CN102536103B - Method, device and system for controlling arm support recycling and vehicle for arm support recycling - Google Patents
Method, device and system for controlling arm support recycling and vehicle for arm support recycling Download PDFInfo
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- CN102536103B CN102536103B CN2011104558776A CN201110455877A CN102536103B CN 102536103 B CN102536103 B CN 102536103B CN 2011104558776 A CN2011104558776 A CN 2011104558776A CN 201110455877 A CN201110455877 A CN 201110455877A CN 102536103 B CN102536103 B CN 102536103B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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Abstract
The invention discloses a method, device and system for controlling arm support recycling and a vehicle for the arm support recycling. The method comprises the steps: a control device obtains state information of a current position of the arm support through a measuring device, determines a position section where the arm locates according to at least one parameter value in the state information of the current position and drives a driving device to perform a recycling strategy which corresponds to the position section.
Description
Technical field
The present invention relates to control method, control device, control system and vehicle that a kind of jib reclaims.
Background technology
At present, the manipulating object of a lot of engineering trucks has certain distance from vehicle, need complete the operation to manipulating object by telescopic arm support.For example: hook and ladder is exactly a kind of telescopic aerial ladder that is provided with, and with the engineering truck of elevator scoop turntable and extinguishing device, can ascend a height and is put out a fire and succour trapped personnel for the fire fighter, is applicable to putting out a fire to save life and property of fire of high-rise building.The jib of this hook and ladder is telescopic aerial ladder.After the hook and ladder power cut-off, need be reclaimed jib.At present, generally by manual mode, reclaimed, by the actuating handle respectively to length, the rotation amplitude of jib, and angle of revolution controlled, specifically comprise: regulate the length of jib by handle, until arrived the suitable length of observing, regulate the rotation amplitude of jib by handle, until arrived the suitable amplitude of observing, regulate the angle of revolution of jib by handle, until arrived the suitable angle of revolution of observing.Above-mentioned three adjustment processes can sequentially be carried out by setting, also can intert and carry out, and depend on operator's working experience and the qualification of operation.In the mode of this manual recovery jib, after need to repeatedly adjusting, jib could be reclaimed and puts in place, this has expended the very long activity duration, affects the simplicity of overall operation efficiency and operation.
Summary of the invention
Control method, control device, control system and vehicle that the embodiment of the present invention provides a kind of jib to reclaim, the operating efficiency reclaimed in order to improve jib.
The control method that the embodiment of the present invention provides a kind of jib to reclaim comprises:
Control device obtains the current position state information of described jib by measurement mechanism;
The threshold value of at least one parameter value and setting in described current position state information is compared, and, according to comparative result, determine the residing position zone of jib;
Drive transmission is carried out the take-back strategy corresponding with described position zone;
Wherein,
Described current position state information comprises: one or more in length, rotation amplitude and angle of revolution;
In described control device, the corresponding described take-back strategy of each described position zone.
The control device that the embodiment of the present invention provides a kind of jib to reclaim comprises:
Obtain equipment, for obtain the current position state information of described jib by measurement mechanism, described current position state information comprises one or more in length, rotation amplitude and angle of revolution;
Determine equipment, compare for the threshold value by described at least one parameter value of current position state information and setting, and, according to comparative result, determine the residing position zone of jib;
Driving arrangement, carry out the take-back strategy corresponding with described position zone for drive transmission, wherein, and the corresponding described take-back strategy of each described position zone.
The control system that the embodiment of the present invention provides a kind of jib to reclaim, comprise: the measurement mechanism that obtains the current position state information of stating jib, above-mentioned control device, and driven by described control device, the transmission device of the take-back strategy corresponding with position zone carried out.
The embodiment of the present invention provides a kind of vehicle with jib, comprises above-mentioned control system.
In the embodiment of the present invention, after control device obtains the current position state information of described jib by measurement mechanism, according at least one parameter value in described current position state information, determine the residing position zone of described jib, and the drive transmission execution take-back strategy corresponding with described position zone, like this, realized the automatic recovery of jib, save the activity duration, improved the simplicity of overall operation efficiency and operation.
The accompanying drawing explanation
Fig. 1 is that in the embodiment of the present invention, jib reclaims the flow chart of controlling;
The reference diagram that Fig. 2 is error and variable element calculated value in the embodiment of the present invention;
Fig. 3 is that in the specific embodiment of the invention, jib reclaims the flow chart of controlling;
The structure chart that Fig. 4 is jib recovery control device in the embodiment of the present invention;
The Organization Chart that Fig. 5 is the control system that in the embodiment of the present invention, jib reclaims.
The specific embodiment
In the embodiment of the present invention, for the engineering truck with jib, after its operation, adopt control device the automatic recovery jib, saved the activity duration, improved the simplicity of overall operation efficiency and operation.
In the embodiment of the present invention, jib can be stretched, and can on vertical plane, rotate, and at the horizontal plane upper rotary, jib can carry out stretching motion, rotatablely moves, and reclaims motion.Like this, the location status information of jib comprises: jib length, rotation amplitude and angle of revolution.For keeping the steadily of centre of gravity of jib, the rotation amplitude of jib generally is less than 90 °, and jib can turn round at any angle on horizontal plane, can carry out 360 ° of revolutions.
Measurement mechanism has been installed, for example: displacement transducer, angular transducer on jib.Can obtain the current position state information of jib by these measurement mechanisms.Certainly, also have transmission device on engineering truck, for example: electro-hydraulic proportional valve or electromagnetic valve can drive jib by these transmission devices and carry out corresponding recovery operation.
After measurement mechanism and transmission device have been installed, the process of the control that jib reclaims comprises referring to Fig. 1:
Step 101: control device obtains the current position state information of jib by measurement mechanism.
Measurement mechanism has been installed on jib, can have been obtained the current position state information of jib by these measurement mechanisms.Current position state information comprises: one or more in length, rotation amplitude and angle of revolution.For example: obtain the length of jib by displacement transducer, obtain the rotation amplitude of jib by the first angular transducer, and the angle of revolution that obtains jib by the second angular transducer.
Step 102: control device, according at least one parameter value in current position state information, is determined the residing position zone of jib.
In the embodiment of the present invention, the locational space of jib is divided, be divided into a plurality of position zone.Can, according to one, two or more parameter value in current position state information, determine that jib is in position zone.
The threshold value of at least one parameter value and setting in current position state information can be compared, and, according to comparative result, determine the residing position zone of jib.If the length parameter value in current position state information is less than first threshold, and rotate the Second Threshold that is less than of range parameter value in current position state information, determine that jib is in the rotary safety section, and, according to the comparative result of the angle of revolution parameter value in current position state information and the 3rd threshold value, determine the residing particular location section of jib; Otherwise, determine that jib is in non-security revolution section.
Wherein, also can further be divided non-security revolution section, for example: this non-security revolution section comprises: primary importance section and second place section; Like this, length parameter value and first threshold in current position state information are compared, if the length parameter value is greater than first threshold, determine that jib is in the primary importance section, otherwise, rotation range parameter value and Second Threshold in current position state information are compared, if rotation range parameter value is greater than Second Threshold, be that the length parameter value is less than or equal to first threshold, and rotation range parameter value is greater than Second Threshold, determines that jib is in second place section.
Perhaps, can first rotation range parameter value and Second Threshold in current position state information be compared, and then length parameter value and first threshold in current position state information are compared, then according to concrete comparative result, determine jib in the particular location section.For example: this non-security revolution section comprises: the first non-security revolution section and the second non-security revolution section, if rotation range parameter value is greater than Second Threshold, determine that jib is in the first non-security revolution section, if rotation range parameter value is less than or equal to Second Threshold, and the length parameter value is greater than first threshold, determine that jib is in the second non-security revolution section.
After the rotary safety section, according to the comparative result of the angle of revolution parameter value in current position state information and the 3rd threshold value, determine that the residing particular location section of jib comprises when jib:
Whether the angle of revolution parameter value in current position state information is the 3rd threshold value, if not, determine that jib is in the 3rd position zone, if, length parameter value in current position state information and the 4th threshold value are compared, if length is greater than the 4th threshold value, determine that jib is in the 4th position zone, otherwise, determine that jib is in the 5th position zone.Even the angle of revolution parameter value in current position state information is not the 3rd threshold value, determines that jib is in the 3rd position zone; Otherwise, the length parameter value in current position state information and the 4th threshold value are compared; If the length parameter value is greater than the 4th threshold value, determine that jib is in the 4th position zone; Otherwise, determine that jib is in the 5th position zone.
Perhaps, now only according to the angle of revolution parameter value, judged, determined the residing particular location section of jib, just exemplified no longer in detail.
Visible, can determine that by a length whether jib is in the primary importance section, determine that by length and rotation amplitude whether jib is in second place section, and, by length, rotation amplitude and angle of revolution, determine that whether jib is in the 3rd, the 4th or the 5th position zone.
Wherein, first threshold determined by the extreme length of jib, generally can be 1/2,1/3,1/4 or 1/5 etc. of extreme length.Now jib is reduced in certain limit, then carries out follow-up rotation, and the revolution operation.
Second Threshold generally has the structure of jib and vehicle body to determine, preferably, when the rotation amplitude of jib is Second Threshold, does not affect the revolution of jib at horizontal plane.
Wherein, owing to can carrying out the revolution of 360 °, therefore, the 3rd threshold value can be 0 °, or is 360 °.In the embodiment of the present invention, can adopt the minimal path principle, like this, whether the angle of revolution parameter value in judging current position state information is before the 3rd threshold value, can judge whether the angle of revolution parameter value in current position state information is greater than 180 °, if be greater than, the 3rd threshold value is 360 °, otherwise the 3rd threshold value is 0 °.Certainly, if do not consider the minimal path principle, the 3rd threshold value can be a fixed value, for example: 0 °.
The 4th threshold value is generally determined by the shortest length of jib, is slightly larger than shortest length, like this, if when in current position state information, length is less than the 4th threshold value, shows that length reclaims and put in place.
Above-mentioned is the mode that a kind of locational space is divided, the embodiment of the present invention is not limited to this, also can adopt other dividing mode, for example: a position zone first according to the rotation amplitude, determining jib, then determine the another location section of jib according to length and rotation amplitude, finally, according to length, rotation amplitude and angle of revolution, determine other position zone of jib.
Step 103: the control device drive transmission is carried out the take-back strategy corresponding with position zone.
In the embodiment of the present invention, but passing ratio-integration-differential PID controls or ratio-differential PD controls or fuzzy control, drives corresponding transmission device to carry out the take-back strategy corresponding with described position zone.
In control device, the corresponding take-back strategy of each position zone.Wherein, if jib in the rotary safety section, drives corresponding transmission device to carry out the take-back strategy corresponding with the rotary safety section; If jib in non-security revolution section, drives corresponding transmission device to carry out the take-back strategy corresponding with non-security revolution section.
Be divided into example with above-mentioned 5 locational spaces, the corresponding relation of its position zone and take-back strategy is as shown in table 1:
Table 1
In above-mentioned table 1, because the headstock of jib and engineering truck has certain angle, therefore, after must making the anglec of rotation parameter value of jib be greater than this angle, could to jib, be turned round at horizontal plane, like this, the 5th threshold value preferably is slightly larger than the angle of the headstock of jib and engineering truck.Certainly, dull and stereotyped upper if jib is arranged on, in strategy 3, can not need to consider the anglec of rotation of jib so, directly regulate the angle of revolution of jib, the angle of revolution parameter value that makes jib is third phase prestige value.
Like this, third phase prestige value can equate with the 3rd threshold value, and when the 3rd threshold value is 0 °, third phase prestige value is also 0 °, and when the 3rd threshold value is 360 °, three desired values are also 360 °, like this, have guaranteed that the rotating route of jib is the shortest.
In above-mentioned table 1, the first desired value is less than first threshold, and the second desired value is less than Second Threshold, and third phase prestige value can equate with the 3rd threshold value, and fourth phase prestige value is greater than the 5th threshold value, and fifth phase prestige value is less than the 4th threshold value.Preferably, fifth phase prestige value is jib corresponding length while regaining fully, and the 6th desired value is jib vertical plane corresponding rotation amplitude while being rotated in place.
In the embodiment of the present invention, be to carry out the recovery campaign of jib by transmission device, therefore, the first transmission device is corresponding with the stretching motion of jib, the second transmission device is corresponding rotatablely moving of vertical plane with jib, and the 3rd transmission device is corresponding in the gyration of horizontal plane with jib.Transmission device can comprise: electro-hydraulic proportional valve or electromagnetic valve.
Like this, driving corresponding transmission device to carry out the take-back strategy corresponding with described non-security revolution section comprises:
If jib in the primary importance section, drives the first transmission device implementation strategy 1, drive the first transmission device to regulate the length of jib, the length parameter value that makes jib is the first desired value, wherein, the first desired value is less than first threshold.
If jib is in second place section, drive the first transmission device, and the second transmission device implementation strategy 2, drive the first transmission device, regulate the length of jib, the length parameter value that makes jib is fifth phase prestige value, and drive the second transmission device, and the rotation amplitude of regulating jib, making the rotation range parameter value of jib is the second desired value, wherein, the second desired value is less than Second Threshold.Corresponding length that fifth phase prestige value is preferably jib while regaining fully.
Driving corresponding transmission device to carry out the take-back strategy corresponding with the rotary safety section comprises:
If jib is in the 3rd position zone, drive the 3rd transmission device, the second transmission device is carried out and is measured 3, the rotation range parameter value and the 5th threshold value that are about in current position state information compare, when rotation range parameter value is greater than the 5th threshold value, drive the 3rd transmission device, regulate the angle of revolution of jib, the angle of revolution parameter value that makes jib is third phase prestige value, otherwise, drive the second transmission device, regulate the rotation amplitude of jib, the rotation range parameter value that makes jib is fourth phase prestige value, wherein, fourth phase prestige value is greater than the 5th threshold value, and drive the 3rd transmission device, regulate the angle of revolution of jib, the angle of revolution that makes jib is third phase prestige value, wherein, third phase prestige value is the 3rd threshold value.
If jib, in the 4th position zone, drives the first transmission device implementation strategy 4, drive the first transmission device to regulate the length of jib, the length parameter value that makes jib is fifth phase prestige value, wherein, fifth phase prestige value is less than the 4th threshold value.
If jib, in the 5th position zone, drives the second transmission device implementation strategy 5, drive the second transmission device to regulate the rotation amplitude of jib, the rotation range parameter value that makes jib is the 6th desired value.
The embodiment of the present invention adopts PID to control or PD controls or fuzzy control, drives corresponding transmission device.Wherein, in engineering reality, the adjuster control law be most widely used is ratio, integration, differential control, is called for short PID and controls.It is the simplest a kind of control mode that ratio (P) is controlled, the proportional relation of the output of its controller and input error signal.Integration (I) is controlled the proportional relation that is integrated into of output and input error signal, and the integration item depends on the integration of time to error, and along with the increase of time, the integration item can increase.Like this, even if error is very little, the integration item also can strengthen along with the increase of time, and the output increase that it promotes controller further reduces steady-state error, until equal zero.Differential (D) is controlled the differential of output and input error signal, and the rate of change of error, proportional, and the trend that differential term energy predicated error changes, can make in advance the control action that suppresses error equal zero, thereby avoid the serious overshoot of controlled volume.
Driving for transmission device adopts pid control algorithm, parameter to jib is controlled, the jib rotation amplitude of take is example, the rotation amplitude of expectation jib is setting value, rotation range parameter value in jib current position state information is actual value, input as PID according to the poor error of controlling that obtains between setting value and actual value, can obtain the drive current size to the transmission device of jib rotation amplitude action.It is the error that parameter value in current position state information and the difference between desired value are the PID input.
Therefore, control and drive the corresponding transmission device execution take-back strategy corresponding with described position zone to comprise by PID:
By between parameter value corresponding in current position state information and desired value, form error input PID control, obtain the result that PID controls output; The result of utilizing described PID to control output drives current transmission device to carry out current motion, and wherein, described current motion comprises: stretching motion rotatablely moves, or reclaims motion.
The Output rusults of pid control algorithm is except having relation with error, also be subject to PID control in the impact of the irrelevant initial setting parameter of error, be subject to the impact of P parameter, I parameter, D parameter.The setting of parameter is controlled effect to PID and is had a direct impact.
In embodiments of the present invention, can adopt fixing P parameter, I parameter and D parameter.For making the efficiency that reclaims motion higher, the mode that also can take variable element to process to pid parameter in the embodiment of the present invention.Referring to Fig. 2, what the X coordinate meaned is error, and for example, parameter value has all been quantized to 8000 scope, and what the Y coordinate meaned is corresponding variable element calculated value.When jib is switched to the another one position zone from a position zone, can obtain a variable element calculated value corresponding to the error of inputting by Fig. 2, by this variable element calculated value divided by 100, obtain PID variable element radix, can learn that from Fig. 2 this variable element radix scope is 1-4, by the P parameter in itself and PID, be Proportional coefficient K p and I parameter, be that integration time constant Ki multiplies each other, the value of acquisition, as new Kp, Ki parameter, is controlled for PID.
Like this, position zone of the every switching of jib, PID controls and will adopt different pid parameters to regulate, when error is very large, illustrate that output is very large, the adjusting time is long, the duration of integral action is long, and now, the variable element radix is less, like this, suitably dwindle Kp and Ki, like this, not only little on the rapidity impact, also can avoid stronger integration to the impact in this adjustment process later stage simultaneously, increase the stability of jib motion.When error is very little, to export also very littlely, the integral action duration is short, and now, the variable element radix is large, suitably increases Kp and Ki, can add the speed of fast-response, shortens the adjusting time.
Above-mentioned is the mode that a kind of variable element is processed, and the mode that the embodiment of the present invention also can adopt other variable element to process, only need make parameter K p and Ki increase along with reducing of error.Therefore, drive corresponding transmission device to carry out the take-back strategy corresponding with described position zone also to comprise controlling by PID: according to the error of input PID control, resize ratio COEFFICIENT K p and integration time constant Ki, make Proportional coefficient K p and integration time constant Ki increase along with reducing of error, wherein, parameter value and the desired value of the correspondence of error in current position state information form.
In the embodiment of the present invention, need respectively to the first transmission device, the second transmission device, and the 3rd transmission device driven, can unify to control these transmission devices for making control device, need be after the current position state information of obtaining described jib by measurement mechanism, in unified range ability, each parameter value in conversion current position state information.In unified range ability, each parameter value in current position state information is converted into to the reference parameter value in unified range ability.For example: unified range ability is 0-1000, and jib length parameter value scope 3-103 rice, in the current position state information measured, the length parameter value is 50 meters, after converting in 0-1000, is 500; And jib rotation range parameter value scope is 5 °-85 °, in the current position state information measured, rotation range parameter value is 60 °, after converting in 0-1000, is 750; And 0 °-360 ° of arm support rotation angle range of parameter values, in the current position state information measured, the angle of revolution parameter value is 90 °, after converting in 0-1000, is 250.
Equally, above-mentioned first threshold, Second Threshold, the 3rd threshold value, the 4th threshold value, and the 5th threshold value, also need be converted in unified range ability, and the first desired value, the second desired value, third phase prestige value, fourth phase prestige value, fifth phase prestige value, and the 6th desired value also need be converted in unified range ability.
Control device is after take-back strategy of drive transmission execution, and jib may reclaim and put in place, also may not reclaim and put in place.Now, when definite jib does not reclaim and puts in place, re-execute above-mentioned steps 101-103, put in place until jib reclaims.For example: if determine in the 5th position zone in step 102, after step 103 executes strategy 5, can determine that the jib recovery puts in place, removal process finishes.If determine in the primary importance section during step 102 is true, after step 103 executes strategy 1, now according to the rotation amplitude in parameter current, angle of revolution determines that jib does not have recovery to put in place, re-executes above-mentioned steps 101-103, until jib reclaims, puts in place.
Below in conjunction with Figure of description, the embodiment of the present invention is described in further detail.
In the present embodiment, with the example that is recovered as of the aerial ladder of hook and ladder, be described,, in this example, jib is aerial ladder.Transmission device is electro-hydraulic proportional valve.Unified range ability is 0-8000, and like this, the configuration first threshold is 2100, and Second Threshold is 1700, and first threshold is that 0 or-8000, the four threshold values are that 50, the five threshold values are 1000.The first desired value is slightly less than first threshold, can be 2000, the second desired values and also is slightly less than Second Threshold, can be 1500, and third phase prestige value is 0 or-8000, and fourth phase prestige value is slightly larger than the 5th threshold value, can be 1100, and fifth phase prestige value is slightly less than the 4th threshold value, can be 45.The corresponding aerial ladder of the 6th desired value is rotated in place at vertical plane, can approach and 0, and be for example 5.
Like this, at first to open the automatic recovery function of aerial ladder, activate automatic operation.
Generally, in the whole operating process of aerial ladder, must guarantee that aerial ladder can not injure other staff or article, at first operating personnel will guarantee that the interior clear of the residing vertical column of covering of the fan that ladder and vehicle body form exists; Then, step on and keep pedal,, stepping on the pedal of working bucket or turntable in conjunction with the operation switching state of getting on or off the bus here.And Manual operation handle is put back into to default position.Finally, trigger display screen and reclaim aerial ladder function button or triggering " startup automatically " selector switch.Here, if the aerial ladder angle is less, in process, aerial ladder can first a little up lift.
After the aerial ladder recovery puts in place, can stop automated operator, comprising: again press recovery aerial ladder function button or triggering and " automatically stop " selector switch, then, touch arbitrary operation control lever, finally unclamp pedal, like this, operating process stops after completing automatically.Certainly, in case of emergency can directly press emergency stop push button, stop the automatic operation reclaiming.
The Automatic Recovery Process of aerial ladder, referring to Fig. 3, comprising:
Step 301: control device obtains the current position state information of aerial ladder by measurement mechanism.
Obtain the length of aerial ladder, rotation amplitude, angle of revolution.
Step 302: control device in unified range ability, each parameter value in conversion current position state information.
Unified range ability is 0-8000, each parameter value in this scope in conversion current position state information.
Step 303: control device judges whether the length parameter value of aerial ladder in current position state information is greater than 2100, if, perform step 304, otherwise, perform step 305.
Control device determines that by length whether aerial ladder is in the primary importance section, when the length parameter value is greater than 2100, determines that aerial ladder, in the primary importance section, performs step 304, otherwise, perform step 305.
Step 304: control device drives the first electro-hydraulic proportional valve to carry out take-back strategy 1.
Control device drives the first electro-hydraulic proportional valve, adjusts the length of jib, and the length parameter value that makes jib is 2000.
Step 305: control device judges whether the rotation range parameter value of aerial ladder in current position state information is greater than 1700, if, perform step 306, otherwise, perform step 307.
Here, control device determines that by the rotation amplitude whether aerial ladder is in second place section, when rotation range parameter value is greater than 1700, determines that aerial ladder, in second place section, performs step 306, otherwise, perform step 307.
Step 306: control device drives respectively the first electro-hydraulic proportional valve and the second electro-hydraulic proportional valve to carry out take-back strategy 2.
Particularly, control device drives the first electro-hydraulic proportional valve to regulate the length of jib, and the length parameter value that makes jib is 45.And drive the second electro-hydraulic proportional valve to regulate the rotation amplitude of jib, making the rotation range parameter value of jib is 1500.
Step 307: control device judges that whether aerial ladder is in revolution centering position, if not, perform step 308, if perform step 309.
In the embodiment of the present invention, can carry out in the horizontal direction the revolution of 360 ° for aerial ladder, now, can first judge whether the angle of revolution parameter value of aerial ladder in current position state information is greater than 4000, if be greater than, judge whether this angle of revolution parameter value is 8000, if not, determine that aerial ladder is not in revolution centering position, in the 3rd position zone, if, perform step 309, now the 3rd threshold value is 8000.If in current position state information, the angle of revolution parameter value of aerial ladder is less than or equal to 4000, judge whether this angle of revolution parameter value is 0, if not, determine that aerial ladder is not in revolution centering position, in the 3rd position zone, if, execution step 309, now the 3rd threshold value is 0.
Step 308: control device drives respectively the 3rd electro-hydraulic proportional valve, or the 3rd electro-hydraulic proportional valve and the second electro-hydraulic proportional valve execution take-back strategy 3.
Rotation range parameter value and 1000 in current position state information is compared, when rotation range parameter value is greater than 1000, drive the 3rd electro-hydraulic proportional valve to regulate the angle of revolution of jib, the angle of revolution parameter value that makes jib is 0 or 8000.When rotation range parameter value is less than or equal to 1000, first drive the second electro-hydraulic proportional valve to regulate the rotation amplitude of jib, making the rotation range parameter value of jib is 1100, and then drives the 3rd electro-hydraulic proportional valve to regulate the angle of revolution of jib, and the angle of revolution parameter value that makes jib is 0 or 8000.
Above-mentioned the 3rd threshold value is 8000, and the angle of revolution parameter value that just makes jib here is 8000, and above-mentioned the 3rd threshold value is 0, and the angle of revolution parameter value that just makes jib here is 0, and like this, the revolution distance of jib is the shortest.
Step 309: control device judges whether the length parameter value of aerial ladder in current position state information is greater than 50, if perform step 310, otherwise, perform step 311.
Control device determines that by the length of aerial ladder aerial ladder is in the 4th position zone, or, in the 5th position zone, when the length parameter value is greater than 50, determines that aerial ladder, in the 4th position zone, performs step 310, otherwise, in the 5th position zone, perform step 311.
Step 310: control device drives the first electro-hydraulic proportional valve to carry out take-back strategy 4.
Control device drives the first electro-hydraulic proportional valve to regulate the length of jib, and the length that makes jib is 45.
Step 311: control device drives the second electro-hydraulic proportional valve to carry out take-back strategy 5.
Control device drives the second electro-hydraulic proportional valve to regulate the rotation amplitude of jib, and making the rotation range parameter value of jib is 5.
By obtaining in real time the current position state information of getting aerial ladder, carry out said process, until execute take-back strategy 5, make the rotation amplitude of jib arrive the recovery position, thereby completed the Automatic Recovery Process of aerial ladder.
In above-mentioned steps 302,306,308,310 and 311, control device drives in the detailed process of electro-hydraulic proportional valve, can adopt PID to control, the mode that PID also can adopt variable element to process, specifically can first calculate poor between parameter value in current position state information and desired value, and this difference is defined as inputting the error that PID controls, then referring to Fig. 2, determine the volume calculation of parameter value corresponding with this error, and calculate parameter K p and the Ki made new advances, finally obtain PID control Output rusults and drive corresponding electro-hydraulic proportional valve.
The aperture of electro-hydraulic proportional valve is corresponding with PID control Output rusults, PID controls Output rusults, is for example drive current, and this drive current is larger, the aperture of electro-hydraulic proportional valve is also larger, like this, corresponding recovery movement velocity is faster, otherwise, this drive current is less, the aperture of electro-hydraulic proportional valve is also less, and like this, corresponding recovery movement velocity is slower.
Thereby, when error is very large, by adjusting parameter K p and Ki, make PID control Output rusults and diminish, make corresponding recovery movement velocity slower, having reduced adjustment process impacted in the later stage, when error is very large, by adjusting parameter K p and Ki, makes PID control Output rusults and become large, can increase corresponding recovery movement velocity, shorten the adjusting time.
In the process of using in reality, there are dead band in the aperture of the valve of electro-hydraulic proportional valve and ladder action, need a larger driving, and this drives as starting current or voltage, that is to say when valve opening is very little, and ladder can't move.And, if respectively move the switching characteristic of the load of corresponding hydraulic actuating mechanism and direction and valve self when different, the starting current that corresponding valve needs also can be different, that is to say, the flexible or rotation of ladder, or rotating driving is all different.And this can utilize the result of error decision output to conflict mutually with PID, there is the existence of error just to have output, there is output that corresponding action will be arranged, if but when output very little while being not enough to drive valve, action can't be carried out, therefore, need to be evaded the dead band of Output rusults, the value of result output will be converted to valve opening simultaneously and control corresponding scope.Specifically comprise:
At first, can obtain startup numerical value corresponding to various motions by detecting the handle data, such as, during revolution, left-hand rotation right-hand rotation log-on data is respectively 270,550, when flexible, the log-on data of stretching or contracting is respectively 300,640, during rotation, the upper and lower data of luffing are respectively 630,280, then, the output valve that corresponding PID is calculated is added up with corresponding startup numerical value, and the numerical value after cumulative is in the scope of setting, and the numerical value after adding up is as the data of valve opening, for the control of ladder.The scope of setting is that the corresponding numerical value of the maximum valve opening of negative sense for example, to the corresponding numerical value of the maximum valve opening of forward: 0-1000.
Therefore, control to drive corresponding transmission device to carry out to put with rheme the take-back strategy that section is corresponding by PID and comprise:
Obtain startup numerical value corresponding to current motion that current transmission device is carried out, wherein, described current motion comprises: stretching motion rotatablely moves, or reclaims motion.Then, during the error input PID formed between parameter value corresponding in described current position state information and desired value is controlled, obtain the result that PID controls output, and the result of PID being controlled to output is superposeed with startup numerical value, numerical value after stack is in setting range the time, numerical value after cumulative is determined to the motivation value of deserving the driving front device, last, utilize definite motivation value to drive current transmission device to carry out current motion.
The control procedure reclaimed according to above-mentioned jib is known, and the control device in the embodiment of the present invention as shown in Figure 4, comprising: obtain equipment 100, determine equipment 200 and driving arrangement 300.Wherein,
Obtain equipment 100, for obtain the current position state information of described jib by measurement mechanism.
Determine equipment 200, for according to described at least one parameter value of current position state information, determine the residing position zone of described jib.
Driving arrangement 300, carry out the take-back strategy corresponding with described position zone for drive transmission.
Wherein, current position state information comprises: one or more in length, rotation amplitude and angle of revolution.
Should determine equipment 200, and compare specifically for the threshold value by least one parameter value and setting in described current position state information, and, according to comparative result, determine the residing position zone of jib.
Particularly, determine equipment 200, if the length parameter value for described current position state information is less than first threshold, and rotate the Second Threshold that is less than of range parameter value in described current position state information, determine that described jib is in the rotary safety section, and, according to the comparative result of the angle of revolution parameter value in current position state information and the 3rd threshold value, determine the residing particular location section of jib, otherwise, determine that described jib is in non-security revolution section.
Determine equipment 200, if for specifically for described length parameter value, being greater than first threshold, determine that described jib is in the primary importance section, if described length parameter value is less than or equal to first threshold, and rotation range parameter value is greater than Second Threshold, determine that described jib is in second place section, wherein, described non-security revolution section comprises: primary importance section and second place section.And,
Determine equipment 200, if be not the 3rd threshold value specifically for the angle of revolution parameter value in described current position state information, determine that described jib is in the 3rd position zone, otherwise, length parameter value in described current position state information and the 4th threshold value are compared, if described length parameter value is greater than the 4th threshold value, determine that described jib is in the 4th position zone, otherwise, determine that described jib is in the 5th position zone.
Also control device comprises:
Matrix unit, in unified range ability, be converted into the reference parameter value in described unified range ability by each parameter value in described current position state information.
Driving arrangement 300, specifically for passing ratio-integration-differential PID, control or ratio-differential PD controls or the transmission device of fuzzy control, driving correspondence is carried out the take-back strategy corresponding with described position zone, wherein, if described jib in the rotary safety section, drives corresponding transmission device to carry out the take-back strategy corresponding with described rotary safety section;
If described jib in non-security revolution section, drives corresponding transmission device to carry out the take-back strategy corresponding with described non-security revolution section.
Driving arrangement 300, if specifically for described jib in the primary importance section, drive the first transmission device, regulate the length of described jib, the length parameter value that makes described jib is the first desired value, wherein, described the first desired value is less than described first threshold;
If described jib is in second place section, drive the first transmission device, regulate the length of described jib, the length parameter value that makes described jib is fifth phase prestige value, and drive the second transmission device, and regulate the rotation amplitude of described jib, making the rotation range parameter value of described jib is the second desired value, wherein, described the second desired value is less than Second Threshold.And,
Driving arrangement 300, if specifically for described jib in the 3rd position zone, the rotation range parameter value in described current position state information and the 5th threshold value are compared, when described rotation range parameter value is greater than the 5th threshold value, drive the 3rd transmission device, regulate the angle of revolution of described jib, the angle of revolution parameter value that makes described jib is third phase prestige value, otherwise, drive described the second transmission device, regulate the rotation amplitude of described jib, the rotation range parameter value that makes described jib is fourth phase prestige value, wherein, fourth phase prestige value is greater than the 5th threshold value, and drive the 3rd transmission device, regulate the angle of revolution of described jib, the angle of revolution parameter value that makes described jib is third phase prestige value, wherein, described third phase prestige value is described the 3rd threshold value,
If described jib, when the 4th position zone, drives the first transmission device, regulate the length of described jib, the length parameter value that makes described jib is fifth phase prestige value, wherein, described fifth phase prestige value is less than described the 4th threshold value;
If described jib, when the 5th position zone, drives the second transmission device, regulate the rotation amplitude of described jib, the rotation range parameter value that makes described jib is the 6th desired value.
And, driving arrangement 300, startup numerical value corresponding to current motion that can carry out specifically for obtaining current transmission device, wherein, described current motion comprises: stretching motion, rotatablely move, or reclaim and move, during the error input PID formed between parameter value corresponding in described current position state information and desired value is controlled, obtain the result that PID controls output, result and the described startup numerical value of described PID being controlled to output are superposeed, and the numerical value after stack is in setting range the time, numerical value after cumulative is determined to the motivation value of described current transmission device, utilize described motivation value to drive described current transmission device to carry out described current motion.
Driving arrangement 300, also the error specifically for controlling according to described input PID, adjust Proportional coefficient K p and integration time constant Ki in described PID control, makes described Proportional coefficient K p and integration time constant Ki increase along with reducing of described error.
In the embodiment of the present invention, control device can be applied among programmable logic controller (PLC) (Programmable Logic Controller, PLC) or dcs (Distributed Control System, DCS).
Can obtain thus, the control system that in the embodiment of the present invention, jib reclaims, referring to Fig. 5, comprising: measurement mechanism 510, control device 520 and actuating unit 530.Wherein,
Actuating unit 530, under the driving at control device 520, carry out the take-back strategy corresponding with position zone.
Wherein, current position state information comprises: one or more in length, rotation amplitude and angle of revolution.Measurement mechanism 510 can specifically comprise: displacement transducer, angular transducer etc.
Actuating unit 530 can comprise: electro-hydraulic proportional valve or electromagnetic valve.
Therefore, in the embodiment of the present invention, the control system that jib reclaims comprises: obtain the measurement mechanism of the current position state information of stating jib, and above-mentioned control device, and driven by this control device, carry out the transmission device of the take-back strategy corresponding with position zone.
In above-described embodiment, jib can carry out stretching motion, rotatablely moves, and reclaims motion.Certainly, the embodiment of the present invention is not limited to this, and jib can carry out stretching motion, rotatablely moves, and reclaims one or more in motion.Like this, the parameter value in current position state information also only includes: in length, rotation amplitude and angle of revolution one or more.
Jib can be arranged in engineering truck, also can be according in fixed location, for example: in operation room.
Certainly, in the embodiment of the present invention, with the engineering truck of telescopic arm support, installed in the control system of above-mentioned jib recovery, just can be after the operation completed manipulating object, the automatic recovery jib.And, by dividing position zone, carry out the take-back strategy corresponding with position zone, saved the activity duration, improved the simplicity of overall operation efficiency and operation.
In the embodiment of the present invention, after control device obtains the current position state information of described jib by measurement mechanism, according at least one parameter value in described current position state information, determine the residing position zone of described jib, and the drive transmission execution take-back strategy corresponding with described position zone, like this, realized the automatic recovery of jib, save the activity duration, improved the simplicity of overall operation efficiency and operation.
In addition, control device can control drive transmission to carry out the take-back strategy corresponding with described position zone by PID, wherein, the mode that can take variable element to process to pid parameter, when the error of PID input is larger, suitably dwindle Kp and Ki, like this, not only little on rapidity impact, also can avoid stronger integration to the impact in this adjustment process later stage simultaneously, increase the stability of jib motion.When error is very little, suitably increase Kp and Ki, can add the speed of fast-response, shorten the adjusting time.
Obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention also is intended to comprise these changes and modification interior.
Claims (22)
1. the control method that jib reclaims, is characterized in that, comprising:
Control device obtains the current position state information of described jib by measurement mechanism;
The threshold value of at least one parameter value and setting in described current position state information is compared, and, according to comparative result, determine the residing position zone of jib;
Drive transmission is carried out the take-back strategy corresponding with described position zone;
Wherein,
Described current position state information comprises: one or more in length, rotation amplitude and angle of revolution;
In described control device, the corresponding described take-back strategy of each described position zone.
2. the method for claim 1, is characterized in that, described according to comparative result, determines that the residing position zone of jib comprises:
If the length parameter value in described current position state information is less than first threshold, and rotate the Second Threshold that is less than of range parameter value in described current position state information, determine that described jib is in the rotary safety section, and, according to the comparative result of the angle of revolution parameter value in current position state information and the 3rd threshold value, determine the residing particular location section of jib;
Otherwise, determine that described jib is in non-security revolution section.
3. the method for claim 1, is characterized in that, described non-security revolution section comprises: primary importance section and second place section;
Determine that described jib comprises in non-security section:
If described length parameter value is greater than first threshold, determine that described jib is in the primary importance section;
If described length parameter value is less than or equal to first threshold, and rotation range parameter value is greater than Second Threshold, determines that described jib is in second place section.
4. the method for claim 1, is characterized in that, the described comparative result according to the angle of revolution parameter value in current position state information and the 3rd threshold value determines that the residing particular location section of jib comprises:
If the angle of revolution parameter value in described current position state information is not the 3rd threshold value, determine that described jib is in the 3rd position zone;
Otherwise, the length parameter value in described current position state information and the 4th threshold value are compared;
If described length parameter value is greater than the 4th threshold value, determine that described jib is in the 4th position zone;
Otherwise, determine that described jib is in the 5th position zone.
5. the method for claim 1, is characterized in that, described according at least one parameter value in described current position state information, determines that described jib, before position zone, also comprises:
In unified range ability, each parameter value in described current position state information is converted into to the reference parameter value in described unified range ability.
6. method as claimed in claim 2, is characterized in that, described drive transmission is carried out the take-back strategy corresponding with described position zone and comprised:
Passing ratio-integration-differential PID controls or ratio-differential PD controls or fuzzy control, drives corresponding transmission device to carry out the take-back strategy corresponding with described position zone, wherein,
If described jib in the rotary safety section, drives corresponding transmission device to carry out the take-back strategy corresponding with described rotary safety section;
If described jib in non-security revolution section, drives corresponding transmission device to carry out the take-back strategy corresponding with described non-security revolution section.
7. method as claimed in claim 6, is characterized in that, transmission device corresponding to described driving carried out the take-back strategy corresponding with described non-security revolution section and comprised:
If described jib, in the primary importance section, drives the first transmission device, regulate the length of described jib, the length parameter value that makes described jib is the first desired value, wherein, described the first desired value is less than described first threshold;
If described jib is in second place section, drive the first transmission device, regulate the length of described jib, the length parameter value that makes described jib is fifth phase prestige value, and drive the second transmission device, and regulate the rotation amplitude of described jib, making the rotation range parameter value of described jib is the second desired value, wherein, described the second desired value is less than Second Threshold.
8. method as claimed in claim 6, is characterized in that, transmission device corresponding to described driving carried out the take-back strategy corresponding with described rotary safety section and comprised:
If described jib is in the 3rd position zone, the rotation range parameter value in described current position state information and the 5th threshold value are compared, when described rotation range parameter value is greater than the 5th threshold value, drive the 3rd transmission device, regulate the angle of revolution of described jib, the angle of revolution parameter value that makes described jib is third phase prestige value, otherwise, drive described the second transmission device, regulate the rotation amplitude of described jib, the rotation range parameter value that makes described jib is fourth phase prestige value, wherein, fourth phase prestige value is greater than the 5th threshold value, and drive the 3rd transmission device, regulate the angle of revolution of described jib, the angle of revolution parameter value that makes described jib is third phase prestige value, wherein, described third phase prestige value is described the 3rd threshold value,
If described jib, in the 4th position zone, drives the first transmission device, regulate the length of described jib, the length parameter value that makes described jib is fifth phase prestige value, wherein, described fifth phase prestige value is less than described the 4th threshold value;
If described jib, in the 5th position zone, drives the second transmission device, regulate the rotation amplitude of described jib, the rotation range parameter value that makes described jib is the 6th desired value.
9. method as claimed in claim 6, is characterized in that, describedly by PID, controls and drive corresponding transmission device to carry out the take-back strategy corresponding with described position zone to comprise:
Obtain startup numerical value corresponding to current motion that current transmission device is carried out, wherein, described current motion comprises: stretching motion rotatablely moves, or reclaims motion;
During the error input PID formed between parameter value corresponding in described current position state information and desired value is controlled, obtain the result that PID controls output;
Result and the described startup numerical value of described PID being controlled to output are superposeed, and the numerical value after superposeing is determined the numerical value after adding up the motivation value of described current transmission device in setting range the time;
Utilize described motivation value to drive described current transmission device to carry out described current motion.
10. method as claimed in claim 9, is characterized in that, describedly by PID, controls and drive corresponding transmission device to carry out the take-back strategy corresponding with described position zone also to comprise:
The error of controlling according to described input PID, adjust Proportional coefficient K p and integration time constant Ki in described PID control, makes described Proportional coefficient K p and integration time constant Ki increase along with reducing of described error.
11. the control device that jib reclaims, is characterized in that, comprising:
Obtain equipment, for obtain the current position state information of described jib by measurement mechanism, described current position state information comprises one or more in length, rotation amplitude and angle of revolution;
Determine equipment, compare for the threshold value by described at least one parameter value of current position state information and setting, and, according to comparative result, determine the residing position zone of jib;
Driving arrangement, carry out the take-back strategy corresponding with described position zone for drive transmission, wherein, and the corresponding described take-back strategy of each described position zone.
12. device as claimed in claim 11, is characterized in that,
Described definite equipment, if be less than first threshold specifically for the length parameter value in described current position state information, and rotate the Second Threshold that is less than of range parameter value in described current position state information, determine that described jib is in the rotary safety section, and according to the comparative result of the angle of revolution parameter value in current position state information and the 3rd threshold value, determine the residing particular location section of jib, otherwise, determine that described jib is in non-security revolution section.
13. device as claimed in claim 12, is characterized in that,
Described definite equipment, if be greater than first threshold specifically for described length parameter value, determine that described jib is in the primary importance section, if described length parameter value is less than or equal to first threshold, and rotation range parameter value is greater than Second Threshold, determine that described jib is in second place section, wherein, described non-security revolution section comprises: primary importance section and second place section.
14. device as claimed in claim 12, is characterized in that,
Described definite equipment, if be not the 3rd threshold value specifically for the angle of revolution parameter value in described current position state information, determine that described jib is in the 3rd position zone, otherwise, length parameter value in described current position state information and the 4th threshold value are compared, if described length parameter value is greater than the 4th threshold value, determine that described jib is in the 4th position zone, otherwise, determine that described jib is in the 5th position zone.
15. device as claimed in claim 11, is characterized in that, also comprises:
Matrix unit, in unified range ability, be converted into the reference parameter value in described unified range ability by each parameter value in described current position state information.
16. device as claimed in claim 12, is characterized in that,
Described driving arrangement, control or ratio-differential PD controls or the transmission device of fuzzy control, driving correspondence is carried out the take-back strategy corresponding with described position zone specifically for passing ratio-integration-differential PID, wherein,
If described jib in the rotary safety section, drives corresponding transmission device to carry out the take-back strategy corresponding with described rotary safety section;
If described jib in non-security revolution section, drives corresponding transmission device to carry out the take-back strategy corresponding with described non-security revolution section.
17. device as claimed in claim 16, is characterized in that,
Described driving arrangement, if specifically for described jib in the primary importance section, drive the first transmission device, regulate the length of described jib, the length parameter value that makes described jib is the first desired value, wherein, described the first desired value is less than described first threshold;
If described jib is in second place section, drive the first transmission device, regulate the length of described jib, the length parameter value that makes described jib is fifth phase prestige value, and drive the second transmission device, and regulate the rotation amplitude of described jib, making the rotation range parameter value of described jib is the second desired value, wherein, described the second desired value is less than Second Threshold.
18. device as claimed in claim 16, is characterized in that,
Described driving arrangement, if specifically for described jib in the 3rd position zone, the rotation range parameter value in described current position state information and the 5th threshold value are compared, when described rotation range parameter value is greater than the 5th threshold value, drive the 3rd transmission device, regulate the angle of revolution of described jib, the angle of revolution parameter value that makes described jib is third phase prestige value, otherwise, drive described the second transmission device, regulate the rotation amplitude of described jib, the rotation range parameter value that makes described jib is fourth phase prestige value, wherein, fourth phase prestige value is greater than the 5th threshold value, and drive the 3rd transmission device, regulate the angle of revolution of described jib, the angle of revolution parameter value that makes described jib is third phase prestige value, wherein, described third phase prestige value is described the 3rd threshold value,
If described jib, when the 4th position zone, drives the first transmission device, regulate the length of described jib, the length parameter value that makes described jib is fifth phase prestige value, wherein, described fifth phase prestige value is less than described the 4th threshold value;
If described jib, when the 5th position zone, drives the second transmission device, regulate the rotation amplitude of described jib, the rotation range parameter value that makes described jib is the 6th desired value.
19. device as claimed in claim 16, is characterized in that,
Described driving arrangement, startup numerical value corresponding to current motion of carrying out specifically for obtaining current transmission device, wherein, described current motion comprises: stretching motion, rotatablely move, or reclaim and move, during the error input PID formed between parameter value corresponding in described current position state information and desired value is controlled, obtain the result that PID controls output, result and the described startup numerical value of described PID being controlled to output are superposeed, and the numerical value after stack is in setting range the time, numerical value after cumulative is determined to the motivation value of described current transmission device, utilize described motivation value to drive described current transmission device to carry out described current motion.
20. device as claimed in claim 19, is characterized in that,
Described driving arrangement, also the error specifically for controlling according to described input PID, adjust Proportional coefficient K p and integration time constant Ki in described PID control, makes described Proportional coefficient K p and integration time constant Ki increase along with reducing of described error.
21. the control system that jib reclaims, is characterized in that, comprising:
Obtain the measurement mechanism of the current position state information of stating jib, the described control device of arbitrary claim in the claims 11-20, and driven by described control device, carry out the transmission device of the take-back strategy corresponding with position zone.
22. the vehicle with jib, is characterized in that, comprises the described control system of claim 21.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011104558776A CN102536103B (en) | 2011-12-30 | 2011-12-30 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
| PCT/CN2012/082242 WO2013097509A1 (en) | 2011-12-30 | 2012-09-28 | Method, device, and system for controlling jib retraction, and vehicle for jib retraction |
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| CN2011104558776A CN102536103B (en) | 2011-12-30 | 2011-12-30 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
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| CN102536103B (en) * | 2011-12-30 | 2013-12-04 | 长沙中联消防机械有限公司 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
| CN103234002B (en) * | 2013-04-28 | 2014-12-24 | 中联重科股份有限公司 | Device, method, system and engineering machine for restraining rotary vibration of cantilever crane |
| CN103537029B (en) * | 2013-11-07 | 2016-02-24 | 徐州重型机械有限公司 | A kind of fire fighting truck safe operation range guard method and device |
| CN103809595A (en) * | 2014-01-26 | 2014-05-21 | 三一汽车制造有限公司 | Engineering machinery operation method, operation terminal, control device and operation system |
| CN104571143A (en) * | 2014-12-04 | 2015-04-29 | 长沙中联消防机械有限公司 | Engineering machinery, and control system, method and device of arm support of engineering machinery |
| CN104984507A (en) * | 2015-07-07 | 2015-10-21 | 明光浩淼安防科技股份公司 | Automatic centering method of elevating fire truck rotary table |
| CN107145163B (en) * | 2017-04-28 | 2020-12-22 | 三一汽车制造有限公司 | Fire truck and positioning control method and device of arm support thereof |
| CN112727858B (en) * | 2021-01-15 | 2023-01-24 | 长沙九方湾流智能科技有限公司 | Point position control method, hydraulic control system and engineering vehicle |
| CN113735028B (en) * | 2021-08-06 | 2023-08-18 | 湖南星邦智能装备股份有限公司 | Safety control method, system, equipment and storage medium under aerial working platform |
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| CN102536103B (en) * | 2011-12-30 | 2013-12-04 | 长沙中联消防机械有限公司 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
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Inventor after: Su Liang Inventor after: Deng Pengfei Inventor after: Zhang Hu Inventor after: Duan Juanxiang Inventor after: Xiong Yi Inventor before: Su Liang Inventor before: Deng Pengfei Inventor before: Zhang Hu Inventor before: Duan Juanxiang Inventor before: Xiong Yi |
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