CN-121223763-B - Hydraulic mechanical arm active vibration suppression system

CN121223763BCN 121223763 BCN121223763 BCN 121223763BCN-121223763-B

Abstract

The invention relates to the technical field of mechanical arm control, and particularly discloses an active vibration suppression system of a hydraulic mechanical arm. The hydraulic mechanical arm active vibration suppression system comprises the following steps of firstly, obtaining driving force of a hydraulic cylinder of a hydraulic mechanical arm as a vibration signal, secondly, carrying out multi-window function filtering processing on the vibration signal to extract overall change trend of the vibration signal, thirdly, identifying maximum values and minimum values of all signals in a wide time window function by using a narrow time window function, sliding point by taking a point to be detected as a center to further capture detail change in the narrow time window function, outputting the point if the point is maximum or minimum in the narrow time window function, calculating to obtain vibration index representing vibration of the system, and fifthly, combining actual travel Calculating each joint angle of the hydraulic cylinder And (3) the joint angle theta is differed from the expected angle, and vibration joint angle information to be compensated is deduced and is compensated.

Inventors

LI GANG
YANG FENGYUAN
Qiu Kaiyuan
XU CONGCONG
HUANG WEIDI
CHENG MIN
LIU YING
QIN WU
PENG LING
DING RUQI

Assignees

华东交通大学
重庆大学

Dates

Publication Date: 20260505
Application Date: 20250901

Claims (8)

1. The active vibration suppression system of the hydraulic mechanical arm is characterized by comprising the following steps of: Step one, obtaining the driving force of a hydraulic cylinder of a hydraulic mechanical arm as a vibration signal; step two, carrying out multi-window function filtering processing on the vibration signal, and firstly giving the time domain length of a wide time window function Selecting a section comprising a signal maximum value and a signal minimum value through a wide time window function frame, and extracting the overall change trend of the vibration signal in a preset time domain length; Step three, in the interval, identifying the maximum value and the minimum value of all signals in a wide time window function by using a narrow time window function, sliding point by taking a point to be tested as a center to further capture the detail change in the narrow time window function, and outputting the point to be tested if the point to be tested is the maximum value or the minimum value in the narrow time window function; Step four, according to the dynamic range of the maximum value and the minimum value of the output, calculating and obtaining the vibration index representing the system vibration, and simultaneously selecting the fluctuation amplitude of the piston driving force of the hydraulic cylinder As vibration index, establishing driving force fluctuation range of hydraulic cylinder Is calculated according to the formula; Step five, calculating to obtain the actual stroke of the hydraulic cylinder According to the kinematic model of each joint amplitude variation mechanism of the hydraulic cylinder, combining the actual travel Calculating each joint angle of the hydraulic cylinder And (3) the joint angle theta is differed from the expected angle, and vibration joint angle information needing compensation is deduced and is compensated.
2. The hydraulic mechanical arm active vibration suppression system according to claim 1, wherein a pressure sensor is installed at an oil inlet and an oil outlet of a hydraulic cylinder of the hydraulic mechanical arm, actual working pressures of a rod cavity and a rodless cavity of the hydraulic cylinder are obtained through the pressure sensor, and driving force of the hydraulic cylinder is calculated through the following formula: Wherein F is the driving force of the hydraulic cylinder, The actual working pressures of the rod cavity and the rodless cavity of the hydraulic cylinder are respectively, The effective acting areas of the rod cavity and the rodless cavity are respectively.
3. The hydro-mechanical arm active vibration suppression system of claim 1, wherein the time domain length of the wide time window function The method comprises the following steps: Wherein, the Representing the lowest vibration frequency that needs to be considered.
4. The hydraulic mechanical arm active vibration suppression system according to claim 3, wherein, Time domain length of wide time window function The minimum is: 。
5. the hydro-mechanical arm active vibration suppression system of claim 1, wherein the time domain length of the narrow time window function Time domain length less than wide time window function Half of the highest frequency of the vibration signal, i.e.: Wherein, the Indicating the highest vibration frequency that needs to be considered.
6. The hydraulic mechanical arm active vibration suppression system according to claim 1, wherein the fourth step is specifically that the vibration signal is subjected to time domain analysis by utilizing multi-window function filtering, and the vibration index representing the system vibration is obtained by calculating according to the output maximum/minimum dynamic range: Wherein the method comprises the steps of The method is characterized in that the multi-window function filtering is utilized to carry out deep time domain analysis on the signals, and vibration indexes representing system vibration are obtained; Amplitude of fluctuation of driving force Is calculated according to the formula: Wherein, the Representing the equivalent mass of the piston of the hydraulic cylinder, Indicating the linear acceleration of the piston of the hydraulic cylinder.
7. The active vibration suppression system of a hydraulic manipulator according to claim 1, wherein in the fifth step, the actual stroke S of the hydraulic cylinder is: Wherein, the The initial position of the hydraulic cylinder is represented, a represents the linear acceleration of the piston of the hydraulic cylinder, and t is the sampling interval; according to the kinematic model of each joint amplitude variation mechanism of the hydraulic cylinder, the mapping relation between the actual stroke S of the hydraulic cylinder and each joint angle theta is established as follows: Thereby obtaining each joint angle θ.
8. The active vibration suppression system of the hydraulic mechanical arm according to claim 1, wherein the calculated joint angle θ is differenced from a desired angle, and vibration joint angle information to be compensated is deduced.

Description

Hydraulic mechanical arm active vibration suppression system Technical Field The invention relates to the technical field of mechanical arm control, and particularly discloses an active vibration suppression system of a hydraulic mechanical arm. Background Under the guidance of national planning and manufacturing national strategy, the autonomous research and development of high-end intelligent equipment has become a core proposition for promoting industry upgrading. The large-working-radius hydraulic mechanical arm is used as key equipment for realizing robot replacement in the fields of constructional engineering, emergency rescue, special operation and the like, and the intelligent level of the large-working-radius hydraulic mechanical arm directly influences the industrial chain competitiveness of national high-end equipment. The equipment (such as a concrete pump truck, a tunnel wet-spraying trolley and the like) is easy to induce wide-frequency-band compound vibration in dynamic operation due to nonlinear coupling of the flexible structural characteristics of the long arm frame and a hydraulic driving system, and the terminal positioning precision and the operation safety are severely restricted. The current industrial field still widely depends on a passive control method based on fixed parameters in vibration suppression, such as a tuned mass damper and a viscoelastic damping layer, and is assisted by an active control technology depending on a high-precision model, but has significant challenges under complex working conditions, namely, the passive control method is difficult to adapt to real-time requirements of large change of an operation load and multi-mode vibration coupling, secondly, the active control algorithm causes robustness reduction due to model mismatch, such as nonlinear friction and environmental disturbance, and has high calculation complexity, millisecond real-time response is difficult to meet, thirdly, a hysteresis compensation mechanism depends on manual experience parameter adjustment, and the control timeliness is insufficient in strong disturbance scenes such as a nuclear facility mechanical arm, a deep tunneling machine and the like. The bottleneck makes China still break through the technical blockade of the self-adaptive control algorithm and the semi-active actuator in the fields of extreme environment and precise vibration suppression, such as reactor pressure vessel overhaul, ultra-deep shaft construction and medical robots. Disclosure of Invention Aiming at the technical problems, the invention aims to provide an active vibration suppression system of a hydraulic mechanical arm, which can solve the technical problems of difficult vibration suppression and poor working condition adaptation of a large-scale hydraulic mechanical arm. According to the invention, there is provided a hydraulic mechanical arm active vibration suppression system, comprising the following steps: Step one, obtaining the driving force of a hydraulic cylinder of a hydraulic mechanical arm as a vibration signal; step two, carrying out multi-window function filtering processing on the vibration signal, and firstly giving the time domain length of a wide time window function Selecting a section comprising a signal maximum value and a signal minimum value through a wide time window function frame, and extracting the overall change trend of the vibration signal in a preset time domain length; Step three, in the interval, identifying the maximum value and the minimum value of all signals in a wide time window function by using a narrow time window function, sliding point by taking a point to be detected as a center to further capture the detail change in the narrow time window function, and outputting the point if the point is the maximum value or the minimum value in the narrow time window function; Step four, according to the dynamic range of the maximum value and the minimum value of the output, calculating and obtaining the vibration index representing the system vibration, and simultaneously selecting the fluctuation amplitude of the piston driving force of the hydraulic cylinder As vibration index, establishing driving force fluctuation range of hydraulic cylinderIs calculated according to the formula; Step five, calculating to obtain the actual stroke of the hydraulic cylinder According to the kinematic model of each joint amplitude variation mechanism of the hydraulic cylinder, combining the actual travelCalculating each joint angle of the hydraulic cylinderAnd (3) the joint angle theta is differed from the expected angle, vibration joint angle information to be compensated is deduced, compensation is carried out, and vibration is restrained. In a specific embodiment, a pressure sensor is arranged at an oil inlet and an oil outlet of a hydraulic cylinder of the hydraulic mechanical arm, the actual working pressure of a rod cavity and a rodless cavity of the hydraulic cylinder is obtained throu