CN102392746A - Off-the-highway tyre crane as well as method, device and system for controlling engine of same - Google Patents
Off-the-highway tyre crane as well as method, device and system for controlling engine of same Download PDFInfo
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- CN102392746A CN102392746A CN2011101836411A CN201110183641A CN102392746A CN 102392746 A CN102392746 A CN 102392746A CN 2011101836411 A CN2011101836411 A CN 2011101836411A CN 201110183641 A CN201110183641 A CN 201110183641A CN 102392746 A CN102392746 A CN 102392746A
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Abstract
The invention provides an off-the-highway tyre crane as well as a method, device and system for controlling an engine of the same, and the off-the-highway tyre crane, method, device and system provided by the invention are used for solving the problem that when the off-the-highway tyre crane in the prior art is descended in a hoisting state, and the safety performance is insufficient. The method comprises the following steps: affirming the working state of the off-the-highway tyre crane, wherein the working state comprises a travelling state and a hosting state; determining the idling speed of the engine according to the working state; if the working state is the travelling state, determining the idling speed as a first idling speed; if the working state is the hosting state, determining the idling speed as a second idling speed, wherein the second idling speed is greater than the first idling speed; and receiving a voltage signal from an accelerator pedal, determining the rotation rate of the engine according to the voltage signal and the idling speed, and controlling the engine according to the rotation rate. By utilizing the technical scheme, the stoppage hidden danger caused by descending in the hosting state is avoided, and the safety performance is improved when the off-the-highway tyre crane is descended in the hosting state.
Description
Technical field
The present invention relates to engineering machinery field, the methods, devices and systems that relate in particular to a kind of rough terrain wheeled crane and control its motor.
Background technique
Rough terrain wheeled crane is to be installed in a kind of Full Rotary hoist on the special chassis that scale-up version tire and wheel shaft form to jack machinism; Its superstructure and crawler crane are basic identical; The stability of fuselage when guaranteeing installation exercise, hoist is provided with four telescopic supporting legs.On smooth ground, can carry out little initial weight lifting and hang the thing low speed driving without supporting leg.Generally need put down supporting leg during lift heavy, increase supporting surface, and with the fuselage leveling, to guarantee the stable of hoist.
Rough terrain wheeled crane is because spatial limitation; Only be provided with an operator cabin control walking and lift heavy; And utilize the same set of analog amount accelerator pedal signal input motivation control motor of setting out; As shown in Figure 1, Fig. 1 is the control flow schematic representation according to the motor of rough terrain wheeled crane of the prior art, and this flow process mainly comprises the steps:
Step S11: gas pedal produces the controller ECU that analog voltage signal is input to motor then;
Step S13: controller ECU controls motor;
Step S15: motor moves under the control of controller ECU.
According to above-mentioned existing control mode; No matter rough terrain wheeled crane walks or the lift heavy state, uses same gas pedal, with the set out control unit (ECU) of motivation of gas pedal analogue signal (0-5V voltage signal) input; Then by the output of ECU control motor; Because the height the when demand of engine output is than walking during lift heavy brings concurrent fault when therefore under the lift heavy state, walking easily, produces potential safety hazard.
In the prior art, the Safety performance when rough terrain wheeled crane is walked under the lift heavy state is not enough, for this problem, does not propose effective solution at present as yet.
Summary of the invention
The methods, devices and systems that main purpose of the present invention provides a kind of rough terrain wheeled crane and controls its motor, the problem of the Safety performance deficiency when solving that rough terrain wheeled crane is walked in the existing technology under the lift heavy state.
For addressing the above problem, according to an aspect of the present invention, a kind of method of controlling the motor of rough terrain wheeled crane has been proposed.
The method of the motor of this control rough terrain wheeled crane of the present invention comprises: confirm the working state of rough terrain wheeled crane, said working state comprises walking states and lift heavy state; Working state according to said rough terrain wheeled crane is confirmed idling speed; If wherein the working state of said rough terrain wheeled crane is a walking states; Confirm that said idling speed is the first preset idling speed; If the working state of said rough terrain wheeled crane is the lift heavy state, confirm that said idling speed is the second preset idling speed, said second idling speed is greater than said first idling speed; Reception is from the voltage signal of the gas pedal of said rough terrain wheeled crane, confirms the rotating speed of said motor according to this voltage signal and said idling speed, according to said rotating speed said motor controlled then.
According to a further aspect in the invention, a kind of device of controlling the motor of rough terrain wheeled crane has been proposed.
The device of the motor of control rough terrain wheeled crane of the present invention comprises: affirmation equipment, be used to confirm the working state of rough terrain wheeled crane, and said working state comprises walking states and lift heavy state; Idling is confirmed equipment; Be used to store first idling speed and second idling speed; Wherein second idling speed is greater than first idling speed; And be used for confirming idling speed according to the working state of said rough terrain wheeled crane, if wherein the working state of said rough terrain wheeled crane is a walking states, confirm that said idling speed is the first preset idling speed; If the working state of said rough terrain wheeled crane is the lift heavy state, confirm that said idling speed is the second preset idling speed; Control apparatus; Be used to receive voltage signal from the gas pedal of said rough terrain wheeled crane; Confirm that according to this voltage signal and said idling idling speed that equipment is confirmed confirms the rotating speed of said motor, according to said rotating speed said motor is controlled then.
According to another aspect of the invention, a kind of system that controls the motor of rough terrain wheeled crane has been proposed.
The system of the motor of control rough terrain wheeled crane of the present invention; Comprise state selection equipment and controller; Wherein: said state is selected equipment; Be used for sending the Status Flag signal to said controller and confirm the working state of said rough terrain wheeled crane for said controller, said working state comprises walking states and lift heavy state; Said controller comprises the device of the motor of control rough terrain wheeled crane of the present invention.
According to another aspect of the invention, a kind of rough terrain wheeled crane has been proposed.
Rough terrain wheeled crane of the present invention comprises the system of the motor of control rough terrain wheeled crane of the present invention.
According to technological scheme of the present invention, the control when lift heavy state and the walking states is distinguished to motor, is under the situation of walking states in the working state of hoist, according to the first preset idling speed motor is controlled; Working state at hoist is under the situation of lift heavy state, according to the second preset idling speed motor is controlled; Carrying out different idling speed for the different working state thus controls; And the idling speed under the lift heavy state is greater than the idling speed under the walking states; Make the output power of motor when the lift heavy state bigger, to avoid the not enough potential safety hazard of bringing of engine power output under the lift heavy state.
Description of drawings
Figure of description is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 is the control flow schematic representation according to the motor of rough terrain wheeled crane of the prior art;
Fig. 2 is the schematic representation according to the method for the motor of the control rough terrain wheeled crane of the embodiment of the invention;
Fig. 3 is the schematic representation that concerns between the voltage signal according to the engine speed of the embodiment of the invention and gas pedal output;
Fig. 4 is the basic structure schematic representation of device of controlling the motor of rough terrain wheeled crane according to the embodiment of the invention a kind of;
Fig. 5 is in the device according to the motor of the control rough terrain wheeled crane of the embodiment of the invention, the schematic representation of a kind of structure of control apparatus;
Fig. 6 is the schematic representation according to the method for the motor of rough terrain wheeled crane being controlled based on bus of the embodiment of the invention;
Fig. 7 is the schematic representation according to the system of the motor of the control rough terrain wheeled crane of present embodiment; And
Fig. 8 is the schematic representation of the rough terrain wheeled crane outward appearance relevant with the present invention.
Embodiment
Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can make up each other.Below with reference to accompanying drawing and combine embodiment to specify the present invention.
Fig. 2 is the schematic representation according to the method for the motor of the control rough terrain wheeled crane of the embodiment of the invention, and is as shown in Figure 2, and this method can be carried out by the controller of rough terrain wheeled crane, mainly comprises the steps:
Step S21: the working state of confirming rough terrain wheeled crane.The working state here comprises walking states and lift heavy state.
Step S23: the idling speed of confirming its motor according to the working state of rough terrain wheeled crane.In this step, specifically be, if the working state of rough terrain wheeled crane is a walking states, confirm that idling speed is first idling speed, if the working state of rough terrain wheeled crane is the lift heavy state, confirm that idling speed is second idling speed.Here first idling speed and second idling speed preestablish, and second idling speed is greater than first idling speed.
Step S25: receive voltage signal, confirm the rotating speed of the motor of rough terrain wheeled crane, according to this rotating speed motor is controlled then according to this voltage signal and idling speed.The voltage signal here is from the gas pedal of rough terrain wheeled crane.
According to above-mentioned steps; Thereby can make motor when hoist is in the lift heavy state, have the bigger bigger power of rotating speed output; This helps avoid the descending potential faults of walking to bring of lift heavy state, the Safety performance when the raising rough terrain wheeled crane is walked under the lift heavy state.To this, be described further below in conjunction with Fig. 3.Fig. 3 is the schematic representation that concerns between the voltage signal according to the engine speed of the embodiment of the invention and gas pedal output.
As shown in Figure 3, abscissa is represented voltage, and y coordinate is represented engine speed, and lines 1 are corresponding to walking states, and lines 2 are corresponding to the lift heavy state.First predefined value (0.5V) of voltage and second predefined value (4.5V) of voltage have been shown among the figure, and the voltage of exporting in gas pedal is in first predefined value (0.5V), and motor is in idling mode; When hoist is in walking states; The idling speed of motor under idling mode is first idling speed (800 rev/mins) among Fig. 3; When hoist was in the lift heavy state, the rotating speed of motor under idling mode was second idling speed (1000 rev/mins) among Fig. 3.The first above-mentioned idling speed, second idling speed, first predefined value and second predefined value can obtain through the debug setting to hoist.Like this; When hoist is worked; For example motor is in the lift heavy state; Just can according to this moment motor idling speed be that second idling speed is confirmed between the rotating speed of motor and the voltage signal that gas pedal is sent the relationship change by lines 2, so the concrete voltage signal of sending according to the current throttle pedal just can draw the due rotating speed of motor by lines 2.The processing that is in walking states at motor is similar, is the concrete voltage signal of sending according to the current throttle pedal, draws the due rotating speed of motor by lines 2.
Still being in the lift heavy state with motor is example, when the concrete voltage signal of sending by lines 2 and current throttle pedal is controlled motor, detects the voltage signal of gas pedal earlier; Be less than or equal at this voltage signal under the situation of first predefined value, the control motor is in idling speed; This voltage signal greater than first predefined value and situation less than second predefined value under, control motor rotating speed from idling speed by voltage signal linear change (shown in the slope section of the lines Fig. 3 2); Under the situation of this voltage signal more than or equal to second predefined value, the rotating speed of control motor is a maximum engine speed.It is similar that motor is in the control mode of walking states; Just voltage signal that gas pedal is sent greater than first predefined value and situation less than second predefined value under, the rotating speed of control motor is to carry out according to the slope section of the lines Fig. 31 from idling speed during by the voltage signal linear change.
Below again the step of the working state of the affirmation rough terrain wheeled crane among the step S21 is explained.According to element settings different in the hoist, controller has the mode of the working state of different affirmation rough terrain wheeled cranes.
For example a button can be set in hoist, when the driver need make hoist be in the lift heavy working state, press this button, the circuit that this moment, button linked to each other sends lift heavy Status Flag signal, is used for indicating that hoist is in the lift heavy state.This circuit is connected with controller; Controller detects whether receive lift heavy Status Flag signal when work like this; Under the situation of not receiving lift heavy Status Flag signal; The working state of confirming rough terrain wheeled crane is a walking states, under the situation of receiving lift heavy Status Flag signal, confirms that the working state of rough terrain wheeled crane is the lift heavy state.
And for example can the switch gear with two positions be set in hoist, be used for sending the working state signal of hoist, working state signal specifically has two kinds: walking states marking signal and lift heavy state signal.This switch gear sends first kind of signal when being pushed primary importance; Can it be defined as the walking states marking signal; This switch gear sends second kind of signal when being pushed the second place; Can it be defined as the lift heavy state signal, the driver operates according to this definition, for example when needs make hoist be in the lift heavy working state, this switch gear is pushed the second place.Controller is at when work testing state signal like this; At the working state signal of receiving is under the situation of walking states marking signal; The working state of confirming rough terrain wheeled crane is a walking states; At the working state signal of receiving is under the situation of lift heavy Status Flag signal, confirms that the working state of rough terrain wheeled crane is the lift heavy state.
For example above-mentioned button of relevant element or switch gear are set in hoist; The driver is selected the working state of hoist; Controller is controlled motor according to this selection, makes the output power of motor be more suitable for the concrete working state in hoist.
Fig. 4 is the basic structure schematic representation of device of controlling the motor of rough terrain wheeled crane according to the embodiment of the invention a kind of.This device can be installed in the controller of rough terrain wheeled crane.As shown in Figure 4, control gear 41 mainly comprises: affirmation equipment 42, be used to confirm the working state of rough terrain wheeled crane, and this working state comprises walking states and lift heavy state; Idling is confirmed equipment 43; Be used to store first idling speed and second idling speed, wherein second idling speed is greater than first idling speed, and is used for confirming idling speed according to the working state of rough terrain wheeled crane; If wherein the working state of rough terrain wheeled crane is a walking states; Confirm that idling speed is first idling speed,, confirm that idling speed is second idling speed if the working state of rough terrain wheeled crane is the lift heavy state; Control apparatus 44 is used to receive the voltage signal from the gas pedal of rough terrain wheeled crane, confirms that according to this voltage signal and idling idling speed that equipment 43 is confirmed confirm the rotating speed of motor, according to this rotating speed motor is controlled then.
A kind of optional structure of control apparatus 44 is shown in Fig. 5, and Fig. 5 is in the device according to the motor of the control rough terrain wheeled crane of the embodiment of the invention, the schematic representation of a kind of structure of control apparatus.
As shown in Figure 5, control apparatus 44 mainly comprises: receiving-member 441 is used to detect the voltage signal of the gas pedal of rough terrain wheeled crane; Magnitude of voltage memory device 442 is used for first predefined value and second predefined value of storage voltage signal, and wherein second predefined value is greater than first predefined value; First controlling component 443 is used for being less than or equal under the situation of first predefined value at voltage signal, and the rotating speed of control motor is an idling speed; Second controlling component 444, be used for voltage signal greater than first predefined value and situation less than second predefined value under, control motor rotating speed from idling speed by the voltage signal linear change; The 3rd controlling component 445 is used under the situation of voltage signal more than or equal to second predefined value, and the rotating speed of control motor is a maximum engine speed.
Use the device of the motor of the control rough terrain wheeled crane in the present embodiment; Thereby can make rough terrain wheeled crane under the lift heavy working state, have the output that bigger idling speed has increased motor; This helps avoid the potential faults that the engine output deficiency is brought, thereby improves the Security of car load.
In the present embodiment, the controller of rough terrain wheeled crane can adopt the mode of bus that motor is controlled, and is as shown in Figure 6, and Fig. 6 is the schematic representation according to the method for the motor of rough terrain wheeled crane being controlled based on bus of the embodiment of the invention.
Step S61: whether controller detects receives lift heavy Status Flag signal, if get into step S65, otherwise get into step S63.The lift heavy Status Flag signal here is used to indicate that rough terrain wheeled crane is in the lift heavy state.
Step S63: read the first preset idling speed.Get into step S67 after this step.
Step S65: read the second preset idling speed.Get into step S67 after this step.
Step S67: the voltage signal of the gas pedal of the rough terrain wheeled crane of receiving is converted into bus signals.This bus signals is a packet through bus transfer, only comprises engine speed information, and this rotating speed is based on first idling speed or second idling speed that read and draws, and the corresponding unique data value of same engine throttle opening information.Get into step S69 after this step.
Step S69: bus signals is sent to motor through bus.The ECU of motor controls the operation of motor according to this signal when receiving this bus signals like this.
Above-mentioned steps according to Fig. 6; Under the lift heavy state; Controller can be controlled motor according to bigger idling speed (greater than i.e. idling speed under the walking state under the non-lift heavy state); Thereby can increase the power of motor, the potential safety hazard of avoiding the engine power deficiency to bring, the Security of raising car load work.Above-mentioned bus can be the bus of international CAN communication protocol, is called for short CAN bus (Controller Area Network).
Fig. 7 is the schematic representation according to the system of the motor of the control rough terrain wheeled crane of present embodiment; As shown in Figure 7; Control system 70 mainly comprises state selection equipment 71 and controller 72; Wherein: state selects equipment 71 to be used for sending to controller 72 the lift heavy Status Flag signal of rough terrain wheeled crane, and this lift heavy Status Flag signal is used to indicate that rough terrain wheeled crane is in the lift heavy state; Controller 72 can adopt the structure of device of the motor of the control rough terrain wheeled crane in the embodiment of the invention to realize.
Use system shown in Figure 7, can make rough terrain wheeled crane under the lift heavy state, have bigger engine idle rotating speed, thereby motor has bigger output power, can avoid the not enough potential safety hazard of bringing of engine power output.
Fig. 8 is the schematic representation of the rough terrain wheeled crane outward appearance relevant with the present invention; Rough terrain wheeled crane is made up of the two-part of getting on the bus and get off; Shown in Figure 1B; Be provided with principal arm 1, auxiliary 2, driver's cab 3, secondary elevator 4, master winch 5, counterweight 6, main member's hook 7, front leg strut 8, jib lubbing mechanism 9, swirl gear 10, hoist chassis special 11, and rear support leg 12.Connect with pivoting support between getting on and off.In the present embodiment, the control system of controlling the engine speed of rough terrain wheeled crane can adopt the control system 70 of the embodiment of the invention to realize being used in the rough terrain wheeled crane.
Technological scheme according to the embodiment of the invention; Control when lift heavy state and the walking states is distinguished to motor; Adjusted the idling speed of motor when rough terrain wheeled crane is in the lift heavy state; The output power of motor when the lift heavy state increased, to avoid the not enough potential safety hazard of bringing of engine power output under the lift heavy state.The control signal for the rotating speed of motor adopts bus mode output in the present embodiment in addition, helps to reduce system wiring, improves the reliability of control system.
Obviously, it is apparent to those skilled in the art that above-mentioned each module of the present invention or each step can realize with the general calculation device; They can concentrate on the single computing device; Perhaps be distributed on the network that a plurality of computing device forms, alternatively, they can be realized with the executable program-code of computing device; Thereby; Can they be stored in the storage device and carry out, perhaps they are made into each integrated circuit module respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize by computing device.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. a method of controlling the motor of rough terrain wheeled crane is characterized in that, comprising:
Confirm the working state of rough terrain wheeled crane, said working state comprises walking states and lift heavy state;
Confirm the idling speed of its motor according to the working state of said rough terrain wheeled crane; If wherein the working state of said rough terrain wheeled crane is a walking states; Confirm that said idling speed is the first preset idling speed; If the working state of said rough terrain wheeled crane is the lift heavy state, confirm that said idling speed is the second preset idling speed, said second idling speed is greater than said first idling speed;
Reception is from the voltage signal of the gas pedal of said rough terrain wheeled crane, confirms the rotating speed of said motor according to this voltage signal and said idling speed, according to said rotating speed said motor controlled then.
2. method according to claim 1 is characterized in that, confirms that the working state of rough terrain wheeled crane comprises:
Detect whether receive lift heavy Status Flag signal, said lift heavy Status Flag signal is used to indicate that said rough terrain wheeled crane is in the lift heavy state;
Under the situation of not receiving said lift heavy Status Flag signal, confirm that the working state of rough terrain wheeled crane is a walking states, under the situation of receiving said lift heavy Status Flag signal, confirm that the working state of rough terrain wheeled crane is the lift heavy state.
3. method according to claim 1 is characterized in that, confirms that the working state of rough terrain wheeled crane comprises:
Receive the working state marking signal of rough terrain wheeled crane;
Said working state marking signal receiving is under the situation of walking states marking signal; The working state of confirming rough terrain wheeled crane is a walking states; Said working state marking signal receiving is under the situation of lift heavy Status Flag signal, confirms that the working state of rough terrain wheeled crane is the lift heavy state.
4. according to claim 1,2 or 3 described methods, it is characterized in that said voltage signal according to said idling speed and said gas pedal confirms that the rotating speed of said motor comprises:
Be less than or equal at said voltage signal under the situation of first predefined value, the rotating speed of controlling said motor is said idling speed; Said voltage signal greater than said first predefined value and situation less than second predefined value under, the rotating speed of controlling said motor from said idling speed by said voltage signal linear change; Under the situation of said voltage signal more than or equal to said second predefined value, the rotating speed of controlling said motor is a maximum engine speed.
5. a device of controlling the motor of rough terrain wheeled crane is characterized in that, comprising:
Affirmation equipment is used to confirm the working state of rough terrain wheeled crane, and said working state comprises walking states and lift heavy state;
Idling is confirmed equipment; Be used to store first idling speed and second idling speed, wherein second idling speed is greater than first idling speed, and is used for confirming idling speed according to the working state of said rough terrain wheeled crane; If wherein the working state of said rough terrain wheeled crane is a walking states; Confirm that said idling speed is first idling speed,, confirm that said idling speed is second idling speed if the working state of said rough terrain wheeled crane is the lift heavy state;
Control apparatus; Be used to receive voltage signal from the gas pedal of said rough terrain wheeled crane; Confirm that according to this voltage signal and said idling idling speed that equipment is confirmed confirms the rotating speed of said motor, according to said rotating speed said motor is controlled then.
6. device according to claim 5 is characterized in that, said affirmation equipment also is used for:
Detect whether receive lift heavy Status Flag signal, if confirm that then the working state of said hoist is the lift heavy state, otherwise confirm that the working state of said hoist is a walking states;
Said lift heavy Status Flag signal is used to indicate that said rough terrain wheeled crane is in the lift heavy state.
7. device according to claim 5 is characterized in that, said affirmation equipment also is used for:
Receive the working state marking signal of rough terrain wheeled crane;
Said working state marking signal receiving is under the situation of walking states marking signal; The working state of confirming rough terrain wheeled crane is a walking states; Said working state marking signal receiving is under the situation of lift heavy Status Flag signal, confirms that the working state of rough terrain wheeled crane is the lift heavy state.
8. device according to claim 5 is characterized in that, said control apparatus comprises:
Receiving-member is used to detect the voltage signal of the gas pedal of said rough terrain wheeled crane;
The magnitude of voltage memory device is used to store first predefined value and second predefined value of said voltage signal, and wherein second predefined value is greater than first predefined value;
First controlling component is used for being less than or equal under the situation of first predefined value at said voltage signal, and the rotating speed of controlling said motor is said idling speed;
Second controlling component, be used for said voltage signal greater than said first predefined value and situation less than second predefined value under, the rotating speed of controlling said motor from said idling speed by said voltage signal linear change;
The 3rd controlling component is used under the situation of said voltage signal more than or equal to said second predefined value, and the rotating speed of controlling said motor is a maximum engine speed.
9. a system that controls the motor of rough terrain wheeled crane is characterized in that, comprises state selection equipment and controller, wherein:
Said state is selected equipment, is used for sending the Status Flag signal to said controller and confirms the working state of said rough terrain wheeled crane for said controller, and said working state comprises walking states and lift heavy state;
Said controller comprises the device of the motor of claim 5 or 8 described control rough terrain wheeled cranes.
10. system according to claim 9 is characterized in that,
Said state selects equipment also to be used for sending to said controller the lift heavy Status Flag signal of rough terrain wheeled crane, and said lift heavy Status Flag signal is used to indicate that said rough terrain wheeled crane is in the lift heavy state;
Said controller is used for also under the situation of receiving said lift heavy Status Flag signal, confirming that the working state of said hoist is the lift heavy state, confirms that under the situation of not receiving said lift heavy Status Flag signal the working state of said hoist is a walking states.
11. system according to claim 9 is characterized in that,
Said state selects equipment also to be used for sending to said controller the working state marking signal of rough terrain wheeled crane;
Said controller is used for also under the situation that the said working state marking signal of receiving is the walking states marking signal, confirming that the working state of said hoist is a walking states, confirms that under the situation that the said working state marking signal of receiving is a lift heavy Status Flag signal working state of said hoist is the lift heavy state.
12. a rough terrain wheeled crane is characterized in that, comprises the system of the motor of the described control rough terrain wheeled crane of claim 9,10 or 11.
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| CN2011101836411A CN102392746A (en) | 2011-07-01 | 2011-07-01 | Off-the-highway tyre crane as well as method, device and system for controlling engine of same |
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| CN102817725A (en) * | 2012-08-22 | 2012-12-12 | 中联重科股份有限公司 | Mobile crane and engine revolution speed control method, engine revolution speed control device and engine revolution speed control system thereof |
| CN103481741A (en) * | 2013-09-29 | 2014-01-01 | 天津山河装备开发有限公司 | Engineering machinery hydro-pneumatic suspension control device and control method |
| CN106168177A (en) * | 2016-08-30 | 2016-11-30 | 潍柴动力股份有限公司 | A kind of diesel engine many idling modes control method and diesel engine controller |
| CN108119250A (en) * | 2017-12-18 | 2018-06-05 | 潍柴动力股份有限公司 | A kind of idle speed control, device and electronic equipment |
| CN113562622A (en) * | 2021-07-20 | 2021-10-29 | 三一汽车起重机械有限公司 | Crane without hydraulic system and limping operation method |
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