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Method for controlling arm support to avoid vibration, controller, vibration avoiding system and storage medium
The invention discloses a method for controlling a cantilever crane to avoid vibration, a controller, a vibration avoiding system and a storage medium. The method comprises the steps that the pumping frequency, dip angle data of an arm support and position information of a balancing weight are obtained every preset time interval, and inherent parameters of the arm support and mass information of the balancing weight are obtained; according to the inclination angle data of the arm support, the inherent parameters of the arm support, the position information of the balancing weight and the mass information of the balancing weight, the modal frequency of the arm support is determined; judging whether the pumping frequency is within the vibration frequency range of the modal frequency of the boom or not; and under the condition that the pumping frequency is within the vibration frequency range of the modal frequency of the arm support, controlling a vibration absorption device on the target arm support to change the modal frequency of the arm support, so that the pumping frequency is not within the vibration frequency range of the modal frequency of the arm support. The modal frequency of the arm support is changed through the anti-vibration device, the anti-vibration efficiency can be improved, the energy consumption of an anti-vibration system is reduced, and meanwhile the purpose of reducing the resonance possibility of the arm support is achieved.
本申请公开了一种用于控制臂架避振的方法、控制器、避振系统及存储介质。该方法包括：每间隔预设时间获取泵送频率、臂架的倾角数据和配重块的位置信息，以及获取臂架的固有参数和配重块的质量信息；根据臂架的倾角数据、臂架的固有参数、配重块的位置信息和配重块的质量信息确定臂架的模态频率；判断泵送频率是否处于臂架的模态频率的振动频率范围内；在泵送频率处于臂架的模态频率的振动频率范围内的情况下，控制目标臂架上的避振装置改变臂架的模态频率，以使泵送频率不处于臂架的模态频率的振动频率范围内。本申请通过避振装置改变臂架的模态频率，能够在提高避振效率、降低避振系统能耗的同时，达到降低臂架共振的可能性的目的。
Method for controlling arm support to avoid vibration, controller, vibration avoiding system and storage medium
The invention discloses a method for controlling a cantilever crane to avoid vibration, a controller, a vibration avoiding system and a storage medium. The method comprises the steps that the pumping frequency, dip angle data of an arm support and position information of a balancing weight are obtained every preset time interval, and inherent parameters of the arm support and mass information of the balancing weight are obtained; according to the inclination angle data of the arm support, the inherent parameters of the arm support, the position information of the balancing weight and the mass information of the balancing weight, the modal frequency of the arm support is determined; judging whether the pumping frequency is within the vibration frequency range of the modal frequency of the boom or not; and under the condition that the pumping frequency is within the vibration frequency range of the modal frequency of the arm support, controlling a vibration absorption device on the target arm support to change the modal frequency of the arm support, so that the pumping frequency is not within the vibration frequency range of the modal frequency of the arm support. The modal frequency of the arm support is changed through the anti-vibration device, the anti-vibration efficiency can be improved, the energy consumption of an anti-vibration system is reduced, and meanwhile the purpose of reducing the resonance possibility of the arm support is achieved.
本申请公开了一种用于控制臂架避振的方法、控制器、避振系统及存储介质。该方法包括：每间隔预设时间获取泵送频率、臂架的倾角数据和配重块的位置信息，以及获取臂架的固有参数和配重块的质量信息；根据臂架的倾角数据、臂架的固有参数、配重块的位置信息和配重块的质量信息确定臂架的模态频率；判断泵送频率是否处于臂架的模态频率的振动频率范围内；在泵送频率处于臂架的模态频率的振动频率范围内的情况下，控制目标臂架上的避振装置改变臂架的模态频率，以使泵送频率不处于臂架的模态频率的振动频率范围内。本申请通过避振装置改变臂架的模态频率，能够在提高避振效率、降低避振系统能耗的同时，达到降低臂架共振的可能性的目的。
Method for controlling arm support to avoid vibration, controller, vibration avoiding system and storage medium
用于控制臂架避振的方法、控制器、避振系统及存储介质
ZHANG YISONG (author) / GUO SONG (author) / WANG JIAQIAN (author) / LI PENG (author) / WAN MINSHUN (author) / SONG GUOQING (author)
2023-04-11
Patent
Electronic Resource
Chinese
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