CN102536103A - Method, device and system for controlling arm support recycling and vehicle for arm support recycling - Google Patents
Method, device and system for controlling arm support recycling and vehicle for arm support recycling Download PDFInfo
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- CN102536103A CN102536103A CN2011104558776A CN201110455877A CN102536103A CN 102536103 A CN102536103 A CN 102536103A CN 2011104558776 A CN2011104558776 A CN 2011104558776A CN 201110455877 A CN201110455877 A CN 201110455877A CN 102536103 A CN102536103 A CN 102536103A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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Abstract
The invention discloses a method, device and system for controlling arm support recycling and a vehicle for the arm support recycling. The method comprises the steps: a control device obtains state information of a current position of the arm support through a measuring device, determines a position section where the arm locates according to at least one parameter value in the state information of the current position and drives a driving device to perform a recycling strategy which corresponds to the position section.
Description
Technical field
The present invention relates to technical field of engineering machinery, control method, control device, control system and vehicle that particularly a kind of jib reclaims.
Background technology
At present, the manipulating object of a lot of engineering trucks has certain distance from vehicle, needs to accomplish the operation to manipulating object through telescopic arm support.For example: hook and ladder is exactly a kind of telescopic aerial ladder that is provided with, and has the engineering truck of elevator scoop turntable and extinguishing device, can supply the fire fighter to ascend a height to put out a fire and succours trapped personnel, is applicable to putting out a fire to save life and property of fire of high-rise building.The jib of this hook and ladder is telescopic aerial ladder.After the hook and ladder power cut-off, need jib is reclaimed.At present, generally reclaim through manual mode, through the actuating handle respectively to length, the rotation amplitude of jib; And the angle of revolution controls, and specifically comprises: the length of regulating jib through handle, until arriving observed suitable length; Regulate the rotation amplitude of jib through handle; Until arriving observed suitable amplitude, through the angle of revolution of handle adjusting jib, until arriving observed suitable angle of revolution.Above-mentioned three adjustment processes can be carried out by setting in proper order, also can intert and carry out, and depend on operator's the working experience and the qualification of operation.In the mode of this manual recovery jib, need could the jib recovery be put in place after the repeatedly adjustment, this has expended the very long activity duration, influences the simplicity of overall operation efficient and operation.
Summary of the invention
Control method, control device, control system and vehicle that the embodiment of the invention provides a kind of jib to reclaim are in order to improve the operating efficiency that jib reclaims.
The control method that the embodiment of the invention provides a kind of jib to reclaim comprises:
Control device obtains the current position state information of said jib through measurement mechanism;
According at least one parameter value in the said current position state information, confirm the residing position zone of said jib;
Drive transmission is carried out the take-back strategy corresponding with said position zone.
The control device that the embodiment of the invention provides a kind of jib to reclaim comprises:
Obtain equipment, be used for obtaining the current position state information of said jib through measurement mechanism;
Confirm equipment, be used for confirming the residing position zone of said jib according to said at least one parameter value of current position state information;
Driving arrangement is used for drive transmission and carries out the take-back strategy corresponding with said position zone.
The control system that the embodiment of the invention provides a kind of jib to reclaim; Comprise: the measurement mechanism that obtains the current position state information of stating jib; Above-mentioned control device, and, carry out the transmission device of the take-back strategy corresponding with position zone by said control device driving.
The embodiment of the invention provides a kind of vehicle with jib, comprises above-mentioned control system.
In the embodiment of the invention, after control device obtains the current position state information of said jib through measurement mechanism, according at least one parameter value in the said current position state information; Confirm the residing position zone of said jib; And the drive transmission execution take-back strategy corresponding with said position zone, like this, realized the automatic recovery of jib; Save the activity duration, improved the simplicity of overall operation efficient and operation.
Description of drawings
Fig. 1 is the flow chart that jib reclaims control in the embodiment of the invention;
Fig. 2 is the reference diagram of error and variable element calculated value in the embodiment of the invention;
Fig. 3 is the flow chart that jib reclaims control in the specific embodiment of the invention;
Fig. 4 is the structure chart of jib recovery control device in the embodiment of the invention;
Fig. 5 is the Organization Chart of the control system that jib reclaims in the embodiment of the invention.
The specific embodiment
In the embodiment of the invention,, after its operation finishes, adopt control device to reclaim jib automatically, saved the activity duration, improved the simplicity of overall operation efficient and operation for the engineering truck that has jib.
In the embodiment of the invention, jib can stretch, and can on vertical plane, rotate, and on horizontal plane, turns round, and promptly jib can carry out stretching motion, rotatablely moves and reclaims motion.Like this, the location status information of jib comprises: jib length, rotation amplitude and angle of revolution.For keeping the steadily of centre of gravity of jib, the rotation amplitude of jib generally is less than 90 °, and jib can turn round on horizontal plane at any angle, can carry out 360 ° of revolutions.
Measurement mechanism has been installed, for example: displacement transducer, angular transducer on the jib.Can obtain the current position state information of jib through these measurement mechanisms.Certainly, also have transmission device on the engineering truck, for example: electro-hydraulic proportional valve or electromagnetic valve can drive jib through these transmission devices and carry out corresponding recovery operation.
After measurement mechanism and transmission device be installed, the process of the control that jib reclaims comprised referring to Fig. 1:
Step 101: control device obtains the current position state information of jib through measurement mechanism.
Measurement mechanism has been installed on the jib, can have been obtained the current position state information of jib through these measurement mechanisms.Current position state information comprises: one or more in length, rotation amplitude and the angle of revolution.For example: obtain the length of jib through displacement transducer, obtain the rotation amplitude of jib, and obtain the angle of revolution of jib through second angular transducer through first angular transducer.
Step 102: control device is confirmed the residing position zone of jib according at least one parameter value in the current position state information.
In the embodiment of the invention, the locational space of jib is divided, be divided into a plurality of position zone.Can confirm that jib is in position zone according to one, two or more parameter value in the current position state information.
Can at least one parameter value and preset threshold in the current position state information be compared, and, confirm the residing position zone of jib according to comparative result.If the length parameter value in the current position state information is less than first threshold; And rotation range parameter value less than second threshold value in the current position state information; Confirm that then jib is in safety revolution section; And, confirm the residing particular location section of jib according to the comparative result of angle of revolution parameter value in the current position state information and the 3rd threshold value; Otherwise, confirm that jib is in non-safety revolution section.
Wherein, also can further divide non-safety revolution section, for example: this non-safety revolution section comprises: primary importance section and second place section; Like this, length parameter value and first threshold in the current position state information are compared, if the length parameter value is greater than first threshold; Confirm that then jib is in the primary importance section, otherwise, the rotation range parameter value in the current position state information and second threshold value are compared; If rotation range parameter value is greater than second threshold value; Be that the length parameter value is less than or equal to first threshold, and rotation range parameter value confirm then that greater than second threshold value jib is in second place section.
Perhaps; Can earlier the rotation range parameter value in the current position state information and second threshold value be compared; And then length parameter value and the first threshold in the current position state information compared, then according to concrete comparative structure, confirm the particular location section that jib is in.For example: this non-safety revolution section comprises: the first non-safety revolution section and the second non-safety revolution section; If rotation range parameter value is greater than second threshold value; Confirm that jib is in the first non-safety revolution section; If rotation range parameter value is less than or equal to second threshold value, and the length parameter value confirms that greater than first threshold jib is in the second non-safety revolution section.
After jib is in safety revolution section,, confirm that the residing particular location section of jib comprises according to the comparative result of angle of revolution parameter value in the current position state information and the 3rd threshold value:
Whether the angle of revolution parameter value in the current position state information is the 3rd threshold value, if not, confirm that jib is in the 3rd position zone; If; Length parameter value in the current position state information and the 4th threshold value are compared, if length, confirms then that jib is in the 4th position zone greater than the 4th threshold value; Otherwise, confirm that jib is in the 5th position zone.Even the angle of revolution parameter value in the current position state information is not the 3rd threshold value, confirms that then jib is in the 3rd position zone; Otherwise, length parameter value in the current position state information and the 4th threshold value are compared; If the length parameter value, confirms then that jib is in the 4th position zone greater than the 4th threshold value; Otherwise, confirm that jib is in the 5th position zone.
Perhaps, only judge this moment, decide the residing particular location section of jib, just given an example no longer in detail according to the angle of revolution parameter value.
It is thus clear that; Can confirm through a length whether jib is in the primary importance section; Confirm through length and rotation amplitude whether jib is in second place section, and, confirm whether jib is in the 3rd, the 4th or the 5th position zone through length, rotation amplitude and angle of revolution.
Wherein, first threshold confirmed by the extreme length of jib, generally can be 1/2,1/3,1/4 or 1/5 etc. of extreme length.Promptly jib is reduced in the certain limit, carries out follow-up rotation more at present, and the revolution operation.
Second threshold value generally has the structure of jib and vehicle body to confirm, preferably, when the rotation amplitude of jib is second threshold value, does not influence the revolution of jib at horizontal plane.
Wherein, owing to can carry out 360 ° revolution, therefore, the 3rd threshold value can be 0 °, or is 360 °.In the embodiment of the invention, can adopt the minimal path principle, like this; Whether the angle of revolution parameter value in judging current position state information is before the 3rd threshold value; Whether can judge angle of revolution parameter value in the current position state information greater than 180 °, if greater than, then the 3rd threshold value is 360 °; Otherwise the 3rd threshold value is 0 °.Certainly, if do not consider the minimal path principle, the 3rd threshold value can be a fixed value, for example: 0 °.
The 4th threshold value is generally confirmed by the shortest length of jib, is slightly larger than shortest length, like this, if when length is less than the 4th threshold value in the current position state information, shows then that length has reclaimed to have put in place.
Above-mentioned is the mode that a kind of locational space is divided; The embodiment of the invention is not limited thereto; Also can adopt other dividing mode, for example: confirm earlier a position zone of jib, confirm another position zone of jib then according to length and rotation amplitude according to the rotation amplitude; According to length, rotation amplitude and angle of revolution, confirm other position zone of jib at last.
Step 103: the control device drive transmission is carried out the take-back strategy corresponding with position zone.
In the embodiment of the invention, but passing ratio-integration-differential PID control or ratio-differential PD control or fuzzy control drives corresponding transmission device and carries out the take-back strategy corresponding with said position zone.
In the control device, all corresponding take-back strategy of each position zone.Wherein, if jib is in safety revolution section, then drives corresponding transmission device and carry out and the corresponding take-back strategy of safety revolution section; If jib is in non-safety revolution section, then drives corresponding transmission device and carry out and the corresponding take-back strategy of non-safety revolution section.
Be divided into example with above-mentioned 5 locational spaces, the corresponding relation of its position zone and take-back strategy is as shown in table 1:
Table 1
In the above-mentioned table 1, because the headstock of jib and engineering truck has certain angle, therefore; After must making the anglec of rotation parameter value of jib greater than this angle; Could turn round jib at horizontal plane, like this, the 5th threshold value preferably is slightly larger than the angle of the headstock of jib and engineering truck.Certainly, if jib is installed on the flat board, in the strategy 3, can not need consider the anglec of rotation of jib so, directly regulate the angle of revolution of jib, the angle of revolution parameter value that makes jib is a third phase prestige value.
Like this, third phase prestige value can equate that when the 3rd threshold value was 0 °, then third phase prestige value also was 0 ° with the 3rd threshold value, and when the 3rd threshold value was 360 °, then three desired values also were 360 °, like this, has guaranteed that the rotating route of jib is the shortest.
In the above-mentioned table 1, first desired value is less than first threshold, and second desired value is less than second threshold value, and third phase prestige value can equate that fourth phase prestige value is greater than the 5th threshold value with the 3rd threshold value, and fifth phase prestige value is less than the 4th threshold value.Preferably, fifth phase prestige value is jib corresponding length when regaining fully, corresponding rotation amplitude when the 6th desired value puts in place for the rotation of jib vertical plane.
In the embodiment of the invention; Be the recovery campaign that comes jib through transmission device, therefore, first transmission device is corresponding with the stretching motion of jib; Second transmission device is corresponding rotatablely moving of vertical plane with jib, and the 3rd transmission device is corresponding in the gyration of horizontal plane with jib.Transmission device can comprise: electro-hydraulic proportional valve or electromagnetic valve.
Like this, driving corresponding transmission device execution comprises with the corresponding take-back strategy of said non-safety revolution section::
If jib is in the primary importance section, then drive the first transmission device implementation strategy 1, promptly drive the length that first transmission device is regulated jib, the length parameter value that makes jib is first desired value, wherein, first desired value is less than first threshold.
If jib is in second place section, then drive first transmission device, and the second transmission device implementation strategy 2; Promptly drive first transmission device, regulate the length of jib, the length parameter value that makes jib is a fifth phase prestige value; And drive second transmission device, and the rotation amplitude of regulating jib, making the rotation range parameter value of jib is second desired value; Wherein, second desired value is less than second threshold value.Corresponding length that fifth phase prestige value is preferably jib when regaining fully.
Driving corresponding transmission device execution comprises with the corresponding take-back strategy of safety revolution section:
If jib is in the 3rd position zone, then drive the 3rd transmission device, second transmission device execution measurement 3, the rotation range parameter value and the 5th threshold value that are about in the current position state information compare; When rotating the range parameter value greater than the 5th threshold value, drive the 3rd transmission device, regulate the angle of revolution of jib; The angle of revolution parameter value that makes jib is a third phase prestige value, otherwise, drive second transmission device; Regulate the rotation amplitude of jib, the rotation range parameter value that makes jib is a fourth phase prestige value, wherein, fourth phase prestige value is greater than the 5th threshold value; And drive the 3rd transmission device, and regulate the angle of revolution of jib, the angle of revolution that makes jib is a third phase prestige value; Wherein, third phase prestige value is the 3rd threshold value.
If jib is in the 4th position zone, then drive the first transmission device implementation strategy 4, promptly drive the length that first transmission device is regulated jib, the length parameter value that makes jib is a fifth phase prestige value, wherein, fifth phase prestige value is less than the 4th threshold value.
If jib is in the 5th position zone, then drive the second transmission device implementation strategy 5, promptly drive the rotation amplitude that second transmission device is regulated jib, making the rotation range parameter value of jib is the 6th desired value.
The embodiment of the invention adopts PID control or PD control or fuzzy control, drives corresponding transmission device.Wherein, in the engineering reality, application adjuster control law the most widely is ratio, integration, differential control, is called for short PID control.Ratio (P) control is the simplest a kind of control mode, the output of its controller and the proportional relation of error originated from input signal.The proportional relation that is integrated into of integration (I) control output and error originated from input signal, integral depends on the integration of time to error, along with the increase of time, integral can increase.Like this, even if error is very little, integral also can strengthen along with the increase of time, and the output increase that it promotes controller further reduces steady-state error, up to equalling zero.Differential (D) is controlled the differential of output and error originated from input signal, and promptly the error change rate is proportional, and the trend that differential term ability predicated error changes can make the effect of inhibition error Control equal zero in advance, thereby has avoided the serious overshoot of controlled volume.
Pid control algorithm is adopted in driving for transmission device; Parameter to jib is controlled; With jib rotation amplitude is example, and the rotation amplitude of expectation jib is a setting value, and the rotation range parameter value in the jib current position state information is an actual value; The error that obtains control according to the difference between setting value and the actual value is imported as PID, can obtain the drive current size to the transmission device of jib rotation amplitude action.Be that parameter value and the difference between the desired value in the current position state information is the error of PID input.
Therefore, driving the corresponding transmission device execution take-back strategy corresponding with said position zone through PID control comprises:
With form between corresponding parameters value and the desired value in the current position state information error input PID control in, obtain the result of PID control output; The result who utilizes said PID control to export drives current transmission device and carries out current motion, and wherein, said current motion comprises: stretching motion rotatablely moves, or reclaims motion.
The output result of pid control algorithm also receives the influence of the initial setting parameter that has nothing to do with error in the PID control except with error relation being arranged, and promptly receives the influence of P parameter, I parameter, D parameter.The setting of parameter has direct influence to PID control effect.
In embodiments of the present invention, can adopt fixing P parameter, I parameter and D parameter.For making the efficient that reclaims motion, also can take the mode of variable element processing in the embodiment of the invention to pid parameter than higher.Referring to Fig. 2, what the X coordinate was represented is error, and for example, parameter value has all been quantized to 8000 scope, and what the Y coordinate was represented is corresponding variable element calculated value.When jib when a position zone switches to the another one position zone, can obtain a corresponding variable element calculated value through Fig. 2 with the error of importing, with this variable element calculated value divided by 100; Obtain PID variable element radix, can learn that from Fig. 2 this variable element radix scope is 1-4, with the P parameter among itself and the PID; Be factor of proportionality Kp and I parameter; Be that integration time constant Ki multiplies each other, the value of acquisition is used for PID control as new Kp, Ki parameter.
Like this, position zone of the every switching of jib, PID control will adopt different pid parameters to regulate, when error very big; Explain that output is very big, the adjusting time is long, the longer duration of integral action, at this moment; The variable element radix is less, like this, suitably dwindles Kp and Ki, like this; Not only little to rapidity influence, also can avoid stronger integration to the impact in this time adjustment process later stage simultaneously, increase the stability of jib motion.When error is very little, to export also very for a short time, the integral action duration is short, and at this moment, the variable element radix is big, suitably increases Kp and Ki, can add the speed of fast-response, shortens the adjusting time.
Above-mentioned is the mode that a kind of variable element is handled, and the mode that the embodiment of the invention also can adopt other variable element to handle only need make parameter K p and Ki increase along with reducing of error.Therefore; Carrying out the take-back strategy corresponding with said position zone at the transmission device that drives correspondence through PID control also comprises: according to the error of input PID control; Resize ratio COEFFICIENT K p and integration time constant Ki; Make factor of proportionality Kp and integration time constant Ki increase along with reducing of error, wherein, error is formed by corresponding parameters value and the desired value in the current position state information.
In the embodiment of the invention; Need respectively to first transmission device, second transmission device; And the 3rd transmission device drive, for making control device can unify these transmission devices of control, need after the current position state information of obtaining said jib through measurement mechanism; In unified range ability, each parameter value in the conversion current position state information.Promptly in unified range ability, each parameter value in the current position state information is converted into the reference parameter value in the unified range ability.For example: unified range ability is 0-1000, and jib length parameter value scope 3-103 rice, the length parameter value is 50 meters in the current position state information that measures, and is 500 after then in 0-1000, converting; And jib rotation range parameter value scope is 5 °-85 °, and rotation range parameter value is 60 ° in the current position state information that measures, and is 750 after then in 0-1000, converting; And 0 °-360 ° of jib angle of revolution range of parameter values, the angle of revolution parameter value is 90 ° in the current position state information that measures, and is 250 after then in 0-1000, converting.
Equally, above-mentioned first threshold, second threshold value, the 3rd threshold value; The 4th threshold value, and the 5th threshold value also need to convert in unified range ability; And first desired value, second desired value, third phase prestige value; Fourth phase prestige value, fifth phase prestige value, and the 6th desired value also needs to convert in unified range ability.
Control device is behind take-back strategy of drive transmission execution, and jib possibly reclaim and put in place, also possibly not reclaim and put in place.At this moment, do not put in place, then carry out above-mentioned steps 101-103 again, reclaim until jib and put in place when definite jib reclaims.For example: if confirm to be in the 5th position zone in the step 102, after step 103 executes strategy 5, can confirm that then the jib recovery puts in place, then removal process finishes.If be in the primary importance section surely during step 102 is true, after step 103 executed tactful 1, this moment, the angle of revolution confirmed that jib does not have recovery to put in place, then carries out above-mentioned steps 101-103 again, reclaims until jib and puts in place according to the rotation amplitude in the parameter current.
Below in conjunction with Figure of description the embodiment of the invention is described in further detail.
In the present embodiment, describe with the example that is recovered as of the aerial ladder of hook and ladder, promptly in this instance, jib is an aerial ladder.Transmission device is an electro-hydraulic proportional valve.Unified range ability is 0-8000, and like this, the configuration first threshold is that 2100, the second threshold values are 1700, and first threshold is that 0 or-8000, the four threshold values are that 50, the five threshold values are 1000.First desired value is slightly less than first threshold, can be 2000, the second desired values and also is slightly less than second threshold value, can be 1500, and third phase prestige value is 0 or-8000, and fourth phase prestige value is slightly larger than the 5th threshold value, can be 1100, and fifth phase prestige value is slightly less than the 4th threshold value, can be 45.The corresponding aerial ladder of the 6th desired value puts in place in the vertical plane rotation, can for example be 5 near with 0 then.
Like this, at first to open the automatic recovery function of aerial ladder, promptly activate operation automatically.
Generally in the whole operation process of aerial ladder, must guarantee that aerial ladder can not injure other staff or article, operating personnel will guarantee that at first the interior clear of the residing vertical column of covering of the fan that ladder and vehicle body constitute exists; Then, step on and keep pedal,, step on the pedal of work bucket or turntable in conjunction with the operation switching state of getting on or off the bus here.And the manual operation handle is put back into default position.At last, triggering display screen reclaims the aerial ladder function button or triggers " starting automatically " selector switch.Here, if the aerial ladder angle is less, aerial ladder can a little up lift earlier in the process.
After the aerial ladder recovery puts in place, can stop automated operator, comprising: once more by recover aerial ladder function button or triggering " stopping automatically " selector switch; Then, touch arbitrary bar that controls, unclamp pedal at last; Like this, operating process stops after accomplishing automatically.Certainly, in case of emergency can directly press emergency stop push button, the automatic operation that stops to reclaim.
Then the Automatic Recovery Process of aerial ladder comprises referring to Fig. 3:
Step 301: control device obtains the current position state information of aerial ladder through measurement mechanism.
Obtain the length of aerial ladder, rotation amplitude, angle of revolution.
Step 302: control device in unified range ability, each parameter value in the conversion current position state information.
Unified range ability is 0-8000, each parameter value in this scope in the conversion current position state information.
Step 303: whether control device judges the length parameter value of aerial ladder in the current position state information greater than 2100, if, execution in step 304, otherwise, execution in step 305.
Control device confirms through length whether aerial ladder is in the primary importance section, when the length parameter value greater than 2100, confirm that then aerial ladder is in the primary importance section, execution in step 304, otherwise, execution in step 305.
Step 304: control device drives first electro-hydraulic proportional valve and carries out take-back strategy 1.
Control device drives first electro-hydraulic proportional valve, transfers the length of jib, and the length parameter value that makes jib is 2000.
Step 305: whether control device judges the rotation range parameter value of aerial ladder in the current position state information greater than 1700, if, execution in step 306, otherwise, execution in step 307.
Here, control device confirms through the rotation amplitude whether aerial ladder is in second place section, when rotation range parameter value greater than 1700 the time, confirm that aerial ladder is in second place section, execution in step 306, otherwise, execution in step 307.
Step 306: control device drives first electro-hydraulic proportional valve respectively and second electro-hydraulic proportional valve is carried out take-back strategy 2.
Particularly, control device drives the length that first electro-hydraulic proportional valve is regulated jib, and the length parameter value that makes jib is 45.And drive the rotation amplitude that second electro-hydraulic proportional valve is regulated jib, making the rotation range parameter value of jib is 1500.
Step 307: whether control device judges aerial ladder in revolution centering position, if not, execution in step 308, if, execution in step 309.
In the embodiment of the invention, be used for aerial ladder and can carry out 360 ° revolution in the horizontal direction, at this moment; Whether the angle of revolution parameter value that can judge aerial ladder in the current position state information earlier greater than 4000, if greater than, judge then whether this angle of revolution parameter value is 8000; If not, confirm that aerial ladder not in revolution centering position, is in the 3rd position zone; If, execution in step 309, this moment, the 3rd threshold value was 8000.If the angle of revolution parameter value of aerial ladder is less than or equal to 4000 in the current position state information, judge then whether this angle of revolution parameter value is 0, if not; Confirm that aerial ladder not in revolution centering position, is in the 3rd position zone, if; Execution in step 309, this moment, the 3rd threshold value was 0.
Step 308: control device drives the 3rd electro-hydraulic proportional valve respectively, and perhaps the 3rd electro-hydraulic proportional valve and second electro-hydraulic proportional valve are carried out take-back strategy 3.
Rotation range parameter value and 1000 in the current position state information is compared, when rotation range parameter value greater than 1000 the time, drive the angle of revolution that the 3rd electro-hydraulic proportional valve is regulated jib, the angle of revolution parameter value that makes jib is 0 or 8000.When rotation range parameter value is less than or equal to 1000; Then drive the rotation amplitude that second electro-hydraulic proportional valve is regulated jib earlier; Making the rotation range parameter value of jib is 1100, and then drives the angle of revolution that the 3rd electro-hydraulic proportional valve is regulated jib, and the angle of revolution parameter value that makes jib is 0 or 8000.
Above-mentioned the 3rd threshold value is 8000, and the angle of revolution parameter value that just makes jib here is 8000, and above-mentioned the 3rd threshold value is 0, and the angle of revolution parameter value that just makes jib here is 0, and like this, the revolution distance of jib is the shortest.
Step 309: whether control device judges the length parameter value of aerial ladder in the current position state information greater than 50, if execution in step 310, otherwise, execution in step 311.
Control device confirms that through the length of aerial ladder aerial ladder is in the 4th position zone, still in the 5th position zone, when the length parameter value greater than 50 the time, confirm aerial ladder in the 4th position zone, execution in step 310, otherwise, in the 5th position zone, execution in step 311.
Step 310: control device drives first electro-hydraulic proportional valve and carries out take-back strategy 4.
Control device drives the length that first electro-hydraulic proportional valve is regulated jib, and the length that makes jib is 45.
Step 311: control device drives second electro-hydraulic proportional valve and carries out take-back strategy 5.
Control device drives the rotation amplitude that second electro-hydraulic proportional valve is regulated jib, and making the rotation range parameter value of jib is 5.
Through obtaining the current position state information of getting aerial ladder in real time, carry out said process, until executing take-back strategy 5, make the rotation amplitude of jib arrive the recovery position, thereby accomplished the Automatic Recovery Process of aerial ladder.
Control device drives in the detailed process of electro-hydraulic proportional valve in above-mentioned steps 302,306,308,310 and 311; Can adopt PID control; The mode that PID also can adopt variable element to handle specifically can calculate poor between parameter value and the desired value in the current position state information earlier, and this difference is confirmed as the error that input PID controls; Then referring to Fig. 2; Confirm the volume calculation of parameter value corresponding, and calculate parameter K p and the Ki that makes new advances, obtain PID control output result at last and drive corresponding electro-hydraulic proportional valve with this error.
The aperture of electro-hydraulic proportional valve is corresponding with PID control output result, and PID control output result for example is a drive current; This drive current is big more, and the aperture of electro-hydraulic proportional valve is also big more, like this; Corresponding recovery movement velocity is fast more, otherwise this drive current is more little; The aperture of electro-hydraulic proportional valve is also more little, and like this, corresponding recovery movement velocity is slow more.
Thereby, when error is very big, through adjustment parameter K p and Ki; Make PID control output result diminish, make that corresponding recovery movement velocity is slow more, reduced adjustment process and impacted in the later stage; When error is very big,, make PID control output result become big through adjustment parameter K p and Ki; Can increase corresponding recovery movement velocity, shorten the adjusting time.
In the process that reality is used, there are the dead band in the aperture of the valve of electro-hydraulic proportional valve and ladder action, need a bigger driving, and this drives to starting current or voltage, that is to say when valve opening is very little that ladder can't move.And, if respectively move corresponding hydraulic actuating mechanism load size and Orientation and valve self the switching characteristic not simultaneously, the starting current that corresponding valve needs also can be different, that is to say the flexible or rotation of ladder, or rotating driving all is different.And this can utilize the result of error decision output to conflict mutually with PID; There is the existence of error just to have output, has output that corresponding action will be arranged, if but very for a short time when being not enough to drive valve when exporting; Action can't be carried out; Therefore, need evade, will the value of result's output be converted to the corresponding scope of valve opening control simultaneously output result's dead band.Specifically comprise:
At first, can obtain the corresponding startup numerical value of various motions through detecting the handle data, such as; During revolution, left-hand rotation right-hand rotation log-on data is respectively 270,550, when flexible; The log-on data of stretching or contracting is respectively 300,640, and during rotation, luffing data up and down are respectively 630,280; Then, the output valve of calculating corresponding PID adds up with corresponding startup numerical value, and the numerical value after adding up is in the scope of setting; Numerical value after then will adding up is used for the control of ladder as the data of valve opening.The scope of setting is that the corresponding numerical value of the maximum valve opening of negative sense is to the corresponding numerical value of the maximum valve opening of forward, for example: 0-1000.
Therefore, putting the corresponding take-back strategy of section through the corresponding transmission device execution of PID control driving with rheme comprises:
Obtain the corresponding startup numerical value of current motion that current transmission device is carried out, wherein, said current motion comprises: stretching motion rotatablely moves, or reclaims motion.Then; In the error input PID control that forms between corresponding parameters value and the desired value in the said current position state information, obtain the result that PID controls output, and the result of PID control output is superposeed with startup numerical value; When the numerical value after the stack is in setting range; With the definite motivation value of deserving preceding transmission device of the numerical value after adding up, last, utilize definite motivation value to drive current transmission device and carry out current motion.
Control procedure according to above-mentioned jib reclaims can know that the control device in the embodiment of the invention is as shown in Figure 4, comprising: obtain equipment 100, confirm equipment 200 and driving arrangement 300.Wherein,
Obtain equipment 100, be used for obtaining the current position state information of said jib through measurement mechanism.
Driving arrangement 300 is used for drive transmission and carries out the take-back strategy corresponding with said position zone.
Wherein, current position state information comprises: one or more in length, rotation amplitude and the angle of revolution.
Should confirm equipment 200, and specifically be used for said at least one parameter value of current position state information and preset threshold are compared, and, confirm the residing position zone of jib according to comparative result.
Particularly, confirm equipment 200, be used for if the length parameter value of said current position state information less than first threshold; And rotation range parameter value less than second threshold value in the said current position state information; Confirm that then said jib is in safety revolution section, and, confirm the residing particular location section of jib according to the comparative result of angle of revolution parameter value in the current position state information and the 3rd threshold value; Otherwise, confirm that said jib is in non-safety revolution section.
Also control device comprises:
Matrix unit is used in unified range ability, and each parameter value in the said current position state information is converted into the reference parameter value in the said unified range ability.
Driving arrangement 300; Specifically be used for passing ratio-integration-differential PID control or ratio-differential PD control or fuzzy control, the corresponding transmission device execution take-back strategy corresponding of driving with said position zone; Wherein, If said jib is in safety revolution section, then drives corresponding transmission device and carry out and the corresponding take-back strategy of said safety revolution section;
If said jib is in non-safety revolution section, then drives corresponding transmission device and carry out and the corresponding take-back strategy of said non-safety revolution section.
Driving arrangement 300 specifically is used for then driving first transmission device if said jib is in the primary importance section, regulates the length of said jib, and the length parameter value that makes said jib is first desired value, and wherein, said first desired value is less than said first threshold;
If said jib is in second place section, then drive first transmission device, regulate the length of said jib; The length parameter value that makes said jib is a fifth phase prestige value; And drive second transmission device, and regulate the rotation amplitude of said jib, making the rotation range parameter value of said jib is second desired value; Wherein, said second desired value is less than second threshold value.And,
Driving arrangement 300 specifically is used for then rotation range parameter value in the said current position state information and the 5th threshold value being compared if said jib is in the 3rd position zone; When said rotation range parameter value during greater than the 5th threshold value, drive the 3rd transmission device, regulate the angle of revolution of said jib; The angle of revolution parameter value that makes said jib is a third phase prestige value, otherwise, drive said second transmission device; Regulate the rotation amplitude of said jib, the rotation range parameter value that makes said jib is a fourth phase prestige value, wherein, fourth phase prestige value is greater than the 5th threshold value; And drive the 3rd transmission device, and regulate the angle of revolution of said jib, the angle of revolution parameter value that makes said jib is a third phase prestige value; Wherein, said third phase prestige value is said the 3rd threshold value;
If when said jib is in the 4th position zone, then drive first transmission device, regulate the length of said jib, the length parameter value that makes said jib is a fifth phase prestige value, wherein, said fifth phase prestige value is less than said the 4th threshold value;
If when said jib is in the 5th position zone, then drive second transmission device, regulate the rotation amplitude of said jib, making the rotation range parameter value of said jib is the 6th desired value.
And driving arrangement 300 can specifically be used to obtain the corresponding startup numerical value of current motion that current transmission device is carried out; Wherein, said current motion comprises: stretching motion rotatablely moves; Or reclaim motion, in the error input PID control that forms between corresponding parameters value and the desired value in the said current position state information, obtain the result of PID control output; The result and the said startup numerical value of said PID control output are superposeed; And the numerical value after stack is in setting range the time, and the numerical value after adding up is confirmed the motivation value of said current transmission device, utilizes said motivation value to drive said current transmission device and carries out said current motion.
Driving arrangement 300 also specifically is used for the error according to said input PID control, adjusts factor of proportionality Kp and integration time constant Ki in the said PID control, makes said factor of proportionality Kp and integration time constant Ki increase along with reducing of said error.
In the embodiment of the invention, control device can be applied to programmable logic controller (PLC) (ProgrammableLogic Controller, PLC) or dcs (Distributed Control System, DCS) among.
Can get thus, the control system that jib reclaims in the embodiment of the invention referring to Fig. 5, comprising: measurement mechanism 510, control device 520 and actuating unit 530.Wherein,
Actuating unit 530 is used under the driving of control device 520, carries out the take-back strategy corresponding with position zone.
Wherein, current position state information comprises: one or more in length, rotation amplitude and the angle of revolution.Then measurement mechanism 510 can specifically comprise: displacement transducer, angular transducer etc.
Actuating unit 530 can comprise: electro-hydraulic proportional valve or electromagnetic valve.
Therefore, in the embodiment of the invention, the control system that jib reclaims comprises: obtain the measurement mechanism of the current position state information of stating jib, and above-mentioned control device, and, carry out the transmission device of the take-back strategy corresponding with position zone by this control device driving.
In the foregoing description, jib can carry out stretching motion, rotatablely moves and reclaims motion.Certainly, the embodiment of the invention is not limited thereto, and jib can carry out stretching motion, rotatablely move and reclaim the motion in one or more.Like this, the parameter value in the current position state information also includes only: in length, rotation amplitude and the angle of revolution one or more.
Jib can be installed in the engineering truck, also can be according in the fixed location, for example: in the operation room.
Certainly, the engineering truck of band telescopic arm support has been installed in the control system of above-mentioned jib recovery in the embodiment of the invention, just can after the operation of accomplishing manipulating object, reclaim jib automatically.And, through dividing position zone, carry out the take-back strategy corresponding with position zone, saved the activity duration, improved the simplicity of overall operation efficient and operation.
In the embodiment of the invention, after control device obtains the current position state information of said jib through measurement mechanism, according at least one parameter value in the said current position state information; Confirm the residing position zone of said jib; And the drive transmission execution take-back strategy corresponding with said position zone, like this, realized the automatic recovery of jib; Save the activity duration, improved the simplicity of overall operation efficient and operation.
In addition, control device can control drive transmission to carry out the take-back strategy corresponding with said position zone through PID, wherein; The mode that can take variable element to handle to pid parameter when the error of PID input is big, is suitably dwindled Kp and Ki; Like this; Not only little to rapidity influence, also can avoid stronger integration to the impact in this time adjustment process later stage simultaneously, increase the stability of jib motion.When error is very little, suitably increase Kp and Ki, can add the speed of fast-response, shorten the adjusting time.Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, belong within the scope of claim of the present invention and equivalent technologies thereof if of the present invention these are revised with modification, then the present invention also is intended to comprise these changes and modification interior.
Claims (25)
1. the control method that jib reclaims is characterized in that, comprising:
Control device obtains the current position state information of said jib through measurement mechanism;
According at least one parameter value in the said current position state information, confirm the residing position zone of said jib;
Drive transmission is carried out the take-back strategy corresponding with said position zone.
2. the method for claim 1 is characterized in that, said current position state information comprises: one or more in length, rotation amplitude and the angle of revolution.
3. the method for claim 1 is characterized in that, and is said according at least one parameter value in the said current position state information, confirms that the residing position zone of said jib comprises:
At least one parameter value and preset threshold in the said current position state information are compared, and, confirm the residing position zone of jib according to comparative result.
4. method as claimed in claim 3 is characterized in that, and is said according to comparative result, confirms that the residing position zone of jib comprises:
If the length parameter value in the said current position state information is less than first threshold; And rotation range parameter value less than second threshold value in the said current position state information; Confirm that then said jib is in safety revolution section; And, confirm the residing particular location section of jib according to the comparative result of angle of revolution parameter value in the current position state information and the 3rd threshold value;
Otherwise, confirm that said jib is in non-safety revolution section.
5. method as claimed in claim 3 is characterized in that, said non-safety revolution section comprises: primary importance section and second place section;
Confirm that then said jib is in non-secure section and comprises:
If said length parameter value, confirms then that said jib is in the primary importance section greater than first threshold;
If said length parameter value is less than or equal to first threshold, and rotation range parameter value confirms then that greater than second threshold value said jib is in second place section.
6. method as claimed in claim 3 is characterized in that, said comparative result according to angle of revolution parameter value in the current position state information and the 3rd threshold value confirms that the residing particular location section of jib comprises:
If the angle of revolution parameter value in the said current position state information is not the 3rd threshold value, confirm that then said jib is in the 3rd position zone;
Otherwise, length parameter value in the said current position state information and the 4th threshold value are compared;
If said length parameter value, confirms then that said jib is in the 4th position zone greater than the 4th threshold value;
Otherwise, confirm that said jib is in the 5th position zone.
7. the method for claim 1 is characterized in that, and is said according at least one parameter value in the said current position state information, confirms that said jib is in before the position zone, also comprises:
In unified range ability, each parameter value in the said current position state information is converted into the reference parameter value in the said unified range ability.
8. method as claimed in claim 4 is characterized in that, said drive transmission is carried out the take-back strategy corresponding with said position zone and comprised:
Passing ratio-integration-differential PID control or ratio-differential PD control or fuzzy control drives corresponding transmission device and carries out the take-back strategy corresponding with said position zone, wherein,
If said jib is in safety revolution section, then drives corresponding transmission device and carry out and the corresponding take-back strategy of said safety revolution section;
If said jib is in non-safety revolution section, then drives corresponding transmission device and carry out and the corresponding take-back strategy of said non-safety revolution section.
9. method as claimed in claim 8 is characterized in that, the said transmission device that drives correspondence is carried out with the corresponding take-back strategy of said non-safety revolution section and comprised:
If said jib is in the primary importance section, then drive first transmission device, regulate the length of said jib, the length parameter value that makes said jib is first desired value, wherein, said first desired value is less than said first threshold;
If said jib is in second place section, then drive first transmission device, regulate the length of said jib; The length parameter value that makes said jib is a fifth phase prestige value; And drive second transmission device, and regulate the rotation amplitude of said jib, making the rotation range parameter value of said jib is second desired value; Wherein, said second desired value is less than second threshold value.
10. method as claimed in claim 8 is characterized in that, the said transmission device that drives correspondence is carried out with the corresponding take-back strategy of said safety revolution section and comprised:
If said jib is in the 3rd position zone, then rotation range parameter value in the said current position state information and the 5th threshold value are compared, when said rotation range parameter value during greater than the 5th threshold value; Drive the 3rd transmission device, regulate the angle of revolution of said jib, the angle of revolution parameter value that makes said jib is a third phase prestige value; Otherwise, drive said second transmission device, regulate the rotation amplitude of said jib; The rotation range parameter value that makes said jib is a fourth phase prestige value, wherein, fourth phase prestige value is greater than the 5th threshold value, and drives the 3rd transmission device; Regulate the angle of revolution of said jib; The angle of revolution parameter value that makes said jib is a third phase prestige value, and wherein, said third phase prestige value is said the 3rd threshold value;
If said jib is in the 4th position zone, then drive first transmission device, regulate the length of said jib, the length parameter value that makes said jib is a fifth phase prestige value, wherein, said fifth phase prestige value is less than said the 4th threshold value;
If said jib is in the 5th position zone, then drive second transmission device, regulate the rotation amplitude of said jib, making the rotation range parameter value of said jib is the 6th desired value.
11. method as claimed in claim 8 is characterized in that, said transmission device through PID control driving correspondence is carried out the take-back strategy corresponding with said position zone and is comprised:
Obtain the corresponding startup numerical value of current motion that current transmission device is carried out, wherein, said current motion comprises: stretching motion rotatablely moves, or reclaims motion;
In the error input PID control that forms between corresponding parameters value and the desired value in the said current position state information, obtain the result of PID control output;
The result and the said startup numerical value of said PID control output are superposeed, and when the numerical value after the stack is in setting range, the numerical value after adding up is confirmed the motivation value of said current transmission device;
Utilize said motivation value to drive said current transmission device and carry out said current motion.
12. method as claimed in claim 11 is characterized in that, said transmission device through PID control driving correspondence is carried out the take-back strategy corresponding with said position zone and is also comprised:
According to the error of said input PID control, adjust factor of proportionality Kp and integration time constant Ki in the said PID control, make said factor of proportionality Kp and integration time constant Ki increase along with reducing of said error.
13. the control device that jib reclaims is characterized in that, comprising:
Obtain equipment, be used for obtaining the current position state information of said jib through measurement mechanism;
Confirm equipment, be used for confirming the residing position zone of said jib according to said at least one parameter value of current position state information;
Driving arrangement is used for drive transmission and carries out the take-back strategy corresponding with said position zone.
14. device as claimed in claim 13 is characterized in that,
Said definite equipment specifically is used for said at least one parameter value of current position state information and preset threshold are compared, and according to comparative result, confirms the residing position zone of jib.
15. device as claimed in claim 14 is characterized in that,
Said definite equipment; Specifically be used for if the length parameter value of said current position state information less than first threshold, and in the said current position state information rotation range parameter value less than second threshold value, confirm that then said jib is in safety revolution section; And according to the comparative result of angle of revolution parameter value in the current position state information and the 3rd threshold value; Confirm the residing particular location section of jib, otherwise, confirm that said jib is in non-safety revolution section.
16. device as claimed in claim 15 is characterized in that,
Said definite equipment; Specifically be used for if said length parameter value, confirms then that said jib is in the primary importance section greater than first threshold, if said length parameter value is less than or equal to first threshold; And rotation range parameter value is greater than second threshold value; Confirm that then said jib is in second place section, wherein, said non-safety revolution section comprises: primary importance section and second place section.
17. device as claimed in claim 15 is characterized in that,
Said definite equipment specifically is used for if the angle of revolution parameter value of said current position state information is not the 3rd threshold value, confirms that then said jib is in the 3rd position zone; Otherwise; Length parameter value in the said current position state information and the 4th threshold value are compared, if said length parameter value, confirms then that said jib is in the 4th position zone greater than the 4th threshold value; Otherwise, confirm that said jib is in the 5th position zone.
18. device as claimed in claim 13 is characterized in that, also comprises:
Matrix unit is used in unified range ability, and each parameter value in the said current position state information is converted into the reference parameter value in the said unified range ability.
19. device as claimed in claim 15 is characterized in that,
Said driving arrangement specifically is used for passing ratio-integration-differential PID control or ratio-differential PD control or fuzzy control, the corresponding transmission device execution take-back strategy corresponding with said position zone of driving, wherein,
If said jib is in safety revolution section, then drives corresponding transmission device and carry out and the corresponding take-back strategy of said safety revolution section;
If said jib is in non-safety revolution section, then drives corresponding transmission device and carry out and the corresponding take-back strategy of said non-safety revolution section.
20. device as claimed in claim 19 is characterized in that,
Said driving arrangement specifically is used for then driving first transmission device if said jib is in the primary importance section, regulates the length of said jib, and the length parameter value that makes said jib is first desired value, and wherein, said first desired value is less than said first threshold;
If said jib is in second place section, then drive first transmission device, regulate the length of said jib; The length parameter value that makes said jib is a fifth phase prestige value; And drive second transmission device, and regulate the rotation amplitude of said jib, making the rotation range parameter value of said jib is second desired value; Wherein, said second desired value is less than second threshold value.
21. device as claimed in claim 19 is characterized in that,
Said driving arrangement specifically is used for then rotation range parameter value in the said current position state information and the 5th threshold value being compared if said jib is in the 3rd position zone; When said rotation range parameter value during greater than the 5th threshold value, drive the 3rd transmission device, regulate the angle of revolution of said jib; The angle of revolution parameter value that makes said jib is a third phase prestige value, otherwise, drive said second transmission device; Regulate the rotation amplitude of said jib, the rotation range parameter value that makes said jib is a fourth phase prestige value, wherein, fourth phase prestige value is greater than the 5th threshold value; And drive the 3rd transmission device, and regulate the angle of revolution of said jib, the angle of revolution parameter value that makes said jib is a third phase prestige value; Wherein, said third phase prestige value is said the 3rd threshold value;
If when said jib is in the 4th position zone, then drive first transmission device, regulate the length of said jib, the length parameter value that makes said jib is a fifth phase prestige value, wherein, said fifth phase prestige value is less than said the 4th threshold value;
If when said jib is in the 5th position zone, then drive second transmission device, regulate the rotation amplitude of said jib, making the rotation range parameter value of said jib is the 6th desired value.
22. device as claimed in claim 19 is characterized in that,
Said driving arrangement specifically is used to obtain the corresponding startup numerical value of current motion that current transmission device is carried out, wherein; Said current motion comprises: stretching motion rotatablely moves, or reclaims motion; In the error input PID control that forms between corresponding parameters value and the desired value in the said current position state information; Obtain the result of PID control output, result and said startup numerical value that said PID control is exported superpose, and when the numerical value after the stack is in setting range; Numerical value after adding up is confirmed the motivation value of said current transmission device, utilize said motivation value to drive said current transmission device and carry out said current motion.
23. device as claimed in claim 22 is characterized in that,
Said driving arrangement also specifically is used for the error according to said input PID control, adjusts factor of proportionality Kp and integration time constant Ki in the said PID control, makes said factor of proportionality Kp and integration time constant Ki increase along with reducing of said error.
24. the control system that jib reclaims is characterized in that, comprising:
Obtain the measurement mechanism of the current position state information of stating jib, aforesaid right requires the described control device of arbitrary claim among the 13-23, and is driven by said control device, carries out the transmission device of the take-back strategy corresponding with position zone.
25. the vehicle with jib is characterized in that, comprises the described control of claim 24 system.
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| CN2011104558776A CN102536103B (en) | 2011-12-30 | 2011-12-30 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
| PCT/CN2012/082242 WO2013097509A1 (en) | 2011-12-30 | 2012-09-28 | Method, device, and system for controlling jib retraction, and vehicle for jib retraction |
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| CN2011104558776A CN102536103B (en) | 2011-12-30 | 2011-12-30 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
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| CN103234002B (en) * | 2013-04-28 | 2014-12-24 | 中联重科股份有限公司 | Device, method, system and engineering machine for restraining rotary vibration of cantilever crane |
| CN103537029B (en) * | 2013-11-07 | 2016-02-24 | 徐州重型机械有限公司 | A kind of fire fighting truck safe operation range guard method and device |
| CN103537029A (en) * | 2013-11-07 | 2014-01-29 | 徐州重型机械有限公司 | Method and device for protection in safety operation range of fire truck |
| CN103809595A (en) * | 2014-01-26 | 2014-05-21 | 三一汽车制造有限公司 | Engineering machinery operation method, operation terminal, control device and operation system |
| CN104571143A (en) * | 2014-12-04 | 2015-04-29 | 长沙中联消防机械有限公司 | Engineering machinery, and control system, method and device of arm support of engineering machinery |
| CN104984507A (en) * | 2015-07-07 | 2015-10-21 | 明光浩淼安防科技股份公司 | Automatic centering method of elevating fire truck rotary table |
| CN107145163A (en) * | 2017-04-28 | 2017-09-08 | 三汽车制造有限公司 | The position control method and device of fire fighting truck and its arm support |
| CN112727858A (en) * | 2021-01-15 | 2021-04-30 | 长沙九方湾流智能科技有限公司 | Point position control method, hydraulic control system and engineering vehicle |
| CN112727858B (en) * | 2021-01-15 | 2023-01-24 | 长沙九方湾流智能科技有限公司 | Point position control method, hydraulic control system and engineering vehicle |
| CN113735028A (en) * | 2021-08-06 | 2021-12-03 | 湖南星邦智能装备股份有限公司 | Safety control method, system, equipment and storage medium under aerial work platform |
| CN113735028B (en) * | 2021-08-06 | 2023-08-18 | 湖南星邦智能装备股份有限公司 | Safety control method, system, equipment and storage medium under aerial working platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102536103B (en) | 2013-12-04 |
| WO2013097509A1 (en) | 2013-07-04 |
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