CN101446809B - Arm support motion control method, controller and control system - Google Patents
Arm support motion control method, controller and control system Download PDFInfo
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Abstract
The invention discloses a method for controlling the movement of an arm support, which comprises the following steps: acquiring two input components of a boom control signal; obtaining a judgment result of whether the arm support is linked or not on the condition that the amplitude values of the two input components are both larger than a preset control threshold value; if the arm support is linked, comparing the two input components with corresponding preset reference values respectively, and determining a current linkage area; selecting an input component corresponding to a direction with a smaller difficulty value in the current linkage area as a first target signal and the other input component as a second target signal according to the difficulty value of the preset arm support action direction; acquiring a first proportionality coefficient and a second proportionality coefficient corresponding to the first target signal and the second target signal, wherein the first proportionality coefficient is smaller than 1, and the second proportionality coefficient is larger than or equal to 1; according to the first and second proportionality coefficients, respectively transforming the first and second target signals to generate two output components; and respectively outputting boom extension and pitching driving signals according to the two output components. The invention can coordinate the linkage of the arm support, and correspondingly discloses an arm support motion controller and a control system.
Description
Technical field
The present invention relates to engineering machinery control field, is a kind of arm support motion control method, controller and control system specifically.
Background technology
Face-up transporting hoist of container crane (hanging hereinafter to be referred as the front) is a kind of harbour engineering machinery, the mainly flexible and pitching action realization container handling by jib.During operation, by XY type capstan handle output arm support control signals, after the controller computing, handling, output jib drive signal, control executing mechanism promote jib do to stretch out, withdraw action and lifting, bend down action.Its basic demand is, the switching of four actions should be steady, smooth and easy, and the interlock of two directions will realize easily, and can conveniently regulate the speed of jib motion.
In the prior art, the two arm support control signals components of only handle being exported amplify separately usually, and both are not carried out Coordination Treatment.When jib was made a direction single action, this did not have problems; But as need jib link in two directions, then face the problem of jib motion fine motion, continuity difference, this be because of:
Jib is different at the required pressure of all directions action.For example, jib lifting and to stretch out the pressure differential of action bigger, amplitude oil cylinder (pitching oil cylinder) lifting mainly overcomes the gravity of jib and load, and telescopic oil cylinder mainly overcomes jib internal friction and the load gravity component in this direction when stretching out, and both differ greatly by required pressure.
The internal diameter of jib amplitude oil cylinder, telescopic oil cylinder is in different size, and required discharge capacity is also different.Usually, jib amplitude oil cylinder internal diameter is big, and telescopic oil cylinder is elongated, and rod chamber is then littler; If jib carries out lifting and withdrawal action simultaneously, two oil cylinder discharge capacity differences will cause jib lifting, withdrawal responsiveness that very big difference is arranged.
The hydraulic work system mode is different.For example, front arm frame does when bending down action that jib stretches out or the action of withdrawing, and then has only jib to bend down action, this be because: jib is flexible to need power, must power and bend down not, only need pure pressure release; This makes hydraulic oil all release from the loop that bends down, thereby the pressure when causing jib teamwork is difficult to control.At this moment, the only restricted speed that bends down action just can make a part of hydraulic oil enter telescopic oil cylinder, and the promotion jib carries out expanding-contracting action.
Similarly, also there are the problems referred to above in other existing engineering machinery jib when moving: difference is big between the action of two directions when teamwork, the coordination difficulty, and fine motion, the continuity of jib motion are relatively poor.
Summary of the invention
In view of this, the invention provides a kind of arm support motion control method, the tunable jib improves fine motion, the continuity of jib motion in the interlock of two directions.On this basis, the present invention also provides a kind of arm rack motion controller and control system.
For solving above technical matters, arm support motion control method provided by the invention comprises:
Obtain two input components of arm support control signals, be respectively applied for control jib expanding-contracting action, jib pitching action;
Amplitude with described two input components is a condition greater than the default control threshold values all, obtains the judged result whether jib links;
When described judged result characterizes the jib interlock, described two input components are compared with the corresponding preset reference value respectively, determine the current linkage area of jib;
According to the difficulty value of default jib direction of action, the input component of selecting the less direction correspondence of difficulty value in the described current linkage area is first echo signal, and another input component is second echo signal;
Obtain first scale-up factor of the described first echo signal correspondence, second scale-up factor of the described second echo signal correspondence, wherein, described first scale-up factor is less than 1, and described second scale-up factor is more than or equal to 1;
According to described first scale-up factor, second scale-up factor, to described first echo signal, the second echo signal conversion, generate two output components respectively;
According to described two output components, export jib telescopic drive signal, jib pitching drive signal respectively.
Preferably, according to the amplitude of described first echo signal, the amplitude of second echo signal, calculate limit coefficient, as described first scale-up factor.
Preferably, the ratio according to the weighted sum of the amplitude of the amplitude of the amplitude of described first echo signal and described first echo signal and second echo signal calculates described limit coefficient.
Preferably, obtain the preset ratio constant, as described second scale-up factor.
Preferably, described preset ratio constant is 1.
Preferably, described jib telescopic drive signal, jib pitching drive signal are pulse width modulating signal.
Arm rack motion controller provided by the invention comprises:
The control signal collecting unit is used to obtain two of arm support control signals and imports components, is respectively applied for control jib expanding-contracting action, jib pitching action;
Jib interlock judging unit, the amplitude that is used for described two input components is a condition greater than the default control threshold values all, obtains the judged result whether jib links;
The regional confirmation unit that links is used for when described judged result characterizes the jib interlock, will described two input components respectively with the comparison of corresponding preset reference value, determine the current linkage area of jib;
The echo signal selected cell is used for the difficulty value according to default jib direction of action, and the input component of selecting the less direction correspondence of difficulty value in the described current linkage area is first echo signal, and another input component is second echo signal;
The scale-up factor acquiring unit is used to obtain first scale-up factor of the described first echo signal correspondence, second scale-up factor of the described second echo signal correspondence, and wherein, described first scale-up factor is less than 1, and described second scale-up factor is more than or equal to 1;
The output signal generation unit is used for according to described first scale-up factor, second scale-up factor, to described first echo signal, the second echo signal conversion, generates two output components respectively;
The drive signal output unit is used for according to described two output components, exports jib telescopic drive signal, jib pitching drive signal respectively;
The controlled variable storage unit is used to store relevant parameter preset.
Preferably, described scale-up factor acquiring unit calculates limit coefficient, as described first scale-up factor according to the amplitude of described first echo signal, the amplitude of second echo signal.
Preferably, described scale-up factor acquiring unit obtains the preset ratio constant, as described second scale-up factor.
Preferably, described preset ratio constant is 1.
Preferably, described controlled variable storage unit is a readable and writable memory, and be provided with in order to the I/O port of external device communication.
Preferably, described drive signal output unit is exported described jib telescopic drive signal, jib pitching drive signal in the pulse width modulating signal mode.
Jib kinetic control system provided by the invention comprises:
Above-mentioned controller;
Operating control is used to send described arm support control signals;
Topworks is used for according to described jib telescopic drive signal, jib pitching drive signal, drives that jib correspondingly stretches, the pitching action.
Preferably, described drive signal output unit is exported described jib telescopic drive signal, jib pitching drive signal in the pulse width modulating signal mode.
Preferably, described operating control is an XY type capstan handle, ball or telepilot rub.
Preferably, described topworks is respectively by flexible proportioning valve, the telescopic oil cylinder of pitching proportional valve control, pitching oil cylinder.
Compared with prior art, tunable jib of the present invention is in the interlock of two directions, improve fine motion, the continuity of jib motion, particularly: in the interlock zone, the arm support control signals component that action is easier to direction i.e. first echo signal carries out amplitude limit, and to the arm support control signals component of the more difficult direction of action promptly second echo signal do not limit; Thus, reduce the action difference of jib on two directions, eliminate the influence that the jib responsiveness is subjected to the hydraulic work system mode, give full play to the flow of hydraulic system, the work efficiency when improving the jib interlock.Especially, by optimizing the limit coefficient of first echo signal, first echo signal is reduced to a rational amplitude, make jib particularly link and switching place of single action in whole perform region, do not exist big step to impact, it is steady, smooth and easy to guarantee that the jib action is switched.
Description of drawings
Fig. 1 is the link synoptic diagram of regional corresponding relation of handle position and jib;
Fig. 2 is the control flow chart of arm support motion control method of the present invention;
Fig. 3 is that method shown in Figure 2 is optimized to stretch out after the limit coefficient and stretched out output component curved surface synoptic diagram (it is limited to stretch out action) in the lifting interlock zone;
Fig. 4 stretches out the interior lifting output component curved surface synoptic diagram (the lifting action is not limited) in lifting interlock zone after method shown in Figure 2 is optimized limit coefficient;
Fig. 5 is the composition frame chart of arm rack motion controller of the present invention;
Fig. 6 is the composition frame chart of jib kinetic control system of the present invention.
Embodiment
Basic design of the present invention is, in the interlock zone, the arm support control signals component of easy direction of action limited, and the arm support control signals component of dyskinesia direction is not limited.
Specify below in conjunction with accompanying drawing and embodiment.
At present, the motion of engineering machinery jib is many to be controlled by the operating control of forms such as XY type capstan handle, the ball that rubs, telepilot, and specifically: operating control sends arm support control signals; Controller carries out computing, processing to the arm support control signals that receives, and exports corresponding jib drive signal (voltage or electric current); The direction of jib drive signal, size determine direction, the aperture of corresponding electrohydraulic proportional control valve (abbreviation proportioning valve), and then control the hydraulic jack action, make jib according to predetermined intention motion.
Being without loss of generality, is that example describes with XY type capstan handle below.
See also Fig. 1, this figure is the link synoptic diagram of regional corresponding relation of handle position and jib.As shown in Figure 1, all corresponding unique azimuth angle alpha of each action of handle, angle of inclination beta, wherein: the azimuth angle alpha decision jib travel direction of handle; The speed of the angle of inclination beta decision jib motion of handle; This makes and has one-to-one relationship between the action of handle and the jib motion.In order to control conveniently, the angle of inclination beta that the azimuth angle alpha and the sign handle of sign handle position are inferred is transformed among the rectangular coordinate system XOY, so that the arm support control signals of output rectangular coordinate form, for for simplicity, below respectively arm support control signals is called X-axis input component, Y-axis input component at the component of X-axis, Y-axis.
As shown in Figure 1, handle both can carry out the single movement of a direction, also can carry out the teamwork of two directions; The former makes jib single action, the latter make jib link; For realizing effective control of jib interlock, need to judge which interlock zone jib is in.
Usually, be true origin with site in the handle motion, determine rectangular coordinate system XOY with handle action main regulation direction, make that jib interlock zone is corresponding with the handle action: handle stretches out jib along the action of X-axis positive dirction; Handle makes the jib withdrawal along the action of X-axis negative direction; Handle makes the jib lifting along the action of Y-axis positive dirction; Handle bends down jib along the action of Y-axis negative direction.Thus, the corresponding jib of first quartile stretches out lifting interlock area I; The withdrawal lifting interlock area I I of the corresponding jib of second quadrant; The withdrawal of the corresponding jib of third quadrant bends down interlock area I II; Stretching out of the corresponding jib of four-quadrant bends down interlock area I V.
Which interlock zone after determining above-mentioned rectangular coordinate system, is positioned at which quadrant by judging the handle action, can corresponding definite jib be, this can pass through to analyze easily, relatively the arm support control signals component is realized.For example, the output signal value when the setting handle is in meta is X axis datum value, Y axis datum value (distinguish to some extent with jib output signal mode, standing is null value); On flexible direction, for stretching out action, X-axis input component is the withdrawal action less than the X axis datum signal to X-axis input component greater than the X axis datum signal; On pitch orientation, Y-axis input component is the lifting action greater than the Y axis datum signal, Y-axis input component less than the Y axis datum signal for bending down action; Thus, X-axis is imported component, Y-axis input component respectively with default X axle reference value, the comparison of Y axis datum value, just can judge that jib is which interlock is regional.
As described above, in above-mentioned four interlock zones, jib stretch out, withdraw action and lifting, bend down the difficulty difference of action, need in this feasible zone of respectively linking the action that limits and amplitude be not quite similar.Obviously, should select difficulity of the movment to be worth the X-axis input component or the Y-axis input component of less direction correspondence,, its amplitude be limited as first echo signal; Select X-axis input component or the Y-axis input component of difficulity of the movment value,, its amplitude is not limited as second echo signal than the general orientation correspondence; These need are rationally chosen first scale-up factor (less than 1) of the first echo signal correspondence, second scale-up factor (more than or equal to 1) of the second echo signal correspondence just can be realized.
Usually, calculate limit coefficient K according to the amplitude of first echo signal, second echo signal, as described first scale-up factor; With the preset ratio constant, as described second scale-up factor.Wherein, this limit coefficient K can obtain (passing through numerical evaluation) from the data list of prior demarcation, also can obtain by setting up calculated with mathematical model.
Preferably, can calculate limit coefficient K according to the ratio of the weighted sum of the amplitude of the amplitude of the amplitude of first echo signal and first echo signal and second echo signal; And the preset ratio constant is 1, to improve operation efficiency.At this moment,, can make the reasonable range of decrease of first echo signal: when definite jib links in a certain interlock zone, reduce the amplitude of first echo signal according to this limit coefficient K by this limit coefficient K; And second scale-up factor remains unchanged more than or equal to the amplitude of 1, the second echo signal; Thus, the make progress speed of jib motion of scalable counterparty makes the jib action more coordinate, and below further specifies.
See also Fig. 2, this figure is the control flow chart of arm support motion control method of the present invention.Specifically may further comprise the steps:
S201, obtain two input components of arm support control signals, be respectively applied for control jib expanding-contracting action, jib pitching action.
Be specially the Y-axis input component of the X-axis input component of corresponding jib stretching motion, corresponding jib luffing.Direction, the size of described X-axis input component, Y-axis input component determine jib travel direction, speed respectively; Therefore, when the jib movement velocity was controlled, practical manifestation was the Coordination Treatment to X-axis input component, Y-axis input component.
S202, be condition all, obtain the judged result whether jib links greater than the default control threshold values with the amplitudes of described two input components.
This step determines whether to link control: when X-axis input component, the amplitude of Y-axis input component all greater than the default control threshold values (as be set at peak signal amplitude 2～5%) time, show that jib need carry out next step interlock control flow, promptly to moving after the arm support control signals component of easy direction limits, export corresponding jib telescopic drive signal again, jib pitching drive signal, thereby adjust flexible proportioning valve, the direction of pitching proportioning valve and aperture, and then control jib telescopic oil cylinder, the flexible direction and the speed of pitching oil cylinder make jib by predetermined intention motion; Otherwise, control according to the controlling schemes of prior art, promptly directly to the arm support control signals component amplification of two directions, after output jib telescopic drive signal, the jib pitching drive signal, the control jib carries out corresponding actions.
S203, when described judged result characterizes the jib interlock, will described two input components respectively with the comparison of corresponding preset reference value, determine the current linkage area of jib.
Strategy can be determined corresponding with it interlock zone according to the arm support control signals component of two directions as described above.When jib links, with X-axis import component, Y-axis input component respectively with default X axis datum value, Y axis datum value relatively, determine jib place current linkage area (promptly stretch out lifting interlock area I, withdrawal lifting interlock area I I, withdrawal bend down interlock area I II, stretch out bend down interlock area I V), so that further need to select first echo signal of restriction amplitude.
The difficulty value of S204, the default jib direction of action of basis, the input component of selecting the less direction correspondence of difficulty value in the described current linkage area is first echo signal, another input component is second echo signal.
Regional for a certain interlock: after the default jib direction of action difficulty value tabulation, which is first echo signal in X-axis input component, the Y-axis input component, to be that second echo signal is unique determine for which, therefore can be according to the default jib direction of action difficulty value easy choice of tabulating.Certainly, the concrete structure (for example, adopting independently two cover oil circuits) for special jib hydraulic system also may exist two directions all to need not the special circumstances that limit, and does not repeat them here.
S205, obtain first scale-up factor of the described first echo signal correspondence, second scale-up factor of the described second echo signal correspondence, wherein, described first scale-up factor is less than 1, and described second scale-up factor is more than or equal to 1.
Obtain first scale-up factor, the second scale-up factor purpose and be to determine the amplifying signal multiple; Cause first scale-up factor, amplifies by two scale-up factors more than or equal to 1 less than 1, the second scale-up factor, can make the not range of decrease of the first echo signal range of decrease, second echo signal.
Usually, can import the amplitude of component, Y-axis input component, calculate the required limit coefficient K of first echo signal, as described first scale-up factor according to X-axis; K is less than 1 for this limit coefficient, makes the echo signal range of decrease of winning, to reduce the jib responsiveness of respective direction.Simultaneously, the preset ratio constant C is as described second scale-up factor; Preferably, the preset ratio constant is 1, makes that the amplitude of second echo signal is constant.
Wherein, the purpose of calculating limit coefficient K is, the amplitude of first echo signal is rationally reduced; Otherwise, when only pressing the constant restriction, the control poor effect of jib interlock, even have a negative impact.Therefore, limit coefficient K should be reasonable, and this can obtain from the data list of prior demarcation, also can obtain by setting up calculated with mathematical model, below will further specify modeling method.
S206, according to described first scale-up factor, second scale-up factor, to described first echo signal, the second echo signal conversion, generate two output components respectively.
According to two scale-up factors, after first echo signal, the amplification of second echo signal, generate two corresponding output components, i.e. X-axis output component, Y-axis output component.Because of first scale-up factor less than 1, the amplitude of the echo signal of winning is reduced, promptly make jib the counterparty to action limited; Second scale-up factor guarantees that more than or equal to 1 the amplitude of second echo signal can not reduce.Thus, generate two corresponding output components, the relation of tunable two jib responsiveness ratios.
S207, according to described two output components, export jib telescopic drive signal, jib pitching drive signal respectively.
Usually, X-axis output component, Y-axis output component are small-signal, need further amplification, conversion, produce jib telescopic drive signal, jib pitching drive signal, so that satisfy the power requirement of jib topworks.
Preferably, jib telescopic drive signal, jib pitching drive signal are pulse-length modulation (PWM) signal, promptly corresponding different X-axis output component, the amplitude of Y-axis output component, the PWM voltage or the electric current of generation different duty example.This PWM voltage or electric current, controller all is a digital form to the signal of controlled system, need not to carry out digital-to-analog conversion, but the simplified control system structure; Simultaneously, because signal remains digital form, noise effect can be dropped to minimum.
Among the present invention, the tunable jib is in the interlock of two directions, the performance of aspects such as the fine motion of raising jib action, continuity, particularly: in the interlock zone, the arm support control signals component that action is easier to direction limits, and the arm support control signals component of the more difficult direction of action is not limited; Thus, reduce the action difference of jib on two directions, eliminate the influence that the jib responsiveness is subjected to the hydraulic work system mode, give full play to the flow of hydraulic system, the work efficiency when improving the jib interlock.
As described above, steady, smooth and easy for guaranteeing that the jib action is switched, be necessary to optimize limit coefficient K, below describe.
Usually, can be according to the ratio of the weighted sum of the amplitude of the amplitude of the amplitude of first echo signal and described first echo signal and second echo signal, calculating limit coefficient specifically can be according to default final jib responsiveness than definite weighting coefficient.This be because: for each interlock zone, reach good interlock effect for making jib, jib will be definite value (be without loss of generality, what desirable speed was little is denominator, makes P＞1) in the final speed of two directions action than P.
Thus, limit coefficient K be the amplitude, jib of first echo signal at the final speed of two directions action inverse proportion weighting function than the amplitude of P and first echo signal, second echo signal (one of respectively corresponding X-axis input component, Y-axis input component), change by following rule:
Limit coefficient K value diminishes with first echo signal and diminishes, and when first echo signal trended towards zero, the K value went to zero, up to the jib single action zone that enters the second echo signal correspondence;
Limit coefficient K value diminishes with second echo signal and becomes big, and when second echo signal trended towards zero, the K value was tending towards 1, up to enter the first echo signal counterparty to jib single action zone;
Especially, when the amplitude of X-axis input component was 1: 1 with Y-axis input component amplitude ratio, the K value equaled 1/P.
According to above-mentioned optimization limit coefficient K, can effectively limit the jib responsiveness of the obvious direction of handle single action effect, realize the jib coordination.Being without loss of generality, below is example to stretching out the situation that motion limits, lifting action do not limit, and briefly describes.
Please be simultaneously referring to Fig. 3, Fig. 4, wherein: Fig. 3 be that method shown in Figure 2 is optimized to stretch out after the limit coefficient and stretched out output component curved surface synoptic diagram (it is limited to stretch out action) in the lifting interlock zone; Fig. 4 stretches out the interior lifting output component curved surface synoptic diagram (the lifting action is not limited) in lifting interlock zone after method shown in Figure 2 is optimized limit coefficient.Wherein: stretch out the corresponding X-axis input of input component component (X-axis forward), the corresponding Y-axis input of lifting input component component (Y-axis forward); Stretch out the corresponding X-axis output component (X-axis forward) of output component, the corresponding Y-axis output component (Y-axis forward) of lifting output component; Stretch out motion limits, the effect when the lifting action does not limit as can be seen from Figure; Further analyze as can be known:
When the amplitude ratio of the amplitude of X-axis input component, Y-axis input component was 1: 1 (is 45 degree as the handle orientation angle) left and right sides, jib was all more obvious in the action of two directions, can reach good interlock effect;
By the amplitude of regulating X-axis input component, the amplitude (as the adjusting handle inclination angle) of Y-axis input component, the scalable jib is at the action speed of two directions;
Jib is the particularly interlock and switching place of single action in whole perform region (corresponding with the handle operating space), does not exist big step to impact, and guarantees that jib action switching is steady, smooth and easy;
Since to the action more difficult direction the control signal component without limits, can give full play to the discharge capacity of hydraulic system, the influence of control program of avoiding linking to work efficiency.
On the basis of above-mentioned control method, below controller of the present invention is described.
See also Fig. 5, this figure is the synoptic diagram of arm rack motion controller of the present invention.Described controller 1 comprises:
Control signal collecting unit 11 is used to obtain two of arm support control signals and imports components, is respectively applied for control jib expanding-contracting action, jib pitching action.
Jib interlock judging unit 12, the amplitude that is used for described two input components is a condition greater than the default control threshold values all, obtains the judged result whether jib links.
The regional confirmation unit 13 that links is used for when described judged result characterizes the jib interlock, will described two input components respectively with the comparison of corresponding preset reference value, determine the current linkage area of jib.
Echo signal selected cell 14 is used for the difficulty value according to default jib direction of action, and the input component of selecting the less direction correspondence of difficulty value in the described current linkage area is first echo signal, and another input component is second echo signal.
Scale-up factor acquiring unit 15 obtains first scale-up factor of the described first echo signal correspondence, second scale-up factor of the described second echo signal correspondence, and wherein, described first scale-up factor is less than 1, and described second scale-up factor is more than or equal to 1.
Usually, scale-up factor acquiring unit 15 calculates limit coefficient K, as described first scale-up factor according to the amplitude of first echo signal, the amplitude of second echo signal; Specifically can calculate limit coefficient K according to the ratio of the weighted sum of the amplitude of the amplitude of the amplitude of first echo signal and first echo signal and second echo signal.In addition, scale-up factor acquiring unit 15 obtains the preset ratio constant C, as described second scale-up factor; Preferably, described preset ratio constant C is 1, and promptly the amplitude to second echo signal does not deal with.
Output signal generation unit 16 is used for according to described first scale-up factor, second scale-up factor, to described first echo signal, the second echo signal conversion, generates two output components respectively;
Drive signal output unit 17 is used for according to described two output components, exports jib telescopic drive signal, jib pitching drive signal respectively; Preferably, described drive signal output unit is exported described jib telescopic drive signal, jib pitching drive signal in the pulse width modulating signal mode.
Controlled variable storage unit 18 is used to store relevant parameter preset; Preferably, described controlled variable storage unit is a readable and writable memory, and be provided with in order to the I/O port of external device communication, thereby be convenient to adjust controlled variable according to the different system characteristic, improve the versatility of controller 1.
On the basis of above-mentioned controller, increase operating control, topworks can control jib, are summarized as follows.
See also Fig. 6, this figure is the composition frame chart of jib kinetic control system of the present invention.This control system comprises:
The above only is a preferred implementation of the present invention, should be pointed out that above-mentioned preferred implementation should not be considered as limitation of the present invention, and protection scope of the present invention should be as the criterion with claim institute restricted portion.For those skilled in the art, without departing from the spirit and scope of the present invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (17)
1. an arm support motion control method is characterized in that, comprising:
Obtain two input components of arm support control signals, be respectively applied for control jib expanding-contracting action, jib pitching action;
Amplitude with described two input components is a condition greater than the default control threshold values all, obtains the judged result whether jib links;
When described judged result characterizes the jib interlock, described two input components are compared with the corresponding preset reference value respectively, determine the current linkage area of jib;
According to the difficulty value of default jib direction of action, the input component of selecting the less direction correspondence of difficulty value in the described current linkage area is first echo signal, and another input component is second echo signal;
Obtain first scale-up factor of the described first echo signal correspondence, second scale-up factor of the described second echo signal correspondence, wherein, described first scale-up factor is less than 1, and described second scale-up factor is more than or equal to 1;
According to described first scale-up factor, second scale-up factor, to described first echo signal, the second echo signal conversion, generate two output components respectively;
According to described two output components, export jib telescopic drive signal, jib pitching drive signal respectively.
2. arm support motion control method as claimed in claim 1 is characterized in that, according to the amplitude of described first echo signal and the amplitude of second echo signal, calculates limit coefficient, as described first scale-up factor.
3. arm support motion control method as claimed in claim 2 is characterized in that, the ratio according to the weighted sum of the amplitude of the amplitude of the amplitude of described first echo signal and described first echo signal and second echo signal calculates described limit coefficient.
4. arm support motion control method as claimed in claim 1 is characterized in that, obtains the preset ratio constant, as described second scale-up factor.
5. arm support motion control method as claimed in claim 4 is characterized in that, described preset ratio constant is 1.
6. as each described arm support motion control method of claim 1-5, it is characterized in that described jib telescopic drive signal, jib pitching drive signal are pulse width modulating signal.
7. an arm rack motion controller is characterized in that, comprising:
The control signal collecting unit is used to obtain two of arm support control signals and imports components, is respectively applied for control jib expanding-contracting action, jib pitching action;
Jib interlock judging unit, the amplitude that is used for described two input components is a condition greater than the default control threshold values all, obtains the judged result whether jib links;
The regional confirmation unit that links is used for when described judged result characterizes the jib interlock, will described two input components respectively with the comparison of corresponding preset reference value, determine the current linkage area of jib;
The echo signal selected cell is used for the difficulty value according to default jib direction of action, and the input component of selecting the less direction correspondence of difficulty value in the described current linkage area is first echo signal, and another input component is second echo signal;
The scale-up factor acquiring unit is used to obtain first scale-up factor of the described first echo signal correspondence, second scale-up factor of the described second echo signal correspondence, and wherein, described first scale-up factor is less than 1, and described second scale-up factor is more than or equal to 1;
The output signal generation unit is used for according to described first scale-up factor, second scale-up factor, to described first echo signal, the second echo signal conversion, generates two output components respectively;
The drive signal output unit is used for according to described two output components, exports jib telescopic drive signal, jib pitching drive signal respectively;
The controlled variable storage unit is used to store relevant parameter preset.
8. arm rack motion controller as claimed in claim 7 is characterized in that, described scale-up factor acquiring unit calculates limit coefficient, as described first scale-up factor according to the amplitude of described first echo signal and the amplitude of second echo signal.
9. arm rack motion controller as claimed in claim 8, it is characterized in that, described scale-up factor acquiring unit calculates described limit coefficient according to the ratio of the weighted sum of the amplitude of the amplitude of the amplitude of described first echo signal and described first echo signal and second echo signal.
10. arm rack motion controller as claimed in claim 7 is characterized in that, described scale-up factor acquiring unit obtains the preset ratio constant, as described second scale-up factor.
11. arm rack motion controller as claimed in claim 10 is characterized in that, described preset ratio constant is 1.
12. arm rack motion controller as claimed in claim 7 is characterized in that, described controlled variable storage unit is a readable and writable memory, and be provided with in order to the I/O port of external device communication.
13., it is characterized in that described drive signal output unit is exported described jib telescopic drive signal, jib pitching drive signal in the pulse width modulating signal mode as each described arm rack motion controller of claim 7-12.
14. a jib kinetic control system is characterized in that, comprising:
As each described arm rack motion controller of claim 7-12;
Operating control is used to send described arm support control signals;
Topworks is used for according to described jib telescopic drive signal, jib pitching drive signal, drives that jib correspondingly stretches, the pitching action.
15. jib kinetic control system as claimed in claim 14 is characterized in that, described drive signal output unit is exported described jib telescopic drive signal, jib pitching drive signal in the pulse width modulating signal mode.
16. jib kinetic control system as claimed in claim 14 is characterized in that, described operating control is an XY type capstan handle, ball or telepilot rub.
17. jib kinetic control system as claimed in claim 14 is characterized in that, described topworks is respectively by flexible proportioning valve, the telescopic oil cylinder of pitching proportional valve control, pitching oil cylinder.
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| CN103964311A (en) * | 2014-05-08 | 2014-08-06 | 三一汽车起重机械有限公司 | Engineering equipment as well as overall stability detection method and device thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103964311A (en) * | 2014-05-08 | 2014-08-06 | 三一汽车起重机械有限公司 | Engineering equipment as well as overall stability detection method and device thereof |
| CN103964311B (en) * | 2014-05-08 | 2015-12-09 | 三一汽车起重机械有限公司 | Engineering equipment and complete machine stability method of inspection thereof and device |
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