Device, method, system and engineering machine for restraining rotary vibration of cantilever crane

Abstract

The invention discloses a device, a method, a system and an engineering machine for controlling rotary vibration of a cantilever crane. The device comprises a receiving device and a controlling device, wherein the receiving device is used for receiving the displacement of the cantilever crane in the rotating direction, and the controlling device is used for calculating the displacement difference between the displacement and a reference displacement after rotating motion of the cantilever crane is finished and generating control signals for a vibration attenuation executing mechanism through a proportional differential algorithm according to the displacement difference. By means of the technical scheme, the control signals can be determined by detecting the displacement in the rotating direction according to the displacement difference, and then the control signals are exerted onto the vibration attenuation executing mechanism to restrain rotary vibration of the cantilever crane. The device, the method, the system and the engineering machine for controlling the rotary vibration of the cantilever crane has significant meanings in improving manipulating efficiency and safety of a pump truck.

Description

technical field [0001] The invention relates to the field of construction machinery, in particular to a device, method, system and construction machinery for suppressing the rotational vibration of a boom. Background technique [0002] During the construction process of the concrete pump truck, it is often necessary to rotate the boom to meet the construction positioning needs. However, since the boom of the concrete pump truck is a slender and flexible cantilever beam structure hinged by multiple joints, when the boom is rotated by operating the remote control, although the remote control has sent a signal to stop the swing operation, the boom will not Due to the inertia of motion, it continues to swing back and forth. While such reciprocating swing affects the precise positioning and positioning time of the boom, it also causes the end hose of the boom to swing greatly, which brings safety hazards to the staff working nearby. [0003] Currently, various control methods o...

AI Technical Summary

Problems solved by technology

However, since the boom of the concrete pump truck is a slender and flexible cantilever beam structure hinged by multiple joints, when the boom is rotated by operating the remote control, although the remote control has sent a signal to stop the swing operation, the boom will not Continue to swing back and forth due to motion inertia

Such reciprocating swing not only affects the precise positioning and positioning time of the boom, but also makes the end hose of the boom swing greatly, which brings safety hazards to the staff working nearby.

[0003] At present, various control methods or devices for slewing operations are all for slewing operations, and there is no vibration reduction control method or device for slewing vibration

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