CN104944289A - Crane as well as device and method for controlling rotating speed of crane - Google Patents

Crane as well as device and method for controlling rotating speed of crane Download PDF

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Publication number
CN104944289A
CN104944289A CN201510385632.9A CN201510385632A CN104944289A CN 104944289 A CN104944289 A CN 104944289A CN 201510385632 A CN201510385632 A CN 201510385632A CN 104944289 A CN104944289 A CN 104944289A
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CN
China
Prior art keywords
speed
hydraulic
engine
hydraulic pump
control
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Granted
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CN201510385632.9A
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Chinese (zh)
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CN104944289B (en
Inventor
刘永平
米勇
陈晓敏
宋帅
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Taiyuan Heavy Industry Co Ltd
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Taiyuan Heavy Industry Co Ltd
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Priority to CN201510385632.9A priority Critical patent/CN104944289B/en
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Classifications

    • 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
    • B66C13/20—Control systems or devices for non-electric drives
    • 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
    • B66C23/84—Slewing gear
    • B66C23/86—Slewing gear hydraulically actuated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20523—Internal combustion engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/255—Flow control functions

Abstract

The invention discloses a crane as well as a device and a method for controlling the rotating speed of the crane. A hydraulic rotation system comprises an engine, a hydraulic pump and a hydraulic motor. The method for controlling the rotating speed of the crane comprises the steps as follows: collecting the rotating speed of the engine, the displacement of the hydraulic pump and the displacement of the hydraulic motor; calculating the maximum flow of the hydraulic rotation system and the maximum displacement, which is corresponding to the rotating speed of the engine, of the hydraulic pump according to the rotating speed of the engine; controlling the displacement of the hydraulic pump and the rotating speed of the hydraulic motor by adjusting the output current of a controlling handle according to the maximum displacement in order to guarantee that the rotating speed is not higher than the maximum rotating speed under the working condition of the hydraulic rotation system; and comparing the relation between the torque required by the hydraulic system and the output torque of the engine in real time and adjusting the rotating speed of the engine and the displacement of the hydraulic pump so as to avoid flame-out of the engine. According to the crane as well as the device and the method for controlling the rotating speed of the crane, the controlling dead zone of the hydraulic pump can be reduced, and the system controllabitity is further improved; and at the same time, the maximum rotating speed which the rotating mechanism can reach is guaranteed, and flam-out of the engine is avoided, so that the working efficiency is improved.

Description

Hoisting crane and speed of revolutions control setup, control method
Technical field
The present invention relates to hoisting crane automatic control technology, particularly relate to a kind of control method of crane rotation speed and control setup, there is the hoisting crane of this speed of revolutions control setup.
Background technology
During hoisting crane work, have certain requirement to speed of revolutions, if hanging the requirement of not observing maximum speed of revolutions in the process of carrying, may there is overload accident in boom system.So in hoisting crane working process, restriction must be made according to machine system to maximum speed of revolutions.And according to the work operating mode of hoisting crane and brachium, maximum speed of revolutions is different.So need to determine maximum speed of revolutions value according to different operating modes and brachium, to guarantee hoisting crane safety in the course of the work.In large-tonnage and the longer hoisting crane of brachium, the control of speed of revolutions just seems even more important.
At present, the control of crane rotation mechanism can realize greatly electrodeless variable-speed and control, and the hydraulic efficiency pressure system of swing type mechanism is also based on closed fhdraulic system, for closed fhdraulic system, actual in the control of whole speed of revolutions, mainly contain engine speed, hydraulic pump discharge, the variable speed control of hydraulic motor displacement participation to speed of revolutions.
And in existing control technology, the size of speed of revolutions is subject to the impact of engine speed and handle outgoing current size Two Variables, make the size of speed of revolutions and the more difficult accurate control of stability.And in speed of revolutions change procedure, dynamic property needed for system is different, namely require that the moment of torsion that driving engine exports and power also change in the change along with speed of revolutions, if engine speed can not well coordinate with speed of revolutions, just may cause engine off phenomenon.This just makes revolution stop suddenly, makes a big impact to complete machine safety, should avoid in turning course.
Namely the maximum speed of HM Hydraulic Motor is be rated speed of rotation at driving engine, and Hydraulic Pump obtains when max.cap. simultaneously.In existing control technology, mostly only consider the restriction being realized maximum speed of revolutions by the restriction max.cap. of Hydraulic Pump and the minimum injection rate of HM Hydraulic Motor, do not consider the rotating speed of driving engine.Such as the rotating speed of driving engine is taken as maximum speed, as fixed value, realizes restriction HM Hydraulic Motor maximum speed by the max.cap. limiting Hydraulic Pump, namely limit swing type mechanism with the pivotal object of maximum speed of revolutions.But at work, the rotating speed of driving engine can change, not always at maximum speed, maximum speed of revolutions in real work is so just made also to be subject to the impact of engine speed.If namely driving engine is not at maximum speed, such as driving engine is under idle conditions, and now maximum speed of revolutions receives further restriction, even if Hydraulic Pump reaches max.cap., maximum speed of revolutions can not reach the maxim of setting.This just further increases the difficulty by handle hydraulic control pump capacity, increases the dead band of Hydraulic Pump simultaneously, and road-holding property is reduced greatly.
To sum up, prior art does not consider the impact of engine speed to the restriction of speed of revolutions, makes to control precisely, and operability is poor, and pivotal startability is poor.
Summary of the invention
For the technical matters existed in prior art, the object of the present invention is to provide a kind of speed of revolutions control method for hoisting crane Control in Hydraulic Rotation System.
Another object of the present invention is to provide a kind of speed of revolutions control setup for hoisting crane Control in Hydraulic Rotation System.
3rd object of the present invention, is to provide a kind of hoisting crane with speed of revolutions control setup of the present invention.
Object of the present invention is realized by following technical scheme:
A kind of speed of revolutions control method, for the Control in Hydraulic Rotation System of hoisting crane, described Control in Hydraulic Rotation System comprises driving engine, Hydraulic Pump and HM Hydraulic Motor, and described control method comprises:
Gather engine speed, hydraulic pump discharge and hydraulic motor displacement;
Calculate the maximum flow of described Control in Hydraulic Rotation System, and according to described engine speed, calculate described Hydraulic Pump to should the max.cap. of engine speed;
According to described max.cap., by adjusting the size of outgoing current of control handle, controlling described hydraulic pump discharge and described hydraulic motor rotary speed, being not more than maximum speed of revolutions under operating mode residing for described Control in Hydraulic Rotation System to make described speed of revolutions.
A kind of speed of revolutions control setup, for the Control in Hydraulic Rotation System of hoisting crane, described Control in Hydraulic Rotation System comprises driving engine, Hydraulic Pump and HM Hydraulic Motor, it is characterized in that, described control setup comprises:
Acquisition module, for gathering engine speed, hydraulic pump discharge and hydraulic motor displacement;
Computing module, according to described hydraulic pump discharge and hydraulic motor displacement, calculates the maximum flow of described Control in Hydraulic Rotation System, and according to described engine speed, calculates the max.cap. of the corresponding described engine speed of described Hydraulic Pump;
Control module, according to described max.cap., by adjusting the size of outgoing current of control handle, controlling described hydraulic pump discharge and described hydraulic motor displacement, being not more than maximum speed of revolutions under operating mode residing for described Control in Hydraulic Rotation System to make described speed of revolutions.
Hoisting crane of the present invention, has speed of revolutions control setup of the present invention.
Beneficial effect of the present invention is, a kind of speed of revolutions control method that the present invention proposes, consider engine speed, impact that hydraulic pump discharge, hydraulic motor displacement control speed of revolutions, the obvious operability that must improve revolution and control, avoids the difference because of engine speed and operating mode and the notable difference of the swing type mechanism startability that causes and operability.The size of the Hydraulic Pump controlled according to the change real-time matching control handle of engine speed and the outgoing current of HM Hydraulic Motor, thus the Hydraulic Pump max.cap. of limiting engine under different rotating speeds and HM Hydraulic Motor minimum injection rate.Make the manipulation sense of control handle better, and the shortcoming that when efficiently avoid low engine speeds, handle controlling dead error is larger.By adjustment engine torque, can automatically controlled engine rotating speed, to prevent engine off and revolution from stopping suddenly, strengthen crane safety.
Accompanying drawing explanation
To those skilled in the art, by detailed description to the example embodiment be shown in each accompanying drawing below reading, above-mentioned and further feature of the present invention and advantage will become more obvious.
Fig. 1 is the Control in Hydraulic Rotation System schematic diagram of the hoisting crane of the embodiment of the present invention.
Fig. 2 and Fig. 3 is the diagram of circuit of the speed of revolutions control method of the embodiment of the present invention.
Fig. 4 is the schematic diagram of the speed of revolutions control setup of the embodiment of the present invention.
Detailed description of the invention
More fully embodiment is described referring now to accompanying drawing.But embodiment can be implemented in a variety of forms, and should not be understood to be limited to embodiment set forth herein; On the contrary, these embodiments are provided to make the present invention comprehensively with complete, and the design of embodiment will be conveyed to those skilled in the art all sidedly.Reference numeral identical in the drawings represents same or similar part, thus can omit their repeated description.
In addition, described feature, structure or characteristic can be combined in one or more embodiment in any suitable manner.
The control method of the crane rotation speed of the embodiment of the present invention, for the Control in Hydraulic Rotation System of the hoisting crane of the embodiment of the present invention, this Control in Hydraulic Rotation System can be shown in Fig. 1, Fig. 1 is the schematic diagram of Closed Hydraulic rotary system, comprises driving engine 1, Hydraulic Pump (also can be called for short rotary pump) 2 and HM Hydraulic Motor 3.Wherein, Hydraulic Pump 2 is electric-controlled hydraulic controllable capacity pump preferably, and HM Hydraulic Motor 3 is hydraulic pressure fixed displacement motor.Wherein, Hydraulic Pump 2 is driven by driving engine 1, and the rotating speed of Hydraulic Pump 2 is identical with the rotating speed of driving engine 1, and the rotating speed of HM Hydraulic Motor 3 is the control object of speed of revolutions.Wherein, the speed of revolutions of crane rotation mechanism depends on the rotating speed of HM Hydraulic Motor, there is fixing register ratio between the two.
Therefore, based on following formula 1, the rotating speed of HM Hydraulic Motor can be calculated, and the rotating speed of HM Hydraulic Motor controlled.
n m = Q V × η v = n e × V p V × η v (formula 1)
Wherein, n mrepresent motor rotary speed, Q represents system discharge capacity, and V represents motor displacement, n efor the rotating speed of driving engine, V pfor hydraulic pressure capacity of pump; η vfor Volumetric efficiency, be generally known.
Lower mask body introduces the speed of revolutions control method of the embodiment of the present invention.
First the speed of revolutions control method of the embodiment of the present invention is carry out operating mode selection, because under different operating modes, and corresponding different maximum speed of revolutionss.Therefore, when carrying out operating mode and switching, select operating mode by operator by button, the controller of Control in Hydraulic Rotation System receives button result, is the selected maximum speed of revolutions of Conditions Matching automatically.
Simultaneously, the data such as Control in Hydraulic Rotation System meeting Real-time Collection engine speed, hydraulic pump discharge and hydraulic motor displacement, send controller to, then controller is by calculating, finally determine the maximum current output of control handle, and then hydraulic control pump reaches max.cap., make swing type mechanism reach maximum speed of revolutions simultaneously.
Above-mentioned computation process comprises two steps, and one is computing system maximum flow, and two is the max.cap.s calculating Hydraulic Pump.Wherein, the maximum flow of system, consistent with the maximum flow that Hydraulic Pump exports, and the delivery rate of Hydraulic Pump, equal the rotating speed that hydraulic pressure capacity of pump is multiplied by Hydraulic Pump, therefore can in the rotation speed change of driving engine, when causing the rotation speed change of Hydraulic Pump, by adjustment hydraulic pressure capacity of pump, the flow that Hydraulic Pump is exported remains unchanged.Therefore, can according to system maximum flow, then according to the real-time rotate speed of driving engine, calculate the max.cap. of Hydraulic Pump.And the outgoing current of hydraulic pressure capacity of pump and control handle is one-to-one relationship, be also different size of current, the different displacement size of corresponding Hydraulic Pump, the corresponding max.cap. of maximum current output.Therefore, after the max.cap. of Hydraulic Pump is determined, controller makes the outgoing current size of control handle corresponding with the max.cap. of Hydraulic Pump, can realize the max.cap. of Hydraulic Pump.
Therefore, the speed of revolutions control method of the embodiment of the present invention, engine speed is added the control of swing type mechanism speed as variable, no matter engine operation is under much rotating speeds, can ensure that the maximum flow that Hydraulic Pump exports is constant, thus ensure HM Hydraulic Motor maximum speed, and the maximum speed of revolutions of swing type mechanism is constant.Reduce the controlling dead error of Hydraulic Pump, improve system manipulation further.Ensure that the accessible maximum speed of revolutions of swing type mechanism simultaneously, increase work efficiency.
While carrying out above-mentioned control, Control in Hydraulic Rotation System also monitors pressure and the discharge capacity of Hydraulic Pump, calculates required engine torque, and automatically controlled engine rotating speed prevents engine off, and its concrete steps as shown in the figure.
As shown in Figure 3, first the current rotating speed of the pressure of each Hydraulic Pump of acquisition system, discharge capacity and driving engine, all sends controller to; Controller, according to the pressure of Hydraulic Pump and displacement data, calculates required engine torque T1; Controller is also according to the current rotating speed of driving engine, and the engine torque inputted in controller and rotary speed property contrast, and calculates maximum engine torque Tmax under current rotating speed; Judge the magnitude relationship of required engine torque and torque peak, if required engine torque is greater than torque peak under the current rotating speed of driving engine, illustrate with current rotating speed, output torque is not enough, required engine torque can not be reached, therefore need, by adjustment engine speed, to increase engine torque.Until the torque peak under current rotating speed is more than or equal to required engine torque.If driving engine is in torque peak, still can not meet the demands, then the outgoing current by reducing handle reduces variable capacity of pump, thus reduces the torque demand of hydraulic efficiency pressure system.If required engine torque is not more than torque peak under the current rotating speed of driving engine, illustrate that engine output torque can reach required engine torque, therefore maintain the current rotating speed of driving engine.
When moment of torsion is not enough, adjustment engine speed changes, based on following formula to larger output torque direction:
T e = Σ i = 1 n P p i × V p i 2 Π × n , (formula 2).
Wherein, T efor engine torque; P pfor prexxure of the hydraulic pump; V pfor hydraulic pressure capacity of pump; for pressure and the discharge capacity sum of products of pump in system; η is mechanical efficiency, is generally known; N is positive integer.
, then introduce the speed of revolutions control setup of the embodiment of the present invention, the hoisting crane of the embodiment of the present invention below, there is the rotation control device of the embodiment of the present invention.Rotation control device, is arranged in the controller of the Control in Hydraulic Rotation System of hoisting crane of the present invention, realizes the automatic control to speed of revolutions.
As shown in Figure 4, described control setup comprises acquisition module, computing module, control module and torque adjustment module.
Acquisition module, for gathering the pressure etc. of engine speed, hydraulic pump discharge, hydraulic motor displacement and Hydraulic Pump, all sends described computing module to.
Computing module, calculates the maximum flow of described Control in Hydraulic Rotation System, and according to described engine speed, calculates described Hydraulic Pump to should the max.cap. of engine speed, and calculates torque peak under required engine torque and the current rotating speed of driving engine.
Control module, according to the max.cap. of described driving engine, by adjusting the size of outgoing current of control handle, controlling described hydraulic pump discharge and described hydraulic motor displacement, being not more than maximum speed of revolutions under operating mode residing for described Control in Hydraulic Rotation System to make described speed of revolutions.
Described torque adjustment module judge described required engine torque whether be greater than current rotating speed under described maximum engine torque; As described in torque peak be more than or equal to required engine torque, then maintain the current rotating speed of described driving engine; As described in torque peak be less than as described in moment of torsion, then by control module, reduce the rotating speed of described driving engine to increase the moment of torsion of described driving engine.
The speed of revolutions control method that the present invention proposes and control setup, consider engine speed, impact that hydraulic pump discharge, hydraulic motor displacement control speed of revolutions, the obvious operability that must improve revolution and control, avoids the difference because of engine speed and operating mode and the notable difference of the swing type mechanism startability that causes and operability.The size of the Hydraulic Pump controlled according to the change real-time matching handle of engine speed and the outgoing current of HM Hydraulic Motor, thus the Hydraulic Pump max.cap. of limiting engine under different rotating speeds and HM Hydraulic Motor minimum injection rate.Make the manipulation sense of handle better, and the shortcoming that when efficiently avoid low engine speeds, handle controlling dead error is larger.By adjustment engine torque, can automatically controlled engine rotating speed, to prevent engine off and revolution from stopping suddenly, strengthen crane safety.
Although embodiments of the invention are described above; but those embodiments are not used for limiting the present invention; those skilled in the art can impose change according to the content expressed or imply of the present invention to technical characteristic of the present invention; all this kind changes the patent protection category that all may belong to sought by the present invention; in other words, scope of patent protection of the present invention must be as the criterion depending on the claim person of defining of this specification sheets.

Claims (10)

1. a speed of revolutions control method, for the Control in Hydraulic Rotation System of hoisting crane, described Control in Hydraulic Rotation System comprises driving engine, Hydraulic Pump and HM Hydraulic Motor, it is characterized in that, described control method comprises:
Gather engine speed, hydraulic pump discharge and hydraulic motor displacement;
Calculate the maximum flow of described Control in Hydraulic Rotation System, and according to described engine speed, calculate described Hydraulic Pump to should the max.cap. of engine speed;
According to described max.cap., by adjusting the size of outgoing current of control handle, controlling described hydraulic pump discharge and described hydraulic motor rotary speed, being not more than maximum speed of revolutions under operating mode residing for described Control in Hydraulic Rotation System to make described speed of revolutions.
2. control method as claimed in claim 1, is characterized in that, also comprise, and according to described max.cap., makes the outgoing current of described control handle to should described max.cap., reaches described maximum speed of revolutions to make described speed of revolutions.
3. control method as claimed in claim 2, is characterized in that, also comprise, and the operating mode of carrying out described Control in Hydraulic Rotation System is selected, and determines the described maximum speed of revolutions corresponding to this operating mode according to selected operating mode.
4. control method as claimed in claim 2, is characterized in that, also comprise:
Gather the pressure of described Hydraulic Pump;
According to pressure and the described hydraulic pump discharge of described Hydraulic Pump, calculate required engine torque;
Judge described required engine torque whether be greater than current rotating speed under described maximum engine torque;
As described in torque peak be more than or equal to as described in required engine torque, then maintain the current rotating speed of described driving engine.
5. control method as claimed in claim 4, is characterized in that, as described in torque peak be less than as described in required engine torque, then reduce the rotating speed of described driving engine to increase the output torque of described driving engine.
6. control method as claimed in claim 5, is characterized in that, also comprise, adjust the rotating speed of described driving engine, until torque peak corresponding to the rotating speed of described driving engine after adjustment is greater than described required engine torque.
7. control method as claimed in claim 1, it is characterized in that, described Hydraulic Pump is electric-controlled hydraulic controllable capacity pump, and described motor is hydraulic pressure fixed displacement motor.
8. a speed of revolutions control setup, for the Control in Hydraulic Rotation System of hoisting crane, described Control in Hydraulic Rotation System comprises driving engine, Hydraulic Pump and HM Hydraulic Motor, it is characterized in that, described control setup comprises:
Acquisition module, for gathering engine speed, hydraulic pump discharge and hydraulic motor displacement;
Computing module, according to described hydraulic pump discharge and hydraulic motor displacement, calculates the maximum flow of described Control in Hydraulic Rotation System, and according to described engine speed, calculates the max.cap. of the corresponding described engine speed of described Hydraulic Pump;
Control module, according to described max.cap., by adjusting the size of outgoing current of control handle, controlling described hydraulic pump discharge and described hydraulic motor displacement, being not more than maximum speed of revolutions under operating mode residing for described Control in Hydraulic Rotation System to make described speed of revolutions.
9. control setup as claimed in claim 8, it is characterized in that, also comprise torque adjustment module, be connected to described acquisition module, computing module, described acquisition module also gathers the pressure of described Hydraulic Pump; Described computing module, according to the pressure of described Hydraulic Pump and described hydraulic pump discharge, calculates described required engine torque;
Described torque adjustment module judge described required engine torque whether be greater than current rotating speed under described maximum engine torque; As described in torque peak be more than or equal to required engine torque, then maintain the current rotating speed of described driving engine; As described in torque peak be less than as described in required engine torque, then reduce the rotating speed of described driving engine to increase the output torque of described driving engine.
10. a hoisting crane, described crane tool is had the right the speed of revolutions control setup described in requirement 8 or 9.
CN201510385632.9A 2015-07-02 2015-07-02 Crane and its speed of gyration control device, control method Active CN104944289B (en)

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CN107657133A (en) * 2017-10-20 2018-02-02 上海华兴数字科技有限公司 A kind of rotor speed forecast method and apparatus based on engine dynamics
CN111148905A (en) * 2018-09-05 2020-05-12 株式会社日立建机Tierra Hydraulic drive device for electric hydraulic construction machine
CN114105015A (en) * 2021-10-15 2022-03-01 中联重科股份有限公司 Rotation control method and processor for crane and crane

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Publication number Priority date Publication date Assignee Title
CN107657133A (en) * 2017-10-20 2018-02-02 上海华兴数字科技有限公司 A kind of rotor speed forecast method and apparatus based on engine dynamics
CN107657133B (en) * 2017-10-20 2020-10-13 上海华兴数字科技有限公司 Rotating speed prediction method and device based on dynamic characteristics of engine
CN111148905A (en) * 2018-09-05 2020-05-12 株式会社日立建机Tierra Hydraulic drive device for electric hydraulic construction machine
CN111148905B (en) * 2018-09-05 2021-08-27 株式会社日立建机Tierra Hydraulic drive device for electric hydraulic construction machine
CN114105015A (en) * 2021-10-15 2022-03-01 中联重科股份有限公司 Rotation control method and processor for crane and crane
CN114105015B (en) * 2021-10-15 2022-08-02 中联重科股份有限公司 Rotation control method and processor for crane and crane

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