Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Pump truck boom tail end vibration suppression method based on combination of input shaping and time delay compensation
The invention provides a pump truck boom tail end vibration suppression method based on combination of input shaping and time delay compensation. A sensor is installed on a pump truck boom to detect and obtain dip angle data, vibration at the tail end of the boom is equivalent to pulses to serve as second-order oscillation system response generated by input signals, and the amplitude of the pulses and the vibration period of the tail end of the boom are obtained according to dip angle data processing; on the basis that the position of the tail end of the boom is unchanged, a shaper comprising two shaping pulses with an amplitude proportional relation is established, and the amplitudes and generation moments of the two shaping pulses are calculated and solved; and the two shaping pulses are sequentially input into a boom control system added with time delay compensation according to respective amplitudes and generation moments, and then a hydraulic cylinder piston rod of the pump truck boom is driven to move, so that vibration suppression treatment of the tail end of the boom is completed. The method can effectively reduce the vibration amplitude of the tail end of the boom and the time lag influence of a boom system, and is simple and easy to engineer.
本发明提出了一种基于输入整形与时滞补偿相结合的泵车臂架末端抑振方法。在泵车臂架上安装传感器检测获得倾角数据，将臂架末端的振动等效为脉冲作为输入信号所产生的二阶振荡系统响应，根据倾角数据处理获得上述脉冲的幅度和臂架末端的振动周期；基于臂架末端位置不变，建立包含两个具有幅度比例关系的整形脉冲的整形器，计算求解两个整形脉冲的幅度和产生时刻；将两个整形脉冲按照各自的幅度和产生时刻，依次输入到加入了时滞补偿的臂架控制系统中，进而驱动泵车臂架的液压缸活塞杆运动，完成臂架末端的抑振处理。本发明能够有效降低臂架末端的振动幅值和臂架系统的时滞影响，简单且易于工程化。
Pump truck boom tail end vibration suppression method based on combination of input shaping and time delay compensation
The invention provides a pump truck boom tail end vibration suppression method based on combination of input shaping and time delay compensation. A sensor is installed on a pump truck boom to detect and obtain dip angle data, vibration at the tail end of the boom is equivalent to pulses to serve as second-order oscillation system response generated by input signals, and the amplitude of the pulses and the vibration period of the tail end of the boom are obtained according to dip angle data processing; on the basis that the position of the tail end of the boom is unchanged, a shaper comprising two shaping pulses with an amplitude proportional relation is established, and the amplitudes and generation moments of the two shaping pulses are calculated and solved; and the two shaping pulses are sequentially input into a boom control system added with time delay compensation according to respective amplitudes and generation moments, and then a hydraulic cylinder piston rod of the pump truck boom is driven to move, so that vibration suppression treatment of the tail end of the boom is completed. The method can effectively reduce the vibration amplitude of the tail end of the boom and the time lag influence of a boom system, and is simple and easy to engineer.
本发明提出了一种基于输入整形与时滞补偿相结合的泵车臂架末端抑振方法。在泵车臂架上安装传感器检测获得倾角数据，将臂架末端的振动等效为脉冲作为输入信号所产生的二阶振荡系统响应，根据倾角数据处理获得上述脉冲的幅度和臂架末端的振动周期；基于臂架末端位置不变，建立包含两个具有幅度比例关系的整形脉冲的整形器，计算求解两个整形脉冲的幅度和产生时刻；将两个整形脉冲按照各自的幅度和产生时刻，依次输入到加入了时滞补偿的臂架控制系统中，进而驱动泵车臂架的液压缸活塞杆运动，完成臂架末端的抑振处理。本发明能够有效降低臂架末端的振动幅值和臂架系统的时滞影响，简单且易于工程化。
Pump truck boom tail end vibration suppression method based on combination of input shaping and time delay compensation
基于输入整形与时滞补偿相结合的泵车臂架末端抑振方法
LIU DAXIN (Autor:in) / HUANG YU (Autor:in) / LIU ZHENYU (Autor:in) / CHENG JIN (Autor:in) / TAN JIANRONG (Autor:in)
22.03.2022
Patent
Elektronische Ressource
Chinesisch
IPC:
E04G
SCAFFOLDING
,
Baugerüste
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