CN103148162B - Vibration is from steady controlling method, device and system and hoist - Google Patents
Vibration is from steady controlling method, device and system and hoist Download PDFInfo
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- 238000010276 construction Methods 0.000 claims description 6
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- 238000001514 detection method Methods 0.000 claims description 5
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Abstract
The invention discloses a kind of vibration from steady controlling method, device and system and hoist, wherein, described vibration comprises from steady controlling method: the dynamic response signal obtaining each power unit in engineering machinery; Described dynamic response signal is analyzed and identified, obtains system vibrational frequency; Obtain energizing frequency and the position of excitation source during the work of described engineering machinery, determine by the position of described excitation source the described power unit that described excitation source correspondence drives; Judge whether described system vibrational frequency and the described energizing frequency corresponding with it resonate, and when resonating, send adjustment signal, adjustment energizing frequency.Therefore, the present invention can realize detecting in time and eliminating resonance phenomenon in time in engineering machinery.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a vibration self-stabilization control method, a device and a system, and a crane with the vibration self-stabilization control system.
Background
Vibration is a motion phenomenon of all moving machinery and engineering structures bearing dynamic loads. The vibration signal contains information about the intrinsic properties and operating conditions of the machine and structure. The vibration state also reflects the quality of structure operation, such as the safety and comfort of vehicles, aerospace equipment, engineering machinery and other delivery vehicles; the ability to resist disasters and the life of bridges, dams and other large structures.
Therefore, vibration measurement and analysis have become one of the most common and effective basic test means, and are the basic technical means and necessary knowledge to be mastered by engineering technicians and scientific researchers in related industries.
However, in a complex suspension environment, the crane is prone to vibration problems such as large boom shake, slewing shake and luffing shake, and in a severe case, resonance occurs. The resonance may cause premature fatigue of the components and systems, which may lead to shortened life span and even engineering safety issues.
At present, when the problem of fatigue damage of parts caused by shaking of a crane is solved, the adopted traditional processing mode has poor accuracy and low reliability, cannot be popularized and applied, and cannot comprehensively analyze the root cause of a fault.
Of course, other construction machines also have such technical problems.
Disclosure of Invention
In view of this, the invention provides a vibration self-stabilization control method, device and system, which can detect the resonance of the engineering machinery and reduce the resonance.
In addition, the invention also provides a crane provided with the vibration self-stabilization control system, which can detect whether resonance occurs and timely adjust to eliminate the resonance.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in one aspect, the present invention provides a vibration self-stabilization control method, including: acquiring dynamic response signals of all execution components on the engineering machinery; analyzing and identifying the dynamic response signal to obtain the vibration frequency of the system; acquiring the excitation frequency and the position of an excitation source when the engineering machinery works, and determining the execution component driven by the excitation source correspondingly according to the position of the excitation source; and judging whether the system vibration frequency and the excitation frequency corresponding to the system vibration frequency resonate or not, and sending an adjusting signal to adjust the excitation frequency when the system vibration frequency and the excitation frequency resonate.
Further, in the above method, the excitation frequency is a frequency of an excitation source obtained and stored by pre-analysis; or the excitation frequency is the frequency of the excitation source obtained by performing real-time excitation analysis on the excitation source.
Further, in the above method, the dynamic response signal is information reflecting a vibration frequency of the target component. The dynamic response signal is a signal acquired in real time.
Further, in the above method, the analyzing and identifying the dynamic response signal to obtain the system vibration frequency includes: and analyzing the spectral characteristics of the dynamic response signals by using fast Fourier transform, identifying the spectral characteristics of the dynamic response signals, and taking the vibration frequency with the maximum identified amplitude as the system vibration frequency.
The system dynamic characteristic identification technology is applied to identify the system vibration frequency of the crane during the boarding operation, then the excitation analysis technology is combined to judge the consistency of the system vibration frequency and the system excitation frequency, and if the system vibration frequency is not in a resonance area, the system is normal; if the resonance area exists, the system excitation frequency is adjusted by controlling the system to avoid resonance.
In another aspect, the present invention provides a vibration self-stabilization control apparatus for a construction machine, including: the dynamic response signal receiving module is used for receiving a dynamic response signal of an execution component on the engineering machinery, wherein the dynamic response signal can reflect the vibration frequency of the execution component; the system vibration frequency processing module is connected with the signal acquisition device and used for analyzing and identifying the dynamic response signal to acquire the system vibration frequency; the excitation frequency analysis module is used for identifying the frequency and the position of the excitation source when the engineering machinery works through the detection and the excitation analysis of the excitation source and monitoring the excitation frequency; and the control module is connected with the system vibration frequency processing module and the excitation frequency analysis module, is used for judging whether the system vibration frequency and the excitation frequency are in resonance or not, and is also used for sending an adjusting signal to the excitation source to adjust the excitation frequency during resonance.
In addition, the present invention also provides a vibration self-stabilization control system for an engineering machine, the vibration self-stabilization control system comprising: the vibration self-stabilization control device and the signal acquisition device connected with the vibration self-stabilization control device; the signal acquisition device is arranged on the engineering machinery execution component and is used for acquiring a dynamic response signal of the execution component capable of reflecting the vibration frequency of the execution component.
Further, in the above system, the signal acquiring device is a device capable of acquiring the dynamic response signal in real time.
Furthermore, in the system, the signal acquisition device is an acceleration sensor
Further, in the above system, the excitation frequency is a frequency of an excitation source obtained by pre-analysis and stored in the control module; or, the excitation frequency is obtained by carrying out real-time excitation analysis on the excitation source through the signal acquisition device and the excitation frequency analysis module.
Compared with the prior art, the invention has the following advantages:
the invention applies a system dynamics characteristic identification technology, identifies the vibration frequency of the system through an acceleration signal, and obtains the excitation frequency through monitoring and analyzing the excitation frequency by adopting an excitation analysis technology. In addition, the embodiment also adopts a control technology, and the resonance of the engineering machinery can be detected and adjusted by judging whether the resonance exists or not, sending an adjusting signal to an execution or driving mechanism of the system when the resonance is judged and determined, and changing the excitation frequency, so that the resonance phenomenon is effectively eliminated, and the service lives of the system and the components thereof are prolonged.
In addition, the invention also provides a crane provided with any one of the vibration self-stabilizing control systems, which can detect whether resonance occurs and timely adjust to eliminate the resonance.
Because the vibration self-stabilizing control system has the technical effects, the crane provided with the vibration self-stabilizing control system of any one of the embodiments also has the same technical effects, and the details are not repeated herein.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow chart of an embodiment of a vibration self-stabilization control method according to the present invention;
FIG. 2 is a schematic diagram illustrating the principle of vibration self-stabilization control according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an embodiment of the vibration self-stabilization control system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The basic idea of the invention is that: a vibration self-stabilization control method, a device and a system are designed, wherein the vibration self-stabilization control system acquires the system vibration frequency when the engineering machinery works, and adjusts the system excitation frequency when the system vibration frequency and the system excitation frequency are determined to be in resonance, so that the real-time detection and adjustment of the engineering machinery resonance are realized, and the resonance is avoided.
Preferred embodiments of the present invention will be further described with reference to the accompanying drawings in which:
the vibration problem of big arm shake, gyration shake and change width of cloth shake that appears in order to solve the hoist under complicated suspended load environment, prevent the emergence of resonance phenomenon to the fatigue life damage in advance of spare part and system that causes because of resonance appears, engineering safety problem even appears.
Method embodiment
As shown in fig. 1, the present embodiment provides a vibration self-stabilization control method, which can detect and adjust the resonance of the engineering machine. The vibration self-stabilization control method comprises the following steps:
step 101: acquiring dynamic response signals of all execution components on the engineering machinery;
step 102: analyzing and identifying the dynamic response signal to obtain the vibration frequency of the system;
step 103: acquiring the excitation frequency and the position of an excitation source when the engineering machinery works, and determining the execution component driven by the excitation source correspondingly according to the position of the excitation source;
step 104: and judging whether the system vibration frequency and the excitation frequency corresponding to the system vibration frequency resonate or not, and transmitting an adjusting signal to adjust the excitation frequency when the system vibration frequency and the excitation frequency resonate.
In the step, whether the system vibration frequency and the excitation frequency corresponding to the system vibration frequency are in resonance is judged, namely, whether the system vibration frequency is consistent with the excitation frequency is judged, whether the excitation frequency falls into a resonance area is judged, and if the excitation frequency is not in the resonance area, the system is normal; if the excitation frequency is in the resonance region, the system excitation frequency is adjusted by controlling the system to eliminate the resonance.
The resonance region refers to a frequency range in which the excitation frequency resonates with the system vibration frequency, for example, a frequency when the excitation frequency is equal to the system vibration frequency, or a frequency range centered on the system vibration frequency, and enters the resonance region when the excitation frequency falls within the frequency range.
In addition, the frequency range of the resonance region is mainly influenced by the system performance of each actuating mechanism of the engineering machinery such as a crane, for example, limited by factors such as system damping, rigidity and the like.
In the above embodiment, the dynamic response signal is information reflecting the vibration frequency of the target component. More preferably, the dynamic response signal is a signal acquired in real time.
In the above embodiment, the analyzing and identifying the dynamic response signal to obtain the system vibration frequency includes: and analyzing the spectral characteristics of the dynamic response signals by using fast Fourier transform, identifying the spectral characteristics of the dynamic response signals, and taking the vibration frequency with the maximum identified amplitude as the system vibration frequency.
The above-mentioned engineering machinery may be a crane, and the following example will exemplify a vibration self-stabilization control method:
for example, referring to the vibration self-stabilization control principle illustrated in fig. 2, an acceleration sensor is arranged on an actuator of the crane, such as a boom, a turntable, a frame and a leg, and a dynamic response signal, such as an acceleration signal, on the boom, the turntable, the frame and the leg is detected and acquired. And analyzing the frequency spectrum characteristic of the acceleration signal by using Fast Fourier Transform (FFT), and identifying the frequency spectrum characteristic of the acceleration signal to obtain the vibration frequency of the system.
In addition, in this embodiment, the excitation frequency may be obtained by performing excitation analysis on excitation sources such as a hydraulic pump, a motor, an oil cylinder, and a speed reducer in real time; the excitation frequency may also be the frequency of the excitation source obtained from a prior analysis and stored in the control module. The excitation source is detected and excited and analyzed, the frequency and the position of the excitation source during the work of the engineering machinery are identified, the motion characteristic of the actuating mechanism is analyzed, the frequency spectrum characteristic of the excitation is obtained, and the excitation frequency is obtained.
Therefore, the system dynamics characteristic identification technology is applied to identify the system vibration frequency of the crane during the boarding operation, then the excitation analysis technology is combined to judge the consistency of the system vibration frequency and the system excitation frequency, and if the system vibration frequency is not in the resonance region, the system is normal; if in the resonance region, the system excitation frequency is adjusted by the control system to eliminate the resonance. Therefore, the embodiment can realize timely detection and timely elimination of the resonance phenomenon on the engineering machinery.
Preferably, in the above method, the excitation frequency is a frequency of an excitation source obtained and stored by pre-analysis; or the excitation frequency is the frequency of the excitation source obtained by performing real-time excitation analysis on the excitation source. Therefore, the real-time detection and adjustment of the engineering machinery resonance can be realized.
For example, on the basis of the foregoing example, an acceleration sensor may be further added to monitor the excitation frequency in real time.
Thus, the present embodiment can compare the excitation frequency acquired in real time with the system vibration frequency, and if resonance occurs, the control system actively intervenes in the actuator, for example, fine-tuning the excitation frequency, changing the operation speed and amplitude, etc., to eliminate the resonance. At this time, the control system is not completely controlled by the operator. In addition, if the excitation frequency does not fall within the resonance region, it indicates that no resonance has occurred, and in this case, it is normal that the adjustment of the vibration self-stabilization control is not necessary.
Device embodiment
Referring to fig. 3, a structure of the vibration self-stabilization control device of the present embodiment is shown, and the vibration self-stabilization control device of the present embodiment can detect and adjust resonance of the construction machine. As shown in fig. 3, the vibration self-stabilization control apparatus is used for a construction machine, and includes: the system comprises a dynamic response signal receiving module, a system vibration frequency processing module, an excitation frequency analyzing module and a control module.
In this embodiment, the dynamic response signal receiving module is configured to receive a dynamic response signal that an execution component on the engineering machine can reflect a vibration frequency of the execution component. And the system vibration frequency processing module is connected with the signal acquisition device and is used for analyzing and identifying the dynamic response signal to acquire the system vibration frequency. And the excitation frequency analysis module is used for identifying the frequency and the position of the excitation source when the engineering machinery works and monitoring the excitation frequency through the detection and the excitation analysis of the excitation source. The control module is connected with the system vibration frequency processing module and the excitation frequency analysis module, and is used for judging whether the system vibration frequency and the excitation frequency resonate or not, and sending an adjusting signal to the excitation source to adjust the excitation frequency during the resonance.
The embodiment solves the problem of shaking essentially from resonance, utilizes a system dynamics characteristic identification technology to identify the system vibration frequency of the crane during boarding operation, then combines an excitation analysis technology to identify the system excitation source position and frequency during boarding operation, and judges the consistency of the system vibration frequency and the system excitation frequency, if the system vibration frequency is not in a resonance area, the system is normal; if in the resonance area, the system excitation frequency is adjusted by the control system to eliminate the resonance. Therefore, the embodiment can realize timely detection and timely elimination of the resonance phenomenon on the engineering machinery.
In addition, the invention further provides a vibration self-stabilizing control system in another embodiment, and the vibration self-stabilizing control system is used for the engineering machinery.
As shown in fig. 3, which shows the structure of an embodiment of the vibration self-stabilization control system, the vibration self-stabilization control system includes: the vibration self-stabilization control device and the signal acquisition device connected with the vibration self-stabilization control device are adopted in the embodiment; the signal acquisition device is arranged on the engineering machinery execution component and used for acquiring a dynamic response signal of the execution component capable of reflecting the vibration frequency of the execution component.
In the vibration self-stabilization control system, the excitation frequency may be obtained by performing real-time excitation analysis on an excitation source such as a hydraulic pump, a motor, an oil cylinder, a speed reducer, and the like, for example, by performing real-time excitation analysis on the excitation source through the signal acquisition device and the excitation frequency analysis module, so as to obtain the excitation frequency. Optionally, in this embodiment, the excitation frequency may also be a frequency of the excitation source obtained by pre-analysis and stored in the control module.
Preferably, in the vibration self-stabilization control system, the signal acquisition device is a device capable of acquiring a dynamic response signal in real time. More preferably, the signal acquisition device is an acceleration sensor.
It should be noted that, in the embodiment, the vibration frequency of the system is identified by using the system dynamics characteristic identification technology and through the acceleration signal; in addition, the present embodiment also adopts an excitation analysis technique, and obtains the excitation frequency through monitoring and analysis of the excitation.
In addition, the embodiment also adopts a control technology, and the resonance of the engineering machinery can be detected and adjusted by judging whether the resonance exists or not, sending an adjusting signal to an execution or driving mechanism of the system when the resonance is judged and determined, and changing the excitation frequency, so that the resonance phenomenon is effectively eliminated, and the service lives of the system and the components thereof are prolonged.
Here, the embodiment of the vibration self-stabilization control system will be further described with reference to the principle of vibration self-stabilization control and the vibration self-stabilization control system of the embodiment shown in fig. 2 and fig. 3:
for example, acceleration sensors are mounted on a large arm, a rotary table, a frame and a support leg, real-time increasing signals are collected, corresponding frequency spectrum characteristics are obtained through fast Fourier transform, and the vibration frequency with the maximum amplitude, namely the system vibration frequency, is identified. And combining the excitation analysis results, namely the excitation frequency, of the hydraulic pump, the motor, the oil cylinder and the speed reducer. Judging the consistency of the excitation frequency and the resonance frequency, and if the excitation frequency is not in the resonance area, normally operating the system; if the resonance area exists, the control system sends out an adjusting signal instruction to change the excitation frequency so as to avoid the resonance phenomenon.
In addition, the embodiment of the invention also provides a crane provided with the vibration self-stabilizing control system in any one of the embodiments, which can detect whether resonance occurs and timely adjust to eliminate the resonance.
Because the vibration self-stabilizing control system has the technical effects, the crane provided with the vibration self-stabilizing control system of any one of the embodiments also has the same technical effects, and the details are not repeated herein.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software. The storage device, such as: ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method for vibration self-stabilization control, the method comprising:
acquiring dynamic response signals of all execution components on the engineering machinery;
analyzing and identifying the dynamic response signal to obtain the vibration frequency of the system;
acquiring the excitation frequency and the position of an excitation source when the engineering machinery works, and determining the execution component driven by the excitation source correspondingly according to the position of the excitation source;
and judging whether the system vibration frequency and the excitation frequency corresponding to the system vibration frequency resonate or not, and sending an adjusting signal to adjust the excitation frequency when the system vibration frequency and the excitation frequency resonate.
2. The vibration self-stabilization control method according to claim 1,
the excitation frequency is the frequency of an excitation source obtained and stored in advance through analysis; or,
the excitation frequency is the frequency of the excitation source obtained by carrying out real-time excitation analysis on the excitation source.
3. The vibration self-stabilization control method according to claim 1 or 2, wherein the dynamic response signal is information that can reflect a vibration frequency of a target component, and the dynamic response signal is a signal acquired in real time.
4. The vibration self-stabilization control method according to claim 3, wherein the analyzing and identifying the dynamic response signal and obtaining the system vibration frequency comprises:
and analyzing the spectral characteristics of the dynamic response signals by using fast Fourier transform, identifying the spectral characteristics of the dynamic response signals, and taking the vibration frequency with the maximum identified amplitude as the system vibration frequency.
5. A vibration self-stabilization control device for a construction machine is characterized by comprising:
the dynamic response signal receiving module is used for receiving a dynamic response signal of an execution component on the engineering machinery, wherein the dynamic response signal can reflect the vibration frequency of the execution component;
the system vibration frequency processing module is connected with the signal acquisition device and used for analyzing and identifying the dynamic response signal to acquire the system vibration frequency;
the excitation frequency analysis module is used for identifying the frequency and the position of the excitation source when the engineering machinery works through the detection and the excitation analysis of the excitation source and monitoring the excitation frequency;
and the control module is connected with the system vibration frequency processing module and the excitation frequency analysis module, is used for judging whether the system vibration frequency and the excitation frequency are in resonance or not, and is also used for sending an adjusting signal to the excitation source to adjust the excitation frequency during resonance.
6. A vibration self-stabilizing control system for a construction machine, comprising: the vibration self-stabilization control device of claim 5, and a signal acquisition device connected with the vibration self-stabilization control device;
the signal acquisition device is arranged on an execution component of the engineering machinery and is used for acquiring a dynamic response signal of the execution component capable of reflecting the vibration frequency of the execution component.
7. The vibration self-stabilization control system according to claim 6, wherein the signal acquisition device is a device capable of acquiring the dynamic response signal in real time.
8. The vibro-self stability control system according to claim 6 or 7, characterized in that the signal acquisition means is an acceleration sensor.
9. The vibration stabilizing control system according to claim 6,
the excitation frequency is the frequency of an excitation source obtained by pre-analysis and stored in the control module; or,
the excitation frequency is obtained by carrying out real-time excitation analysis on the excitation source through the signal acquisition device and the excitation frequency analysis module.
10. A crane, characterized in that a vibration self-stabilizing control system as claimed in any one of claims 6 to 9 is provided.
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| DE102017001877A1 (en) * | 2017-02-27 | 2018-08-30 | Liebherr-Werk Nenzing Gmbh | Method for detecting obstacles during operation of a vibrating hammer |
| CN109709888B (en) * | 2018-12-29 | 2021-08-17 | 浙江日鼎涂装科技有限公司 | Automatic damping method for spraying system |
| CN109862243B (en) * | 2019-01-31 | 2020-10-09 | 维沃移动通信有限公司 | Terminal device and control method of terminal device |
| CN112161699A (en) * | 2020-08-24 | 2021-01-01 | 河南科技大学 | Resonance monitoring system and method for unmanned automobile |
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| EP0884502A2 (en) * | 1997-06-13 | 1998-12-16 | Nissan Motor Company, Limited | Active vibration reducing control apparatus and method applicable to vehicular active engine mount |
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| EP0884502A2 (en) * | 1997-06-13 | 1998-12-16 | Nissan Motor Company, Limited | Active vibration reducing control apparatus and method applicable to vehicular active engine mount |
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