of the arm support. In this case, the parameter information includes, for example: the mass of the load in the working bucket, the telescopic length of the arm support and the included angle between the arm support and the horizontal plane.
Specifically, determining the cutoff frequency from the first order vibration frequency includes, for example: the first order vibration frequency is multiplied by a preset coefficient to obtain a cut-off frequency.
Specifically, the preset coefficient is, for example, less than or equal to 0.9.
Specifically, the preset coefficient is, for example, 0.707.
Specifically, the arm support motion is controlled according to the filtered control signal, that is, step S170 includes the sub-steps of: and sending the filtered control signal to the flow valve so that the flow valve can adjust the flow of hydraulic oil of the amplitude variation oil cylinder according to the filtered control signal to drive the arm support to move.
It is furthermore worth mentioning that the cut-off frequency of the low-pass filtering may also take the form of a fixed cut-off frequency, e.g. a value of less than or equal to 0.3Hz, independent of the boom parameter information. In this case, the parameter information of the arm support is not required to be acquired, the control signal is subjected to low-pass filtering according to the parameter information, and the control signal is directly subjected to low-pass filtering with a fixed cut-off frequency.
In an embodiment of the invention, a controller is provided, for example configured to perform the control method 100 for a boom according to any of the previous embodiments. The specific function and details of the control method 100 for the boom may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
Specifically, the controller may be, for example, a control device such as an industrial personal computer, an embedded system, a microprocessor, a programmable logic device, or the like.
As shown in fig. 4, in an embodiment of the present invention, there is provided a control device 200 for an arm support, including: a pull-wire sensor 210, a load cell 220, a flow valve 230, and a controller 240.
Wherein the line sensor 210 is configured to detect the telescopic length of the boom, for example.
The load cell 220 is configured to detect the mass of a load in a bucket, for example. The load cell 220 may be replaced with a moment limiter, for example.
The flow valve 230 is configured to regulate the flow of hydraulic oil to the luffing cylinder, for example, to actuate boom movement. The flow valve 230 may be, for example, a conventional flow valve.
The controller 240 is, for example, a controller according to any of the preceding embodiments. The specific function and details of the controller 230 may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
Further, the control device 200 for the boom further includes, for example: the handle 250 is operated. The operating handle 250 is configured to transmit a control signal, for example.
The control device 200 for the boom further comprises, for example: the tilt sensor 260. The tilt sensor 260 is configured to detect, for example, an angle of the boom with respect to the horizontal. The tilt sensor 260 may be replaced with a rotary encoder, a dynamic tilt sensor, a gyroscope, or the like, for example.
The filtering function of the controller 240 may be implemented using either software or a low pass filter such as butterworth (ButterWorth), RC, elliptic (Cauer filter), chebyshev, or the like.
The following describes the operation of the boom control apparatus 200 according to the embodiment of the present invention, taking an elevating fire truck as an example.
As shown in connection with fig. 1 and 5, the operating handle a may be arranged on a body of a construction machine, such as a lifting fire truck, or implemented in a wireless remote control manner, and the operator may control various movements of the boom 4 by operating the handle a. The controller B is arranged on the turntable 2, and is used for processing sensor signals, filtering control signals of the operating handle according to processing results, and transmitting the filtered control signals to the flow valve C, wherein the controller B is the brain of the whole control system. The flow valve C is arranged on the turntable 2 or the luffing cylinder 3, and controls the flow of hydraulic oil in a rod cavity and a rodless cavity of the luffing cylinder 3 according to a control signal sent by the controller B, so as to drive the luffing cylinder 3 to move and indirectly control the arm support 4 to move. The inclination angle sensor or the rotary encoder D is arranged between the arm support 4 and the rotary table 2, the inclination angle sensor is used for measuring the included angle between the arm support 4 and the horizontal plane, the rotary encoder is used for measuring the corner of the arm support 4 relative to the rotary table 2, the included angle between the arm support 4 and the horizontal plane and the corner of the arm support 4 relative to the rotary table 2 can be converted mutually, and one of the included angles is measured. The wire sensor E is arranged on the boom 4 and is used for measuring the telescopic length of the boom 4, i.e. the total length in the current telescopic state. The load cell G is typically arranged in the bucket 5 for measuring the total weight of personnel and equipment in the bucket 5.
The vibration suppression principle of the arm support is as follows:
(a) The manipulator manipulates the operation handle A to control the arm support 4 to move, and the operation handle A sends a control signal to the controller B.
(B) After receiving the control signal of the operating handle A, the controller B obtains D, E, G measurement signals as parameter information of the arm support 4.
(C) The controller B obtains a first-order vibration frequency w of the arm support in the amplitude variation direction under the current gesture according to the parameter information of the arm support 4 and the arm support vibration frequency model.
(D) The controller B carries out low-pass filtering on the control signal of the operating handle A, filters out high-frequency components above 0.707w, and sends the filtered control signal to the flow valve C.
(E) After receiving the control signal, the flow valve C starts to regulate the flow of the hydraulic oil in the rod cavity and the rodless cavity of the amplitude variation oil cylinder 3 to meet the value required by the instruction.
(F) The amplitude-variable oil cylinder 3 drives the arm support 4 to move.
As shown in fig. 6, in an embodiment of the present invention, there is provided a construction machine 300 including: arm support 310 and control device 330. The control device 330 is, for example, the control device 200 for a boom according to any of the foregoing embodiments. The specific function and details of the control device 200 for the boom may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
Specifically, the engineering machine 300 includes, for example, a lifting fire truck, however, embodiments of the present invention are not limited thereto, and the engineering machine 300 may be another engineering machine having an arm rest and needing to suppress the shake of the arm rest.
In summary, the technical solution of the embodiment of the present invention belongs to an open loop control strategy, so as to avoid vibration, and has the advantages of extremely low control operand, extremely low performance requirement on the controller, no need of providing a special vibration sensor to detect boom vibration, high system reliability, no need of providing a low-delay and high-precision flow valve, capability of greatly reducing hardware cost, simple control system structure, low software development and debugging time cost, and strong system applicability, and can realize suppression and reduction of boom vibration, thereby suppressing and reducing working bucket vibration, and can solve the technical problems of large boom vibration amplitude of engineering machinery, especially of a lifting fire truck in the prior art.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer 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 Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.

Claims (13)

1. The control method for the arm support is characterized by comprising the following steps of:
Acquiring parameter information of the arm support;
acquiring a control signal;
The control signal is subjected to low-pass filtering according to the parameter information so as to obtain a filtered control signal; and
Controlling the arm support to move according to the filtered control signal;
Wherein the low-pass filtering the control signal according to the parameter information to obtain a filtered control signal, includes:
Determining the cut-off frequency of the low-pass filtering according to the parameter information; and
Performing low-pass filtering on the control signal according to the cut-off frequency to obtain a filtered control signal;
wherein the determining the cut-off frequency of the low-pass filter according to the parameter information includes:
Determining the first-order vibration frequency of the arm support in the amplitude variation direction according to the parameter information and the arm support vibration frequency model; and
Determining the cut-off frequency according to the first order vibration frequency;
Wherein the boom vibration frequency model includes a correspondence between the parameter information and the first order vibration frequency, and is defined as:
cos(bL)ch(bL)+1＝abL(sin(bL)ch(bL)-cos(bL)sh(bL))；
Wherein a=m 0/m, L is the telescopic length of the arm support, m is the total mass of the arm support, E is the elastic modulus of the arm support, I is the bending-resistant section moment of inertia of the arm support, m 0 is the sum of the mass of a working bucket of the arm support and the mass of a load in the working bucket, and w is the first-order vibration frequency of the arm support in the amplitude-changing direction.
2. The control method according to claim 1, characterized in that the parameter information includes at least one of:
The total mass of the arm support;
The elastic modulus of the arm support;
Moment of inertia of the bending-resistant section of the arm support;
The mass of the working bucket of the arm support;
the mass of the load in the working bucket;
the telescopic length of the arm support; and
And an included angle between the arm support and the horizontal plane.
3. The control method according to claim 1, wherein the boom vibration frequency model is obtained by performing polynomial fitting on a result of the boom performing multi-condition finite element modal simulation; or the cantilever crane vibration frequency model is obtained by performing polynomial fitting on the result of the cantilever crane multi-working mode test.
4. The control method according to claim 1, characterized in that the determining the cutoff frequency from the first-order vibration frequency includes:
and multiplying the first-order vibration frequency by a preset coefficient to obtain the cut-off frequency.
5. The control method according to claim 4, characterized in that the preset coefficient is less than or equal to 0.9.
6. The control method according to claim 5, characterized in that the preset coefficient is 0.707.
7. The control method according to claim 1, wherein controlling boom movement according to the filtered control signal comprises:
and sending the filtered control signal to a flow valve, so that the flow valve can adjust the flow of hydraulic oil of the amplitude variation oil cylinder according to the filtered control signal to drive the arm support to move.
8. A controller configured to perform the control method for an arm rest according to any one of claims 1 to 7.
9. A control device for an arm support, comprising:
A wire sensor configured to detect a telescopic length of the boom;
a load cell configured to detect a mass of a load in a work bucket of the boom;
The flow valve is configured to adjust the flow of hydraulic oil of the amplitude variation oil cylinder so as to drive the arm support to move; and
The controller of claim 8.
10. The control device according to claim 9, characterized by further comprising:
and the inclination angle sensor is configured to detect an included angle between the arm support and the horizontal plane.
11. The control device according to claim 9, characterized by further comprising:
An operating handle configured to transmit a control signal.
12. A construction machine, comprising:
Arm support; and
Control device for a boom according to any of claims 9 to 11.
13. The work machine of claim 12, wherein the work machine comprises a lifting fire truck.
CN202111175140.9A 2021-10-09 2021-10-09 Control method and device for arm support, controller and engineering machinery Active CN113979329B (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011056622A (en) * 2009-09-10 2011-03-24 Seiko Epson Corp Robot
CN110282562A (en) * 2019-06-03 2019-09-27 长沙中联消防机械有限公司 Elevating fire truck arm support control method, system and elevating fire truck
CN112302812A (en) * 2020-10-19 2021-02-02 广州汽车集团股份有限公司 Engine control method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011056622A (en) * 2009-09-10 2011-03-24 Seiko Epson Corp Robot
CN110282562A (en) * 2019-06-03 2019-09-27 长沙中联消防机械有限公司 Elevating fire truck arm support control method, system and elevating fire truck
CN112302812A (en) * 2020-10-19 2021-02-02 广州汽车集团股份有限公司 Engine control method

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