CN102079482B - Control method and controller for crane and composite actions thereof of crane - Google Patents
Control method and controller for crane and composite actions thereof of crane Download PDFInfo
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- CN102079482B CN102079482B CN2009102465430A CN200910246543A CN102079482B CN 102079482 B CN102079482 B CN 102079482B CN 2009102465430 A CN2009102465430 A CN 2009102465430A CN 200910246543 A CN200910246543 A CN 200910246543A CN 102079482 B CN102079482 B CN 102079482B
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Abstract
The invention discloses a control method of composite actions of a crane, which is used for controlling total flow of hydraulic oil to be distributed to multiple actuators. The liquid-feeding flow of each actuator is controlled by regulating the opening of a control valve; and the motion speed of at least one actuator is obtained in real time by using the control method, and the judgment result of regulating the opening of the valve port of the controller valve used for controlling the liquid-feeding flow of each actuator is obtained according to the fact that whether the motion speed of at least one actuator meets preset judgment conditions. Through the analysis of engineering mechanical composite actions, the preset judgment conditions of regulating the opening of the vale port of the control valve are determined, thereby effectively controlling the flow distribution from the total flow to the actuators based on the motion speeds of the actuators in real time. In addition, the invention also provides a controller and the crane with the controller.
Description
Technical field
The present invention relates to construction machinery and equipment composite move control technology, be specifically related to control method, the controller of hoisting crane and composite move thereof.
Background technology
Along with the quickening of social development rhythm, not only be confined to basic serviceabilitys such as safe, reliable for the requirement of various construction machinery and equipment.How to improve operating efficiency and become the main points of optimal design, particularly, rationally carry out the design of composite move and improve its operability.
With the crane is example, fundamental operatioies such as it has, and complete machine walking, the revolution of getting on the bus, crane arm are flexible, crane arm luffing and hook lifting.Be the needs of adaptation actual condition, the compound operating efficiency that can improve hoisting crane effectively of aforementioned fundamental operation, thus shortened work-hours greatly, satisfy the requirement of different user.Traditional hoisting crane can only be realized the compound of respective action through different pump fuel feeds; The concrete realization of system is comparatively complicated in this case; Realize that composite move needs a plurality of hydraulic oil pumps and separate hydraulic tubing, has increased the productive costs and the maintenance cost of total system undoubtedly.
Based on this, single hydraulic oil pump fuel feeding realizes that the technology of composite move is able to use widely in engineering machinery field.Since the principle of work of composite move be by a pump give simultaneously two loads (such as, hoist motor and luffing hydraulic actuating cylinder) high pressure oil is provided, therefore, need under the certain prerequisite of hydraulic oil total flow, pari passu fluid be offered each load.
As everyone knows, in hydraulic efficiency pressure system, flow is pressure reduction and the function of valve port opening amount before the valve, behind the valve, when opening one regularly, pressure reduction is determined by load.Obviously, accurately carrying out the key that load flow distributes is main valve opening amount is controlled.At present; In the existing hoisting crane hydraulic control system; The opening of valve is controlled by the handle signal, and its control technology mainly is the control of open loop type electric-hydraulic proportion, that is to say; Control for composite move mainly is to adopt pressure-compensated valve to realize, mainly contains dual mode: LS (meaning " load-sensitive ") and LUDV (meaning " with the irrelevant assignment of traffic of load pressure ").Wherein, LS is the valve precompensation, and LUDV is the valve post-compensation, and their basic principle of work are consistent, all realizes the effect of speed governing through the throttle compensating valve that is located at the main valve plug front and back.When system accomplishes the work of a plurality of power elements through a plurality of main valve plugs of stick control, make the pressure reduction before and after the main valve plug guarantee consistent through reducing valve; In theory, flow and aperture area through main valve when the pressure reduction before and after the main valve is constant are linear, thereby reach the requirement of composite move.
Can know that through analyzing above-mentioned composite move control principle it mainly contains following several of main problems:
1) through the constant pressure before and after the reducing valve realization main valve, its setting range is too small.When crossing through the reducing valve flow when low, reducing valve can not play depressurization; When through the reducing valve flow when too high, reducing valve will be malfunctioning.
2) in real work, it is bigger that hydraulic efficiency pressure system is influenced by other factor.Because same opening and pressure reduction also are inequality through flow under the different working condition, therefore, improve the higher design and manufacture cost of precision needs of hydraulic valve.
3) when the flow of pump is unsaturated, the assignment of traffic of each power element of composite move is uneven, thereby causes kinematic velocity to fail to satisfy requirements.Hoist motor and amplitude oil cylinder composite move operating mode with hoisting crane are example; Elevator its motor load of when lifting remains unchanged (omit less important stressed) basically, and along with the reducing of work range, the load of amplitude oil cylinder constantly reduces; And the pressure of its oil inlet is determined by maximum load; Pressure reduction before the luffing valve, behind the valve will be increasing, and is like this, increasing through the flow that gets into amplitude oil cylinder; Thereby the speed of elevator will slow down thereupon, even the phenomenon that stops to move occurs.
Summary of the invention
To above-mentioned defective, the technical matters that the present invention solves is that a kind of control method of hoisting crane composite move is provided, and it utilizes its feed liquor flow of speed feedback control of power element, meets the demands with the speed that satisfies the synchronous composite action.On this basis, the present invention also provides a kind of controller and has the hoisting crane of this controller.
The control method of hoisting crane composite move provided by the invention is used for modulated pressure oil total flow and is dispensed to a plurality of power elements, and the feed liquor flow of said power element is controlled through the aperture of adjusting control valve; This method is obtained the kinematic velocity of at least one power element in real time, and whether satisfies preset judgment condition according to the kinematic velocity of this at least one power element, obtains the judged result of the control cock valve port opening of this power element feed liquor flow of adjusting control.
Preferably, obtain the kinematic velocity of the power element of a load variations in real time; If the kinematic velocity of this power element is then exported control signal corresponding greater than preset value, be used to turn down the control cock valve port opening of this power element feed liquor flow of control.
Preferably, if the kinematic velocity of this power element is then exported control signal corresponding less than preset value, be used to transfer the control cock valve port opening of this power element feed liquor flow of big control.
Preferably, obtain the kinematic velocity of two power elements in real time, one is first power element of load variations, and another is load unmodified second power element; If the kinematic velocity of first power element is greater than or less than the kinematic velocity of second power element, then export control signal corresponding, be used to turn down or transfer the control cock valve port opening of this power element feed liquor flow of big control.
Preferably, obtain the kinematic velocity of each power element in real time; If the kinematic velocity of each power element is different, then export control signal corresponding, be used to turn down the control cock valve port opening of the maximum power element feed liquor flow of controlled motion speed.
Preferably, the control signal in the said control method adopts pid algorithm to calculate acquisition.
Controller provided by the invention is used for modulated pressure oil total flow and is dispensed to a plurality of power elements; It is characterized in that this controller comprises:
Signal gathering unit is used to obtain the kinematic velocity of at least one power element;
Judging unit is used for whether satisfying preset judgment condition according to this kinematic velocity, obtains the judged result of the control cock valve port opening of this power element feed liquor flow of adjusting control;
The control signal output unit is used for the control cock according to judged result output control signal corresponding to this power element feed liquor flow; With
The controlled variable memory cell is used to store relevant pre-conditioned parameter preset.
Preferably, said signal gathering unit is used for obtaining in real time the kinematic velocity of a power element; Said controlled variable memory cell be used to the to prestore kinematic velocity fault value of this power element; Said judging unit is used to judge whether the kinematic velocity of this power element is greater than or less than this kinematic velocity fault value; If greater than; Then obtain to be used to turn down the judged result of the control cock valve port opening of controlling this power element feed liquor flow; If less than, then obtain to be used to transfer the judged result of the control cock valve port opening of this power element feed liquor flow of big control.
Preferably, said signal gathering unit is used for obtaining in real time the kinematic velocity of two power elements; Said controlled variable memory cell is used to store the relation table of two actuator movement speed; Said judging unit is used for comparing according to this relation table the kinematic velocity of two power elements; If the kinematic velocity of a power element greater than the kinematic velocity of another power element, then obtains to be used to turn down the judged result of the control cock valve port opening of controlling this power element feed liquor flow.
Preferably, said signal gathering unit is used for obtaining in real time the kinematic velocity of each power element; Said controlled variable memory cell is used to store the relation table of a plurality of actuator movement speed; Said judging unit is used for according to this relation table kinematic velocity of each power element relatively, if the kinematic velocity of each power element is different, then obtains to be used to turn down the judged result of the control cock valve port opening of the maximum power element feed liquor flow of controlled motion speed.
Hoisting crane provided by the invention, but the power element of a plurality of composite moves had, and the feed liquor flow of said power element is controlled through the aperture of adjusting control valve; Also comprise foregoing controller.
In the working control process, whether the present invention satisfies preset judgment condition according to the kinematic velocity of this at least one power element in real time, obtains the judged result of the control cock valve port opening of this power element feed liquor flow of adjusting control.This method can be analyzed through the composite move to construction machinery and equipment, confirms the preset Rule of judgment of adjusting control valve valve port opening, thereby effectively controls the assignment of traffic of total flow to each power element based on the kinematic velocity of power element in real time.
In addition, compared with prior art, this programme is different with the mentality of designing of available technology adopting reducing valve control main valve front and back constant pressure, thereby, improved the stability of composite move control greatly; Simultaneously and since the present invention can be in real time based on the kinematic velocity adjustment assignment of traffic of power element, can suitably reduce for the accuracy requirement of hydraulic valve, with the reduction design and manufacture cost.
To the composite move operating mode that the load of power element does not change, preferred version of the present invention is dynamically controlled through the valve port of the power element that control load changes, to coordinate the assignment of traffic between each power element of composite move.
Control method provided by the invention can also be suitable for the construction machinery and equipment that other have composite move.
Description of drawings
Fig. 1 is the unit block diagram of controller described in the specific embodiment;
Fig. 2 is the block scheme of composite move control method described in first embodiment;
Fig. 3 is the block scheme of composite move control method described in second embodiment;
Fig. 4 is the block scheme of composite move control method described in the 3rd embodiment;
Fig. 5 is the monnolithic case figure of hoisting crane described in the specific embodiment.
The specific embodiment
The control method of hoisting crane composite move provided by the invention is used for modulated pressure oil total flow and is dispensed to a plurality of power elements, and the feed liquor flow of said power element is controlled through the aperture of adjusting control valve; Its core is to obtain the kinematic velocity of at least one power element in real time, and whether satisfies preset judgment condition according to the kinematic velocity of this at least one power element, obtains the judged result of the control cock valve port opening of this power element feed liquor flow of adjusting control.The control signal of the present invention's output adopts pid algorithm to calculate and obtains, and it utilizes its feed liquor flow of speed feedback control of power element, meets the demands with the speed that satisfies the synchronous composite action.
Based on the design philosophy of aforementioned control method, being used for modulated pressure oil total flow, to be dispensed to the controller of a plurality of power elements as shown in Figure 1, the figure shows the unit block diagram of controller.This controller 10 comprises:
Control signal output unit 13 is used for the control cock according to judged result output control signal corresponding to this power element feed liquor flow; With
Controlled variable memory cell 14 is used to store relevant pre-conditioned parameter preset.
Being without loss of generality, is that example is elaborated with the luffing of hoisting crane, the composite move operating mode that hoists below.Under this operating mode, along with the synchronization action that reducing of work range and elevator hoist, the load that elevator hoists remains unchanged basically, and the load of amplitude oil cylinder changes.
See also Fig. 2, the figure shows a kind of embodiment of this composite move control method.
Step S201 obtains the kinematic velocity of amplitude oil cylinder in real time.
Step S202, whether the kinematic velocity of judging amplitude oil cylinder is greater than preset value.If then get into next step S203; If not, then get into next step S204.
Step S203, the output control signal corresponding is used to turn down the control cock valve port opening of controlling this power element feed liquor flow.
Step S204, whether the kinematic velocity of judging amplitude oil cylinder is less than preset value.If then get into next step S205.
Step S205, output control signal corresponding, the control cock valve port opening that is used to transfer this power element feed liquor flow of big control.
The said control method of present embodiment dynamically changes the aperture that luffing is controlled valve port according to luffing speed, to realize the flow equalization of two power elements.The concrete unit block diagram of realizing the controller of the said control method of first embodiment sees also Fig. 1.Wherein, signal gathering unit is used to obtain the kinematic velocity of amplitude oil cylinder; Controlled variable memory cell be used to the to prestore kinematic velocity fault value of this power element; Judging unit is used to judge whether the kinematic velocity of amplitude oil cylinder is greater than or less than this kinematic velocity fault value; If greater than; Then obtain to be used to turn down the judged result of the control cock valve port opening of controlling this power element feed liquor flow; If less than, then obtain to be used to transfer the judged result of the control cock valve port opening of this power element feed liquor flow of big control; The control signal output unit is used for the control cock according to judged result output control signal corresponding to amplitude oil cylinder feed liquor flow.
See also Fig. 3, the figure shows second kind of embodiment of this composite move control method.
Step S301 obtains the kinematic velocity of amplitude oil cylinder and the kinematic velocity of hoist motor in real time.
Step S202, according to the kinematic velocity relation table of amplitude oil cylinder and hoist motor, whether the kinematic velocity of judging amplitude oil cylinder is greater than the kinematic velocity of hoist motor.If then get into next step S303; If not, then get into next step S304.
Step S303, the output control signal corresponding is used to turn down the control cock valve port opening of controlling amplitude oil cylinder feed liquor flow.
Step S304, according to the kinematic velocity relation table of amplitude oil cylinder and hoist motor, whether the kinematic velocity of judging amplitude oil cylinder is less than the kinematic velocity of hoist motor.If then get into next step S305.
Step S305, output control signal corresponding, the control cock valve port opening that is used to transfer big control amplitude oil cylinder feed liquor flow.
The said control method of present embodiment is the speed of two power elements relatively dynamically, the feed liquor amount of the amplitude oil cylinder that changes with control load.Likewise, realize the unit block diagram of the controller of this control method, see also Fig. 1.Wherein, signal gathering unit is used to obtain the kinematic velocity of amplitude oil cylinder and the kinematic velocity of hoist motor; Controlled variable memory cell be used to the to prestore kinematic velocity relation table of amplitude oil cylinder and hoist motor; Judging unit is used for relatively judging the size of amplitude oil cylinder kinematic velocity and hoist motor kinematic velocity; If the amplitude oil cylinder kinematic velocity is greater than the hoist motor kinematic velocity; Then obtain to be used to turn down the judged result of the control cock valve port opening of controlling this power element feed liquor flow; If the amplitude oil cylinder kinematic velocity is less than the hoist motor kinematic velocity, then obtain to be used to transfer the judged result of the control cock valve port opening of this power element feed liquor flow of big control; The control signal output unit is used for the control cock according to judged result output control signal corresponding to amplitude oil cylinder feed liquor flow.
See also Fig. 4, the figure shows the third embodiment of this composite move control method.
Step 401 is obtained the kinematic velocity of each power element in real time.
Step 402 judges whether the kinematic velocity of each power element is inequality.If then get into next step 403.
Step 404 is exported control signal corresponding, is used to turn down the control cock valve port opening of the maximum power element feed liquor flow of controlled motion speed.
The said control method of present embodiment also is dynamically to compare the size of two actuator movement speed, and different with second embodiment is that the 3rd embodiment realizes the equilibrium of both flows through the feed liquor amount of the relatively large power element of controlled motion speed.Likewise, realize the unit block diagram of the controller of this control method, see also Fig. 1.Wherein, signal gathering unit is used to obtain the kinematic velocity of amplitude oil cylinder and the kinematic velocity of hoist motor; Controlled variable memory cell be used to the to prestore kinematic velocity relation table of amplitude oil cylinder and hoist motor; Judging unit is used for judging relatively according to this relation table whether amplitude oil cylinder is identical with the hoist motor kinematic velocity, if then obtain to be used to turn down the judged result of the control cock valve port opening of the big power element feed liquor flow of controlled motion speed; The control signal output unit is used for the control cock according to judged result output control signal corresponding to amplitude oil cylinder feed liquor flow.
See also Fig. 5, this figure is the monnolithic case figure of the said hoisting crane of this embodiment.
Main function components such as the chassis of this car hosit, winding plant, Lifting device and engine installation and prior art are identical, should be appreciated that those of ordinary skill in the art can realize based on technology fully, so this paper repeats no more.Based on aforementioned first embodiment, a change angle sensor need be set, be used to combine correlation parameter to confirm the luffing kinematic velocity; Based on aforementioned second and third embodiment, a lifting-speed sensor also need be set, be used to obtain the luffing kinematic velocity.
Special version be, this programme does not limit to and is applied to the car hosit shown in the figure, it can also be applied to crawler crane, perhaps other need the construction machinery and equipment of composite move.
To sum up, the present invention analyzes through the composite move to construction machinery and equipment, confirms the preset Rule of judgment of adjusting control valve valve port opening, thereby controls the assignment of traffic of total flow to each power element according to the kinematic velocity of power element in real time.Simultaneously, improved the stability of composite move control greatly; And since the present invention can be in real time based on the kinematic velocity adjustment assignment of traffic of power element, can suitably reduce for the accuracy requirement of hydraulic valve, with the reduction design and manufacture cost.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; Can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (11)
1. the control method of hoisting crane composite move is used for modulated pressure oil total flow and is dispensed to a plurality of power elements, and the feed liquor flow of said power element is controlled through the aperture of adjusting control valve; It is characterized in that; This method is obtained the kinematic velocity of at least one power element in real time; And whether satisfy preset judgment condition according to the kinematic velocity of this at least one power element, obtain the judged result of the control cock valve port opening of this power element feed liquor flow of adjusting control.
2. the control method of hoisting crane composite move according to claim 1 is characterized in that, obtains the kinematic velocity of the power element of a load variations in real time; If the kinematic velocity of this power element is then exported control signal corresponding greater than preset value, be used to turn down the control cock valve port opening of this power element feed liquor flow of control.
3. the control method of hoisting crane composite move according to claim 2 is characterized in that, if the kinematic velocity of this power element is then exported control signal corresponding less than preset value, is used to transfer the control cock valve port opening of this power element feed liquor flow of big control.
4. the control method of hoisting crane composite move according to claim 1 is characterized in that, obtains the kinematic velocity of two power elements in real time, and one is first power element of load variations, and another is load unmodified second power element; If the kinematic velocity of first power element is greater than or less than the kinematic velocity of second power element, then export control signal corresponding, be used to turn down or transfer the control cock valve port opening of the said first power element feed liquor flow of big control.
5. the control method of hoisting crane composite move according to claim 1 is characterized in that, obtains the kinematic velocity of each power element in real time; If the kinematic velocity of each power element is different, then export control signal corresponding, be used to turn down the control cock valve port opening of the maximum power element feed liquor flow of controlled motion speed.
6. according to the control method of each described hoisting crane composite move in the claim 2 to 5, it is characterized in that the control signal in the said control method adopts pid algorithm to calculate and obtains.
7. controller is used for modulated pressure oil total flow and is dispensed to a plurality of power elements; It is characterized in that this controller comprises:
Signal gathering unit is used to obtain the kinematic velocity of at least one power element;
Judging unit is used for whether satisfying preset judgment condition according to this kinematic velocity, obtains the judged result of the control cock valve port opening of this power element feed liquor flow of adjusting control;
The control signal output unit is used for the control cock according to judged result output control signal corresponding to this power element feed liquor flow; With
The controlled variable memory cell is used to store relevant pre-conditioned parameter preset.
8. controller according to claim 7 is characterized in that said signal gathering unit is used for obtaining in real time the kinematic velocity of a power element; Said controlled variable memory cell be used to the to prestore kinematic velocity fault value of this power element; Said judging unit is used to judge that the kinematic velocity of this power element is greater than or less than this kinematic velocity fault value; If greater than; Then obtain to be used to turn down the judged result of the control cock valve port opening of controlling this power element feed liquor flow; If less than, then obtain to be used to transfer the judged result of the control cock valve port opening of this power element feed liquor flow of big control.
9. controller according to claim 7 is characterized in that said signal gathering unit is used for obtaining in real time the kinematic velocity of two power elements; Said controlled variable memory cell is used to store the relation table of two actuator movement speed; Said judging unit is used for comparing according to this relation table the kinematic velocity of two power elements; If the kinematic velocity of a power element greater than the kinematic velocity of another power element, then obtains to be used to turn down the judged result of the control cock valve port opening of the fast power element feed liquor of controlled motion flow.
10. controller according to claim 7 is characterized in that said signal gathering unit is used for obtaining in real time the kinematic velocity of each power element; Said controlled variable memory cell is used to store the relation table of a plurality of actuator movement speed; Said judging unit is used for according to this relation table kinematic velocity of each power element relatively, if the kinematic velocity of each power element is different, then obtains to be used to turn down the judged result of the control cock valve port opening of the maximum power element feed liquor flow of controlled motion speed.
11. hoisting crane, but the power element of a plurality of composite moves had, and the feed liquor flow of said power element is controlled through the aperture of adjusting control valve; It is characterized in that, also comprise like each described controller in the claim 7 to 10.
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| CN102275824B (en) * | 2011-07-07 | 2013-02-13 | 中联重科股份有限公司 | Control method and control system for rotary motion of slewing crane |
| CN102493656B (en) * | 2011-12-26 | 2014-05-21 | 三一汽车制造有限公司 | Flow distribution system, device and method for multi-section arm support, and engineering machine equipment |
| CN103420272B (en) * | 2012-05-24 | 2015-11-11 | 合肥神马科技集团有限公司 | The hydraulic efficiency pressure system of a kind of hoisting crane and control composite move thereof |
| CN103062156A (en) * | 2013-01-30 | 2013-04-24 | 江苏柳工机械有限公司 | Flow distribution method and system for load sensing system |
| CN104373404B (en) * | 2014-11-24 | 2016-12-07 | 徐州重型机械有限公司 | The control system of composite move and method and crane |
| CN106185631B (en) * | 2016-08-31 | 2019-02-26 | 徐工集团工程机械有限公司 | A kind of rolling control method, apparatus and engineering machinery |
| CN107191441A (en) * | 2017-07-27 | 2017-09-22 | 徐州重型机械有限公司 | Hydraulic system, the control method of hydraulic system and engineering machinery |
| CN108121348B (en) * | 2018-02-09 | 2023-10-10 | 江苏徐工工程机械研究院有限公司 | Running speed control method, device, system and engineering machinery |
| CN110925253B (en) * | 2019-12-19 | 2021-11-09 | 三一重机有限公司 | Engineering machinery composite action control method and device |
| CN111025948A (en) * | 2019-12-31 | 2020-04-17 | 福建龙马环卫装备股份有限公司 | Intelligent swing control method and system for sweeping disc device of sweeping machine |
| CN114321476B (en) * | 2021-12-06 | 2024-04-19 | 北京天玛智控科技股份有限公司 | Control method and device for reversing valve |
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